ardupilot/Rover/Rover.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
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main Rover class, containing all vehicle specific state
*/
#pragma once
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#include <cmath>
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#include <stdarg.h>
#include <stdint.h>
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// Libraries
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
#include <AP_Camera/AP_Camera.h> // Camera triggering
#include <AP_Mount/AP_Mount.h> // Camera/Antenna mount
#include <AP_Param/AP_Param.h>
#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
#include <AP_RPM/AP_RPM.h> // RPM input library
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
#include <AP_WheelEncoder/AP_WheelEncoder.h>
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#include <AP_WheelEncoder/AP_WheelRateControl.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_OSD/AP_OSD.h>
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#include <AR_Motors/AP_MotorsUGV.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_Mission/AP_Mission_ChangeDetector.h>
#include <AR_WPNav/AR_WPNav_OA.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AC_PrecLand/AC_PrecLand_config.h>
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#include <AP_Follow/AP_Follow_config.h>
#include <AP_ExternalControl/AP_ExternalControl_config.h>
#if AP_EXTERNAL_CONTROL_ENABLED
#include "AP_ExternalControl_Rover.h"
#endif
// Configuration
#include "defines.h"
#include "config.h"
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#if AP_SCRIPTING_ENABLED
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#include <AP_Scripting/AP_Scripting.h>
#endif
// Local modules
#include "AP_Arming.h"
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#include "sailboat.h"
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#if ADVANCED_FAILSAFE == ENABLED
#include "afs_rover.h"
#endif
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#include "Parameters.h"
#include "GCS_Mavlink.h"
#include "GCS_Rover.h"
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#include "AP_Rally.h"
#if AC_PRECLAND_ENABLED
#include <AC_PrecLand/AC_PrecLand.h>
#endif
#include "RC_Channel.h" // RC Channel Library
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#include "mode.h"
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class Rover : public AP_Vehicle {
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public:
friend class GCS_MAVLINK_Rover;
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friend class Parameters;
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friend class ParametersG2;
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friend class AP_Rally_Rover;
friend class AP_Arming_Rover;
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#if ADVANCED_FAILSAFE == ENABLED
friend class AP_AdvancedFailsafe_Rover;
#endif
#if AP_EXTERNAL_CONTROL_ENABLED
friend class AP_ExternalControl_Rover;
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#endif
friend class GCS_Rover;
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friend class Mode;
friend class ModeAcro;
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friend class ModeAuto;
friend class ModeCircle;
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friend class ModeGuided;
friend class ModeHold;
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friend class ModeLoiter;
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friend class ModeSteering;
friend class ModeManual;
friend class ModeRTL;
friend class ModeSmartRTL;
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#if MODE_FOLLOW_ENABLED == ENABLED
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friend class ModeFollow;
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#endif
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friend class ModeSimple;
#if MODE_DOCK_ENABLED == ENABLED
friend class ModeDock;
#endif
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friend class RC_Channel_Rover;
friend class RC_Channels_Rover;
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friend class Sailboat;
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Rover(void);
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private:
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// must be the first AP_Param variable declared to ensure its
// constructor runs before the constructors of the other AP_Param
// variables
AP_Param param_loader;
// all settable parameters
Parameters g;
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ParametersG2 g2;
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// mapping between input channels
RCMapper rcmap;
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// primary control channels
RC_Channel *channel_steer;
RC_Channel *channel_throttle;
RC_Channel *channel_lateral;
RC_Channel *channel_roll;
RC_Channel *channel_pitch;
RC_Channel *channel_walking_height;
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AP_Logger logger;
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// flight modes convenience array
AP_Int8 *modes;
const uint8_t num_modes = 6;
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#if AP_RPM_ENABLED
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// AP_RPM Module
AP_RPM rpm_sensor;
#endif
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// Arming/Disarming management class
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AP_Arming_Rover arming;
// external control implementation
#if AP_EXTERNAL_CONTROL_ENABLED
AP_ExternalControl_Rover external_control;
#endif
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#if AP_OPTICALFLOW_ENABLED
AP_OpticalFlow optflow;
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#endif
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#if OSD_ENABLED || OSD_PARAM_ENABLED
AP_OSD osd;
#endif
#if AC_PRECLAND_ENABLED
AC_PrecLand precland;
#endif
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// GCS handling
GCS_Rover _gcs; // avoid using this; use gcs()
GCS_Rover &gcs() { return _gcs; }
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// RC Channels:
RC_Channels_Rover &rc() { return g2.rc_channels; }
// The rover's current location
Location current_loc;
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// Camera
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#if AP_CAMERA_ENABLED
AP_Camera camera{MASK_LOG_CAMERA};
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#endif
// Camera/Antenna mount tracking and stabilisation stuff
#if HAL_MOUNT_ENABLED
AP_Mount camera_mount;
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#endif
// true if initialisation has completed
bool initialised;
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// This is the state of the flight control system
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// There are multiple states defined such as MANUAL, AUTO, ...
Mode *control_mode;
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// Used to maintain the state of the previous control switch position
// This is set to -1 when we need to re-read the switch
uint8_t oldSwitchPosition;
// structure for holding failsafe state
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struct {
uint8_t bits; // bit flags of failsafes that have started (but not necessarily triggered an action)
uint32_t start_time; // start time of the earliest failsafe
uint8_t triggered; // bit flags of failsafes that have triggered an action
uint32_t last_valid_rc_ms; // system time of most recent RC input from pilot
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bool ekf;
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} failsafe;
// true if we have a position estimate from AHRS
bool have_position;
// range finder last update for each instance (used for DPTH logging)
uint32_t rangefinder_last_reading_ms[RANGEFINDER_MAX_INSTANCES];
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// Ground speed
// The amount current ground speed is below min ground speed. meters per second
float ground_speed;
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// Battery Sensors
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AP_BattMonitor battery{MASK_LOG_CURRENT,
FUNCTOR_BIND_MEMBER(&Rover::handle_battery_failsafe, void, const char*, const int8_t),
_failsafe_priorities};
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// flyforward timer
uint32_t flyforward_start_ms;
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static const AP_Scheduler::Task scheduler_tasks[];
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static const AP_Param::Info var_info[];
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static const LogStructure log_structure[];
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// time that rudder/steering arming has been running
uint32_t rudder_arm_timer;
// latest wheel encoder values
float wheel_encoder_last_distance_m[WHEELENCODER_MAX_INSTANCES]; // total distance recorded by wheel encoder (for reporting to GCS)
bool wheel_encoder_initialised; // true once arrays below have been initialised to sensors initial values
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float wheel_encoder_last_angle_rad[WHEELENCODER_MAX_INSTANCES]; // distance in radians at time of last update to EKF
uint32_t wheel_encoder_last_reading_ms[WHEELENCODER_MAX_INSTANCES]; // system time of last ping from each encoder
uint8_t wheel_encoder_last_index_sent; // index of the last wheel encoder sent to the EKF
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// True when we are doing motor test
bool motor_test;
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ModeInitializing mode_initializing;
ModeHold mode_hold;
ModeManual mode_manual;
ModeAcro mode_acro;
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ModeGuided mode_guided;
ModeAuto mode_auto;
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ModeLoiter mode_loiter;
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ModeSteering mode_steering;
ModeRTL mode_rtl;
ModeSmartRTL mode_smartrtl;
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#if MODE_FOLLOW_ENABLED == ENABLED
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ModeFollow mode_follow;
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#endif
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ModeSimple mode_simple;
#if MODE_DOCK_ENABLED == ENABLED
ModeDock mode_dock;
#endif
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// cruise throttle and speed learning
typedef struct {
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LowPassFilterFloat speed_filt{2.0f};
LowPassFilterFloat throttle_filt{2.0f};
uint32_t learn_start_ms;
uint32_t log_count;
} cruise_learn_t;
cruise_learn_t cruise_learn;
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private:
// Rover.cpp
#if AP_SCRIPTING_ENABLED
bool set_target_location(const Location& target_loc) override;
bool set_target_velocity_NED(const Vector3f& vel_ned) override;
bool set_steering_and_throttle(float steering, float throttle) override;
bool get_steering_and_throttle(float& steering, float& throttle) override;
// set desired turn rate (degrees/sec) and speed (m/s). Used for scripting
bool set_desired_turn_rate_and_speed(float turn_rate, float speed) override;
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bool set_desired_speed(float speed) override;
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bool get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value) override;
bool nav_scripting_enable(uint8_t mode) override;
bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) override;
void nav_script_time_done(uint16_t id) override;
#endif // AP_SCRIPTING_ENABLED
void stats_update();
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void ahrs_update();
void gcs_failsafe_check(void);
void update_logging1(void);
void update_logging2(void);
void one_second_loop(void);
void update_current_mode(void);
// balance_bot.cpp
void balancebot_pitch_control(float &throttle);
bool is_balancebot() const;
// commands.cpp
bool set_home_to_current_location(bool lock) WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED;
void update_home();
// crash_check.cpp
void crash_check();
// cruise_learn.cpp
void cruise_learn_start();
void cruise_learn_update();
void cruise_learn_complete();
void log_write_cruise_learn() const;
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// ekf_check.cpp
void ekf_check();
bool ekf_over_threshold();
bool ekf_position_ok();
void failsafe_ekf_event();
void failsafe_ekf_off_event(void);
// failsafe.cpp
void failsafe_trigger(uint8_t failsafe_type, const char* type_str, bool on);
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void handle_battery_failsafe(const char* type_str, const int8_t action);
#if ADVANCED_FAILSAFE == ENABLED
void afs_fs_check(void);
#endif
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// fence.cpp
void fence_check();
// GCS_Mavlink.cpp
void send_wheel_encoder_distance(mavlink_channel_t chan);
// Log.cpp
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void Log_Write_Attitude();
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void Log_Write_Depth();
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void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
void Log_Write_Nav_Tuning();
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void Log_Write_Sail();
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void Log_Write_Steering();
void Log_Write_Throttle();
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void Log_Write_RC(void);
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void Log_Write_Vehicle_Startup_Messages();
void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
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void log_init(void);
// mode.cpp
Mode *mode_from_mode_num(enum Mode::Number num);
// Parameters.cpp
void load_parameters(void) override;
// precision_landing.cpp
void init_precland();
void update_precland();
// radio.cpp
void set_control_channels(void) override;
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void init_rc_in();
void rudder_arm_disarm_check();
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void read_radio();
void radio_failsafe_check(uint16_t pwm);
// sensors.cpp
void update_compass(void);
void compass_save(void);
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void update_wheel_encoder();
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void read_rangefinders(void);
// Steering.cpp
void set_servos(void);
// Rover.cpp
void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
uint8_t &task_count,
uint32_t &log_bit) override;
// system.cpp
void init_ardupilot() override;
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void startup_ground(void);
void update_ahrs_flyforward();
bool gcs_mode_enabled(const Mode::Number mode_num) const;
bool set_mode(Mode &new_mode, ModeReason reason);
bool set_mode(const uint8_t new_mode, ModeReason reason) override;
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bool set_mode(Mode::Number new_mode, ModeReason reason);
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uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
bool current_mode_requires_mission() const override {
return control_mode == &mode_auto;
}
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void startup_INS_ground(void);
void notify_mode(const Mode *new_mode);
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uint8_t check_digital_pin(uint8_t pin);
bool should_log(uint32_t mask);
bool is_boat() const;
// vehicle specific waypoint info helpers
bool get_wp_distance_m(float &distance) const override;
bool get_wp_bearing_deg(float &bearing) const override;
bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
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enum class FailsafeAction: int8_t {
None = 0,
RTL = 1,
Hold = 2,
SmartRTL = 3,
SmartRTL_Hold = 4,
Terminate = 5
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};
enum class Failsafe_Options : uint32_t {
Failsafe_Option_Active_In_Hold = (1<<0)
};
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static constexpr int8_t _failsafe_priorities[] = {
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(int8_t)FailsafeAction::Terminate,
(int8_t)FailsafeAction::Hold,
(int8_t)FailsafeAction::RTL,
(int8_t)FailsafeAction::SmartRTL_Hold,
(int8_t)FailsafeAction::SmartRTL,
(int8_t)FailsafeAction::None,
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-1 // the priority list must end with a sentinel of -1
};
static_assert(_failsafe_priorities[ARRAY_SIZE(_failsafe_priorities) - 1] == -1,
"_failsafe_priorities is missing the sentinel");
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public:
void failsafe_check();
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// Motor test
void motor_test_output();
bool mavlink_motor_test_check(const GCS_MAVLINK &gcs_chan, bool check_rc, AP_MotorsUGV::motor_test_order motor_instance, uint8_t throttle_type, int16_t throttle_value);
MAV_RESULT mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, AP_MotorsUGV::motor_test_order motor_instance, uint8_t throttle_type, int16_t throttle_value, float timeout_sec);
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void motor_test_stop();
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// frame type
uint8_t get_frame_type() const { return g2.frame_type.get(); }
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AP_WheelRateControl& get_wheel_rate_control() { return g2.wheel_rate_control; }
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// Simple mode
float simple_sin_yaw;
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};
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extern Rover rover;
using AP_HAL::millis;
using AP_HAL::micros;