2012-04-30 04:17:14 -03:00
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/*****************************************************************************
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The init_ardupilot function processes everything we need for an in - air restart
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2016-05-16 14:04:10 -03:00
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We will determine later if we are actually on the ground and process a
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ground start in that case.
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2012-04-30 04:17:14 -03:00
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*****************************************************************************/
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2015-05-13 00:16:45 -03:00
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#include "Rover.h"
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static void mavlink_delay_cb_static()
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{
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rover.mavlink_delay_cb();
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}
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static void failsafe_check_static()
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{
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rover.failsafe_check();
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}
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2015-05-12 02:03:23 -03:00
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void Rover::init_ardupilot()
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2012-04-30 04:17:14 -03:00
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{
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2015-01-28 00:56:36 -04:00
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// initialise console serial port
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serial_manager.init_console();
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2012-04-30 04:17:14 -03:00
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2017-08-19 07:04:56 -03:00
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hal.console->printf("\n\nInit %s"
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2017-08-11 00:49:03 -03:00
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"\n\nFree RAM: %u\n",
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2018-06-13 08:15:29 -03:00
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AP::fwversion().fw_string,
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2018-05-03 22:20:58 -03:00
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(unsigned)hal.util->available_memory());
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2016-05-16 14:04:10 -03:00
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//
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// Check the EEPROM format version before loading any parameters from EEPROM.
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//
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2012-04-30 04:17:14 -03:00
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load_parameters();
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2018-02-28 08:23:09 -04:00
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#if STATS_ENABLED == ENABLED
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2016-10-25 23:19:28 -03:00
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// initialise stats module
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g2.stats.init();
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2018-02-28 08:23:09 -04:00
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#endif
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2016-10-25 23:19:28 -03:00
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2016-05-30 22:43:42 -03:00
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gcs().set_dataflash(&DataFlash);
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2014-01-19 21:57:59 -04:00
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2016-10-16 19:21:20 -03:00
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mavlink_system.sysid = g.sysid_this_mav;
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2015-01-28 00:56:36 -04:00
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// initialise serial ports
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serial_manager.init();
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2016-08-03 04:17:13 -03:00
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// setup first port early to allow BoardConfig to report errors
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2017-02-13 07:00:19 -04:00
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gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
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2016-08-03 04:17:13 -03:00
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// Register mavlink_delay_cb, which will run anytime you have
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// more than 5ms remaining in your call to hal.scheduler->delay
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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2016-12-20 09:34:10 -04:00
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2016-08-03 04:17:13 -03:00
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BoardConfig.init();
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2017-05-06 06:11:40 -03:00
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#if HAL_WITH_UAVCAN
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BoardConfig_CAN.init();
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#endif
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2016-08-03 04:17:13 -03:00
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2017-01-21 02:17:07 -04:00
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// initialise notify system
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notify.init(false);
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AP_Notify::flags.failsafe_battery = false;
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2017-11-28 22:35:33 -04:00
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notify_mode(control_mode);
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2017-01-21 02:17:07 -04:00
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2014-01-20 01:05:23 -04:00
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ServoRelayEvents.set_channel_mask(0xFFF0);
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2015-02-11 12:17:19 -04:00
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battery.init();
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2017-06-19 12:46:20 -03:00
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rssi.init();
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2014-02-23 18:25:50 -04:00
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// init baro before we start the GCS, so that the CLI baro test works
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barometer.init();
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2016-05-16 00:33:43 -03:00
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// setup telem slots with serial ports
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2017-02-13 07:00:19 -04:00
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gcs().setup_uarts(serial_manager);
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2015-05-15 01:24:59 -03:00
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2015-01-28 00:56:36 -04:00
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// setup frsky telemetry
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#if FRSKY_TELEM_ENABLED == ENABLED
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2018-06-13 08:15:29 -03:00
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frsky_telemetry.init(serial_manager, (is_boat() ? MAV_TYPE_SURFACE_BOAT : MAV_TYPE_GROUND_ROVER));
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2013-11-25 19:21:30 -04:00
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#endif
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2018-03-04 05:41:06 -04:00
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#if DEVO_TELEM_ENABLED == ENABLED
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devo_telemetry.init(serial_manager);
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#endif
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2012-04-30 04:17:14 -03:00
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#if LOGGING_ENABLED == ENABLED
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2015-05-13 00:16:45 -03:00
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log_init();
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2012-04-30 04:17:14 -03:00
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#endif
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2017-06-06 22:28:34 -03:00
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// initialise compass
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init_compass();
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2013-02-28 21:00:48 -04:00
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2017-07-13 08:36:44 -03:00
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// initialise rangefinder
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init_rangefinder();
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2013-02-28 21:00:48 -04:00
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2017-08-16 07:57:42 -03:00
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// init proximity sensor
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init_proximity();
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2017-04-03 17:46:12 -03:00
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// init beacons used for non-gps position estimation
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init_beacon();
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2017-06-01 04:39:49 -03:00
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// init visual odometry
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init_visual_odom();
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2014-02-23 18:25:50 -04:00
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// and baro for EKF
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2018-04-11 09:47:18 -03:00
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barometer.set_log_baro_bit(MASK_LOG_IMU);
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2018-03-18 01:21:27 -03:00
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barometer.calibrate();
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2014-02-23 18:25:50 -04:00
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2016-05-16 14:04:10 -03:00
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// Do GPS init
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2017-06-27 05:12:55 -03:00
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gps.set_log_gps_bit(MASK_LOG_GPS);
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gps.init(serial_manager);
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2013-12-21 07:27:06 -04:00
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2017-06-27 02:26:14 -03:00
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ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
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2017-07-10 06:43:55 -03:00
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set_control_channels(); // setup radio channels and ouputs ranges
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init_rc_in(); // sets up rc channels deadzone
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g2.motors.init(); // init motors including setting servo out channels ranges
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init_rc_out(); // enable output
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2017-07-06 00:06:20 -03:00
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2017-07-11 23:02:51 -03:00
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// init wheel encoders
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g2.wheel_encoder.init();
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2012-12-18 07:44:12 -04:00
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relay.init();
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2012-04-30 04:17:14 -03:00
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2015-01-28 00:56:36 -04:00
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#if MOUNT == ENABLED
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2015-01-08 16:12:18 -04:00
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// initialise camera mount
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2017-08-23 21:59:47 -03:00
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camera_mount.init(serial_manager);
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2015-01-28 00:56:36 -04:00
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#endif
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2015-01-08 16:12:18 -04:00
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2012-04-30 04:17:14 -03:00
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/*
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setup the 'main loop is dead' check. Note that this relies on
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the RC library being initialised.
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*/
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2015-05-12 04:00:25 -03:00
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hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
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2012-04-30 04:17:14 -03:00
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2017-04-03 17:46:12 -03:00
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// give AHRS the range beacon sensor
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ahrs.set_beacon(&g2.beacon);
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2017-11-29 21:58:11 -04:00
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// initialize SmartRTL
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g2.smart_rtl.init();
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2015-01-28 00:56:36 -04:00
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2016-05-16 14:04:10 -03:00
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init_capabilities();
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2015-07-31 18:14:51 -03:00
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2016-05-16 14:04:10 -03:00
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startup_ground();
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2012-11-17 02:45:20 -04:00
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2018-06-06 03:41:17 -03:00
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Mode *initial_mode = mode_from_mode_num((enum Mode::Number)g.initial_mode.get());
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2017-07-18 23:19:08 -03:00
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if (initial_mode == nullptr) {
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initial_mode = &mode_initializing;
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}
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2017-07-24 14:05:59 -03:00
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set_mode(*initial_mode, MODE_REASON_INITIALISED);
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2017-07-18 23:19:08 -03:00
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2012-04-30 04:17:14 -03:00
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2016-05-16 14:04:10 -03:00
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// set the correct flight mode
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// ---------------------------
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reset_control_switch();
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2017-08-22 04:06:23 -03:00
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init_aux_switch();
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2017-04-29 21:48:00 -03:00
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// disable safety if requested
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BoardConfig.init_safety();
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2017-06-27 23:32:01 -03:00
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// flag that initialisation has completed
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initialised = true;
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2012-04-30 04:17:14 -03:00
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}
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2016-12-20 09:34:10 -04:00
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//*********************************************************************************
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// This function does all the calibrations, etc. that we need during a ground start
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//*********************************************************************************
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2015-05-12 02:03:23 -03:00
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void Rover::startup_ground(void)
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2012-04-30 04:17:14 -03:00
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{
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2017-07-24 14:05:59 -03:00
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set_mode(mode_initializing, MODE_REASON_INITIALISED);
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2012-04-30 04:17:14 -03:00
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2017-07-08 22:40:59 -03:00
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gcs().send_text(MAV_SEVERITY_INFO, "<startup_ground> Ground start");
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2016-05-16 14:04:10 -03:00
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#if(GROUND_START_DELAY > 0)
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2017-07-08 22:40:59 -03:00
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gcs().send_text(MAV_SEVERITY_NOTICE, "<startup_ground> With delay");
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2016-05-16 14:04:10 -03:00
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delay(GROUND_START_DELAY * 1000);
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#endif
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2012-04-30 04:17:14 -03:00
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2016-12-20 09:34:10 -04:00
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// IMU ground start
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2016-05-16 14:04:10 -03:00
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//------------------------
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2012-04-30 04:17:14 -03:00
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//
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2016-05-16 14:04:10 -03:00
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startup_INS_ground();
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2012-11-17 02:45:20 -04:00
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2014-03-11 01:07:15 -03:00
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// initialise mission library
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mission.init();
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2017-05-01 03:12:05 -03:00
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// initialise DataFlash library
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2018-04-20 05:57:14 -03:00
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#if LOGGING_ENABLED == ENABLED
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2017-05-01 03:12:05 -03:00
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DataFlash.set_mission(&mission);
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DataFlash.setVehicle_Startup_Log_Writer(
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FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
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);
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2018-04-20 05:57:14 -03:00
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#endif
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2017-05-01 03:12:05 -03:00
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2015-01-28 00:56:36 -04:00
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// we don't want writes to the serial port to cause us to pause
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// so set serial ports non-blocking once we are ready to drive
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serial_manager.set_blocking_writes_all(false);
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2013-06-03 21:37:05 -03:00
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2017-07-08 22:40:59 -03:00
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gcs().send_text(MAV_SEVERITY_INFO, "Ready to drive");
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2012-04-30 04:17:14 -03:00
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}
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2018-05-28 02:15:36 -03:00
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// update the ahrs flyforward setting which can allow
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// the vehicle's movements to be used to estimate heading
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void Rover::update_ahrs_flyforward()
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2013-11-24 20:21:15 -04:00
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{
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2018-05-28 02:15:36 -03:00
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bool flyforward = false;
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// boats never use movement to estimate heading
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if (!is_boat()) {
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// throttle threshold is 15% or 1/2 cruise throttle
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bool throttle_over_thresh = g2.motors.get_throttle() > MIN(g.throttle_cruise * 0.50f, 15.0f);
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// desired speed threshold of 1m/s
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bool desired_speed_over_thresh = g2.attitude_control.speed_control_active() && (g2.attitude_control.get_desired_speed() > 0.5f);
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if (throttle_over_thresh || (is_positive(g2.motors.get_throttle()) && desired_speed_over_thresh)) {
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uint32_t now = AP_HAL::millis();
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// if throttle over threshold start timer
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if (flyforward_start_ms == 0) {
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flyforward_start_ms = now;
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}
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// if throttle over threshold for 2 seconds set flyforward to true
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flyforward = (now - flyforward_start_ms > 2000);
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} else {
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// reset timer
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flyforward_start_ms = 0;
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}
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2013-11-24 20:21:15 -04:00
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}
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2018-05-28 02:15:36 -03:00
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ahrs.set_fly_forward(flyforward);
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2013-11-24 20:21:15 -04:00
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}
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2017-07-24 14:05:59 -03:00
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bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
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2016-05-16 14:04:10 -03:00
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{
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2017-07-18 23:19:08 -03:00
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if (control_mode == &new_mode) {
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2016-05-16 14:04:10 -03:00
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// don't switch modes if we are already in the correct mode.
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2017-07-18 23:19:08 -03:00
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return true;
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2016-05-16 14:04:10 -03:00
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}
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2015-07-27 09:10:37 -03:00
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2017-07-18 23:19:08 -03:00
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Mode &old_mode = *control_mode;
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if (!new_mode.enter()) {
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2017-07-24 14:05:59 -03:00
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// Log error that we failed to enter desired flight mode
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Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE, new_mode.mode_number());
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gcs().send_text(MAV_SEVERITY_WARNING, "Flight mode change failed");
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2017-07-18 23:19:08 -03:00
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return false;
|
2016-05-16 14:04:10 -03:00
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}
|
2015-07-27 09:10:37 -03:00
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2017-07-18 23:19:08 -03:00
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control_mode = &new_mode;
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2013-03-21 19:38:25 -03:00
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2017-08-16 07:02:56 -03:00
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// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
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// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
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// but it should be harmless to disable the fence temporarily in these situations as well
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g2.fence.manual_recovery_start();
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|
2016-08-09 19:27:42 -03:00
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#if FRSKY_TELEM_ENABLED == ENABLED
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2017-07-18 23:19:08 -03:00
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frsky_telemetry.update_control_mode(control_mode->mode_number());
|
2016-08-09 19:27:42 -03:00
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#endif
|
2018-03-04 05:41:06 -04:00
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#if DEVO_TELEM_ENABLED == ENABLED
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devo_telemetry.update_control_mode(control_mode->mode_number());
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#endif
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2017-10-24 07:44:46 -03:00
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#if CAMERA == ENABLED
|
2018-06-06 03:41:17 -03:00
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camera.set_is_auto_mode(control_mode->mode_number() == Mode::Number::AUTO);
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2017-10-24 07:44:46 -03:00
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#endif
|
2016-12-20 09:34:10 -04:00
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2017-07-18 23:19:08 -03:00
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old_mode.exit();
|
2012-04-30 04:17:14 -03:00
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2017-10-23 21:38:52 -03:00
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control_mode_reason = reason;
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DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
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2017-01-20 06:16:12 -04:00
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|
2017-11-28 22:35:33 -04:00
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notify_mode(control_mode);
|
2017-07-18 23:19:08 -03:00
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return true;
|
2012-04-30 04:17:14 -03:00
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}
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|
2015-05-12 02:03:23 -03:00
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void Rover::startup_INS_ground(void)
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
2017-07-08 22:40:59 -03:00
|
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
|
2017-08-22 06:30:40 -03:00
|
|
|
hal.scheduler->delay(100);
|
2012-04-30 04:17:14 -03:00
|
|
|
|
2013-01-13 01:03:54 -04:00
|
|
|
ahrs.init();
|
2017-06-19 12:46:20 -03:00
|
|
|
// say to EKF that rover only move by goind forward
|
2016-05-16 14:04:10 -03:00
|
|
|
ahrs.set_fly_forward(true);
|
2014-04-21 05:11:45 -03:00
|
|
|
ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
|
2013-10-20 19:09:57 -03:00
|
|
|
|
2015-10-21 18:22:45 -03:00
|
|
|
ins.init(scheduler.get_loop_rate_hz());
|
2012-04-30 04:17:14 -03:00
|
|
|
ahrs.reset();
|
|
|
|
}
|
|
|
|
|
2017-01-20 06:16:12 -04:00
|
|
|
// update notify with mode change
|
2017-11-28 22:35:33 -04:00
|
|
|
void Rover::notify_mode(const Mode *mode)
|
2017-01-20 06:16:12 -04:00
|
|
|
{
|
2017-11-28 22:35:33 -04:00
|
|
|
notify.flags.flight_mode = mode->mode_number();
|
|
|
|
notify.set_flight_mode_str(mode->name4());
|
2017-01-20 06:16:12 -04:00
|
|
|
}
|
|
|
|
|
2013-05-02 20:19:20 -03:00
|
|
|
/*
|
|
|
|
check a digitial pin for high,low (1/0)
|
|
|
|
*/
|
2015-05-12 02:03:23 -03:00
|
|
|
uint8_t Rover::check_digital_pin(uint8_t pin)
|
2013-05-02 20:19:20 -03:00
|
|
|
{
|
2017-01-31 06:12:26 -04:00
|
|
|
const int8_t dpin = hal.gpio->analogPinToDigitalPin(pin);
|
2013-05-02 20:19:20 -03:00
|
|
|
if (dpin == -1) {
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
// ensure we are in input mode
|
2014-06-01 20:27:52 -03:00
|
|
|
hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
|
2013-05-02 20:19:20 -03:00
|
|
|
|
|
|
|
// enable pullup
|
|
|
|
hal.gpio->write(dpin, 1);
|
|
|
|
|
|
|
|
return hal.gpio->read(dpin);
|
|
|
|
}
|
2013-07-14 20:57:00 -03:00
|
|
|
|
2014-01-14 00:10:13 -04:00
|
|
|
/*
|
|
|
|
should we log a message type now?
|
|
|
|
*/
|
2015-05-12 02:03:23 -03:00
|
|
|
bool Rover::should_log(uint32_t mask)
|
2014-01-14 00:10:13 -04:00
|
|
|
{
|
2017-06-30 09:30:45 -03:00
|
|
|
return DataFlash.should_log(mask);
|
2014-01-14 00:10:13 -04:00
|
|
|
}
|
2014-07-29 08:36:26 -03:00
|
|
|
|
2015-10-30 02:56:41 -03:00
|
|
|
/*
|
|
|
|
update AHRS soft arm state and log as needed
|
|
|
|
*/
|
|
|
|
void Rover::change_arm_state(void)
|
|
|
|
{
|
2018-06-11 08:08:01 -03:00
|
|
|
Log_Write_Arm_Disarm();
|
2016-07-28 04:31:58 -03:00
|
|
|
update_soft_armed();
|
2015-10-30 02:56:41 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
|
|
arm motors
|
|
|
|
*/
|
|
|
|
bool Rover::arm_motors(AP_Arming::ArmingMethod method)
|
|
|
|
{
|
|
|
|
if (!arming.arm(method)) {
|
2017-11-30 23:22:44 -04:00
|
|
|
AP_Notify::events.arming_failed = true;
|
2015-10-30 02:56:41 -03:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2018-01-15 12:11:14 -04:00
|
|
|
// Set the SmartRTL home location. If activated, SmartRTL will ultimately try to land at this point
|
|
|
|
g2.smart_rtl.set_home(true);
|
2017-11-29 21:58:11 -04:00
|
|
|
|
2015-10-30 02:56:41 -03:00
|
|
|
change_arm_state();
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
|
|
disarm motors
|
|
|
|
*/
|
|
|
|
bool Rover::disarm_motors(void)
|
|
|
|
{
|
|
|
|
if (!arming.disarm()) {
|
|
|
|
return false;
|
|
|
|
}
|
2017-07-18 23:19:08 -03:00
|
|
|
if (control_mode != &mode_auto) {
|
2015-10-30 02:56:41 -03:00
|
|
|
// reset the mission on disarm if we are not in auto
|
|
|
|
mission.reset();
|
|
|
|
}
|
|
|
|
|
2016-12-20 09:34:10 -04:00
|
|
|
// only log if disarming was successful
|
2015-10-30 02:56:41 -03:00
|
|
|
change_arm_state();
|
|
|
|
|
|
|
|
return true;
|
|
|
|
}
|
2017-11-29 21:58:11 -04:00
|
|
|
|
2017-12-06 22:37:42 -04:00
|
|
|
// returns true if vehicle is a boat
|
|
|
|
// this affects whether the vehicle tries to maintain position after reaching waypoints
|
|
|
|
bool Rover::is_boat() const
|
|
|
|
{
|
|
|
|
return ((enum frame_class)g2.frame_class.get() == FRAME_BOAT);
|
|
|
|
}
|