2015-05-12 01:58:56 -03:00
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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2016-05-05 19:10:08 -03:00
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/*
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2015-05-12 01:58:56 -03:00
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main Rover class, containing all vehicle specific state
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*/
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2016-02-17 21:25:59 -04:00
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#pragma once
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2015-05-13 00:16:45 -03:00
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2016-03-31 18:43:36 -03:00
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#include <cmath>
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2015-05-12 04:00:25 -03:00
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#include <stdarg.h>
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// Libraries
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Menu/AP_Menu.h>
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#include <AP_Param/AP_Param.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
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#include <AP_ADC/AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_Baro/AP_Baro.h>
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#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
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#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
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#include <AP_AHRS/AP_AHRS.h> // ArduPilot Mega DCM Library
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#include <AP_NavEKF/AP_NavEKF.h>
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#include <AP_NavEKF2/AP_NavEKF2.h>
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#include <AP_Mission/AP_Mission.h> // Mission command library
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#include <AP_Rally/AP_Rally.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <PID/PID.h> // PID library
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#include <RC_Channel/RC_Channel.h> // RC Channel Library
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#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
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#include <Filter/Filter.h> // Filter library
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#include <Filter/Butter.h> // Filter library - butterworth filter
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#include <AP_Buffer/AP_Buffer.h> // FIFO buffer library
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#include <Filter/ModeFilter.h> // Mode Filter from Filter library
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#include <Filter/AverageFilter.h> // Mode Filter from Filter library
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#include <AP_Relay/AP_Relay.h> // APM relay
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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#include <AP_Mount/AP_Mount.h> // Camera/Antenna mount
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#include <AP_Camera/AP_Camera.h> // Camera triggering
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
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#include <AP_Airspeed/AP_Airspeed.h> // needed for AHRS build
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#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
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#include <DataFlash/DataFlash.h>
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#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
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#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
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#include <stdarg.h>
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#include <AP_Navigation/AP_Navigation.h>
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#include <APM_Control/APM_Control.h>
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#include <AP_L1_Control/AP_L1_Control.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
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#include <AP_Arming/AP_Arming.h>
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#include "compat.h"
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
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#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
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#include <AP_RSSI/AP_RSSI.h> // RSSI Library
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#include <AP_Button/AP_Button.h>
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// Configuration
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#include "config.h"
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// Local modules
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#include "defines.h"
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#include "Parameters.h"
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#include "GCS_Mavlink.h"
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#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
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2015-10-22 12:36:14 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <SITL/SITL.h>
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#endif
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class Rover : public AP_HAL::HAL::Callbacks {
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public:
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friend class GCS_MAVLINK_Rover;
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friend class Parameters;
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friend class AP_Arming;
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Rover(void);
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// HAL::Callbacks implementation.
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void setup(void) override;
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void loop(void) override;
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private:
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AP_HAL::BetterStream* cliSerial;
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// must be the first AP_Param variable declared to ensure its
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// constructor runs before the constructors of the other AP_Param
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// variables
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AP_Param param_loader;
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// all settable parameters
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Parameters g;
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// main loop scheduler
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AP_Scheduler scheduler;
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// mapping between input channels
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RCMapper rcmap;
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// board specific config
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AP_BoardConfig BoardConfig;
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// primary control channels
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RC_Channel *channel_steer;
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RC_Channel *channel_throttle;
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RC_Channel *channel_learn;
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DataFlash_Class DataFlash;
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bool in_log_download;
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// sensor drivers
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AP_GPS gps;
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AP_Baro barometer;
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Compass compass;
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AP_InertialSensor ins;
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RangeFinder sonar { serial_manager };
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AP_Button button;
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// flight modes convenience array
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AP_Int8 *modes;
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// Inertial Navigation EKF
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#if AP_AHRS_NAVEKF_AVAILABLE
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NavEKF EKF{&ahrs, barometer, sonar};
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NavEKF2 EKF2{&ahrs, barometer, sonar};
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AP_AHRS_NavEKF ahrs {ins, barometer, gps, sonar, EKF, EKF2};
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#else
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AP_AHRS_DCM ahrs {ins, barometer, gps};
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#endif
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// Arming/Disarming mangement class
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AP_Arming arming {ahrs, barometer, compass, battery, home_is_set};
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AP_L1_Control L1_controller;
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// selected navigation controller
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AP_Navigation *nav_controller;
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// steering controller
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AP_SteerController steerController;
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// Mission library
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AP_Mission mission;
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2015-12-21 20:35:31 -04:00
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#if AP_AHRS_NAVEKF_AVAILABLE
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OpticalFlow optflow{ahrs};
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#endif
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// RSSI
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AP_RSSI rssi;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SITL::SITL sitl;
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#endif
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// GCS handling
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AP_SerialManager serial_manager;
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const uint8_t num_gcs;
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GCS_MAVLINK_Rover gcs[MAVLINK_COMM_NUM_BUFFERS];
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// relay support
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AP_Relay relay;
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AP_ServoRelayEvents ServoRelayEvents;
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// Camera
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#if CAMERA == ENABLED
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AP_Camera camera;
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#endif
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// The rover's current location
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struct Location current_loc;
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// Camera/Antenna mount tracking and stabilisation stuff
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#if MOUNT == ENABLED
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// current_loc uses the baro/gps soloution for altitude rather than gps only.
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AP_Mount camera_mount;
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#endif
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// if USB is connected
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bool usb_connected;
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// Radio
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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, FBW-A, AUTO
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enum mode control_mode;
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// Used to maintain the state of the previous control switch position
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// This is set to -1 when we need to re-read the switch
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uint8_t oldSwitchPosition;
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// These are values received from the GCS if the user is using GCS joystick
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// control and are substituted for the values coming from the RC radio
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int16_t rc_override[8];
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// A flag if GCS joystick control is in use
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bool rc_override_active;
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// Failsafe
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// A tracking variable for type of failsafe active
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// Used for failsafe based on loss of RC signal or GCS signal. See
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// FAILSAFE_EVENT_*
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struct {
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uint8_t bits;
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uint32_t rc_override_timer;
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uint32_t start_time;
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uint8_t triggered;
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uint32_t last_valid_rc_ms;
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} failsafe;
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// notification object for LEDs, buzzers etc (parameter set to false disables external leds)
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AP_Notify notify;
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// A counter used to count down valid gps fixes to allow the gps estimate to settle
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// before recording our home position (and executing a ground start if we booted with an air start)
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uint8_t ground_start_count;
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// true if we have a position estimate from AHRS
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bool have_position;
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bool rtl_complete;
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// angle of our next navigation waypoint
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int32_t next_navigation_leg_cd;
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// ground speed error in m/s
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float groundspeed_error;
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// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
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int16_t throttle_nudge;
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// receiver RSSI
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uint8_t receiver_rssi;
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// the time when the last HEARTBEAT message arrived from a GCS
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uint32_t last_heartbeat_ms;
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// obstacle detection information
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struct {
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// have we detected an obstacle?
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uint8_t detected_count;
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float turn_angle;
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uint16_t sonar1_distance_cm;
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uint16_t sonar2_distance_cm;
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// time when we last detected an obstacle, in milliseconds
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uint32_t detected_time_ms;
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} obstacle;
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// this is set to true when auto has been triggered to start
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bool auto_triggered;
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// Ground speed
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// The amount current ground speed is below min ground speed. meters per second
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float ground_speed;
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int16_t throttle_last;
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int16_t throttle;
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// CH7 control
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// Used to track the CH7 toggle state.
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// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true
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// This allows advanced functionality to know when to execute
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bool ch7_flag;
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// Battery Sensors
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AP_BattMonitor battery;
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// Battery Sensors
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#if FRSKY_TELEM_ENABLED == ENABLED
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AP_Frsky_Telem frsky_telemetry;
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#endif
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// Navigation control variables
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// The instantaneous desired lateral acceleration in m/s/s
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float lateral_acceleration;
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// Waypoint distances
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// Distance between rover and next waypoint. Meters
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float wp_distance;
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// Distance between previous and next waypoint. Meters
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int32_t wp_totalDistance;
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// Conditional command
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// A value used in condition commands (eg delay, change alt, etc.)
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// For example in a change altitude command, it is the altitude to change to.
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int32_t condition_value;
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// A starting value used to check the status of a conditional command.
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// For example in a delay command the condition_start records that start time for the delay
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int32_t condition_start;
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// 3D Location vectors
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// Location structure defined in AP_Common
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// The home location used for RTL. The location is set when we first get stable GPS lock
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const struct Location &home;
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// Flag for if we have g_gps lock and have set the home location in AHRS
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enum HomeState home_is_set = HOME_UNSET;
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// The location of the previous waypoint. Used for track following and altitude ramp calculations
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struct Location prev_WP;
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// The location of the current/active waypoint. Used for track following
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struct Location next_WP;
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// The location of the active waypoint in Guided mode.
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struct Location guided_WP;
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// IMU variables
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// The main loop execution time. Seconds
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// This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
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float G_Dt;
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// Performance monitoring
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// Timer used to accrue data and trigger recording of the performanc monitoring log message
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int32_t perf_mon_timer;
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// The maximum main loop execution time recorded in the current performance monitoring interval
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uint32_t G_Dt_max;
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// System Timers
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// Time in microseconds of start of main control loop.
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uint32_t fast_loopTimer_us;
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// Number of milliseconds used in last main loop cycle
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uint32_t delta_us_fast_loop;
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// Counter of main loop executions. Used for performance monitoring and failsafe processing
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uint16_t mainLoop_count;
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// set if we are driving backwards
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bool in_reverse;
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static const AP_Scheduler::Task scheduler_tasks[];
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2015-05-12 04:00:25 -03:00
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// use this to prevent recursion during sensor init
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bool in_mavlink_delay;
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// true if we are out of time in our event timeslice
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bool gcs_out_of_time;
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static const AP_Param::Info var_info[];
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2015-05-13 00:16:45 -03:00
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static const LogStructure log_structure[];
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2015-05-12 04:00:25 -03:00
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2015-07-27 09:10:37 -03:00
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// Loiter control
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uint16_t loiter_time_max; // How long we should loiter at the nav_waypoint (time in seconds)
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uint32_t loiter_time; // How long have we been loitering - The start time in millis
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float distance_past_wp; // record the distance we have gone past the wp
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2015-10-30 02:56:41 -03:00
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// time that rudder/steering arming has been running
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uint32_t rudder_arm_timer;
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// true if we are in an auto-throttle mode, which means
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2015-10-30 02:57:17 -03:00
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// we need to run the speed controller
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2015-10-30 02:56:41 -03:00
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bool auto_throttle_mode;
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2015-10-30 02:20:28 -03:00
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// Store the time the last GPS message was received.
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uint32_t last_gps_msg_ms{0};
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2015-10-30 02:56:41 -03:00
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2015-05-12 01:58:56 -03:00
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private:
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// private member functions
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void ahrs_update();
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void mount_update(void);
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2015-06-07 14:22:06 -03:00
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void update_trigger(void);
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2015-05-12 01:58:56 -03:00
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void update_alt();
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void gcs_failsafe_check(void);
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void compass_accumulate(void);
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2015-07-30 22:24:32 -03:00
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void compass_cal_update(void);
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2015-05-12 01:58:56 -03:00
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void update_compass(void);
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void update_logging1(void);
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void update_logging2(void);
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void update_aux(void);
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void one_second_loop(void);
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void update_GPS_50Hz(void);
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void update_GPS_10Hz(void);
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void update_current_mode(void);
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void update_navigation();
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void send_heartbeat(mavlink_channel_t chan);
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void send_attitude(mavlink_channel_t chan);
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void send_extended_status1(mavlink_channel_t chan);
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void send_location(mavlink_channel_t chan);
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void send_nav_controller_output(mavlink_channel_t chan);
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void send_servo_out(mavlink_channel_t chan);
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void send_vfr_hud(mavlink_channel_t chan);
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void send_simstate(mavlink_channel_t chan);
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void send_hwstatus(mavlink_channel_t chan);
|
2015-06-18 04:37:59 -03:00
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void send_pid_tuning(mavlink_channel_t chan);
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2015-05-12 01:58:56 -03:00
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void send_rangefinder(mavlink_channel_t chan);
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void send_current_waypoint(mavlink_channel_t chan);
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bool telemetry_delayed(mavlink_channel_t chan);
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void gcs_send_message(enum ap_message id);
|
2015-07-24 04:31:30 -03:00
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void gcs_send_mission_item_reached_message(uint16_t mission_index);
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2015-05-12 01:58:56 -03:00
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void gcs_data_stream_send(void);
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void gcs_update(void);
|
2015-10-26 08:25:44 -03:00
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void gcs_send_text(MAV_SEVERITY severity, const char *str);
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2015-05-12 01:58:56 -03:00
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void gcs_retry_deferred(void);
|
2015-08-06 09:50:52 -03:00
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2015-05-12 01:58:56 -03:00
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void do_erase_logs(void);
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void Log_Write_Performance();
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void Log_Write_Steering();
|
2015-11-09 18:40:10 -04:00
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void Log_Write_Startup(uint8_t type);
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2015-05-12 01:58:56 -03:00
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void Log_Write_Control_Tuning();
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void Log_Write_Nav_Tuning();
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void Log_Write_Sonar();
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void Log_Write_Current();
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2015-05-12 04:00:25 -03:00
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void Log_Write_Attitude();
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2015-05-12 01:58:56 -03:00
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void Log_Write_RC(void);
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void Log_Write_Baro(void);
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2015-07-06 01:17:05 -03:00
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void Log_Write_Home_And_Origin();
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2015-08-06 09:50:52 -03:00
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void Log_Write_Vehicle_Startup_Messages();
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2015-05-12 01:58:56 -03:00
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void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
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2015-05-13 00:16:45 -03:00
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void log_init(void);
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2015-05-12 01:58:56 -03:00
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void start_logging() ;
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2015-10-30 02:56:41 -03:00
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void Log_Arm_Disarm();
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2015-08-06 09:50:52 -03:00
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2015-05-12 01:58:56 -03:00
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void load_parameters(void);
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void throttle_slew_limit(int16_t last_throttle);
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bool auto_check_trigger(void);
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|
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bool use_pivot_steering(void);
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|
|
void calc_throttle(float target_speed);
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|
|
void calc_lateral_acceleration();
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|
|
void calc_nav_steer();
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|
|
void set_servos(void);
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|
|
void set_next_WP(const struct Location& loc);
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|
|
void set_guided_WP(void);
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|
|
void init_home();
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|
|
void restart_nav();
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|
|
void exit_mission();
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|
|
void do_RTL(void);
|
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|
|
bool verify_RTL();
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|
|
bool verify_wait_delay();
|
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|
|
bool verify_within_distance();
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|
|
void do_take_picture();
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|
|
void log_picture();
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|
|
void update_commands(void);
|
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|
|
void delay(uint32_t ms);
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|
|
void mavlink_delay(uint32_t ms);
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|
|
void read_control_switch();
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|
|
uint8_t readSwitch(void);
|
|
|
|
void reset_control_switch();
|
|
|
|
void read_trim_switch();
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|
|
void update_events(void);
|
2016-07-21 22:24:35 -03:00
|
|
|
void button_update(void);
|
2015-05-12 01:58:56 -03:00
|
|
|
void navigate();
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|
|
|
void set_control_channels(void);
|
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|
|
void init_rc_in();
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|
|
void init_rc_out();
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|
|
void read_radio();
|
|
|
|
void control_failsafe(uint16_t pwm);
|
2015-09-07 00:51:01 -03:00
|
|
|
bool throttle_failsafe_active();
|
2015-05-12 01:58:56 -03:00
|
|
|
void trim_control_surfaces();
|
|
|
|
void trim_radio();
|
2016-05-23 22:31:27 -03:00
|
|
|
void init_barometer(bool full_calibration);
|
2015-05-12 01:58:56 -03:00
|
|
|
void init_sonar(void);
|
|
|
|
void read_battery(void);
|
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|
|
void read_receiver_rssi(void);
|
|
|
|
void read_sonars(void);
|
|
|
|
void report_batt_monitor();
|
|
|
|
void report_radio();
|
|
|
|
void report_gains();
|
|
|
|
void report_throttle();
|
|
|
|
void report_compass();
|
|
|
|
void report_modes();
|
|
|
|
void print_radio_values();
|
|
|
|
void print_switch(uint8_t p, uint8_t m);
|
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|
|
void print_done();
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|
|
void print_blanks(int num);
|
|
|
|
void print_divider(void);
|
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|
|
int8_t radio_input_switch(void);
|
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|
|
void zero_eeprom(void);
|
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|
|
void print_enabled(bool b);
|
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|
|
void init_ardupilot();
|
|
|
|
void startup_ground(void);
|
|
|
|
void set_reverse(bool reverse);
|
|
|
|
void set_mode(enum mode mode);
|
|
|
|
bool mavlink_set_mode(uint8_t mode);
|
|
|
|
void failsafe_trigger(uint8_t failsafe_type, bool on);
|
|
|
|
void startup_INS_ground(void);
|
|
|
|
void update_notify();
|
|
|
|
void resetPerfData(void);
|
|
|
|
void check_usb_mux(void);
|
|
|
|
uint8_t check_digital_pin(uint8_t pin);
|
|
|
|
bool should_log(uint32_t mask);
|
|
|
|
void frsky_telemetry_send(void);
|
|
|
|
void print_hit_enter();
|
2015-11-03 01:19:03 -04:00
|
|
|
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
|
2015-05-12 04:00:25 -03:00
|
|
|
void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
|
|
|
|
bool start_command(const AP_Mission::Mission_Command& cmd);
|
|
|
|
bool verify_command(const AP_Mission::Mission_Command& cmd);
|
2015-07-24 05:20:49 -03:00
|
|
|
bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
|
2015-05-12 04:00:25 -03:00
|
|
|
void do_nav_wp(const AP_Mission::Mission_Command& cmd);
|
2016-07-13 22:34:22 -03:00
|
|
|
void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
|
2015-05-12 04:00:25 -03:00
|
|
|
bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
|
2016-07-13 22:34:22 -03:00
|
|
|
bool verify_loiter_unlim();
|
2015-05-12 04:00:25 -03:00
|
|
|
void do_wait_delay(const AP_Mission::Mission_Command& cmd);
|
|
|
|
void do_within_distance(const AP_Mission::Mission_Command& cmd);
|
|
|
|
void do_change_speed(const AP_Mission::Mission_Command& cmd);
|
|
|
|
void do_set_home(const AP_Mission::Mission_Command& cmd);
|
|
|
|
void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
|
|
|
|
void do_digicam_control(const AP_Mission::Mission_Command& cmd);
|
2016-07-14 04:50:39 -03:00
|
|
|
void do_set_reverse(const AP_Mission::Mission_Command& cmd);
|
2015-07-31 18:14:51 -03:00
|
|
|
void init_capabilities(void);
|
2015-10-30 02:56:41 -03:00
|
|
|
void rudder_arm_disarm_check();
|
|
|
|
void change_arm_state(void);
|
|
|
|
bool disarm_motors(void);
|
|
|
|
bool arm_motors(AP_Arming::ArmingMethod method);
|
2015-10-30 02:57:17 -03:00
|
|
|
bool motor_active();
|
2015-10-30 02:56:41 -03:00
|
|
|
void update_home();
|
2015-10-21 18:22:45 -03:00
|
|
|
void accel_cal_update(void);
|
2015-05-12 04:00:25 -03:00
|
|
|
public:
|
|
|
|
bool print_log_menu(void);
|
|
|
|
int8_t dump_log(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t erase_logs(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t select_logs(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t process_logs(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t setup_erase(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t setup_mode(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t reboot_board(uint8_t, const Menu::arg*);
|
|
|
|
int8_t main_menu_help(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_mode(uint8_t argc, const Menu::arg *argv);
|
|
|
|
void run_cli(AP_HAL::UARTDriver *port);
|
|
|
|
void mavlink_delay_cb();
|
|
|
|
void failsafe_check();
|
|
|
|
int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_passthru(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_radio(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_failsafe(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_relay(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_wp(uint8_t argc, const Menu::arg *argv);
|
|
|
|
void test_wp_print(const AP_Mission::Mission_Command& cmd);
|
|
|
|
int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_logging(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_gps(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_ins(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_mag(uint8_t argc, const Menu::arg *argv);
|
|
|
|
int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
|
|
|
int8_t test_shell(uint8_t argc, const Menu::arg *argv);
|
|
|
|
#endif
|
2015-08-06 09:50:52 -03:00
|
|
|
|
|
|
|
void dataflash_periodic(void);
|
2015-05-12 01:58:56 -03:00
|
|
|
};
|
2015-05-12 04:00:25 -03:00
|
|
|
|
2015-05-24 20:24:11 -03:00
|
|
|
#define MENU_FUNC(func) FUNCTOR_BIND(&rover, &Rover::func, int8_t, uint8_t, const Menu::arg *)
|
2015-05-13 00:16:45 -03:00
|
|
|
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
extern Rover rover;
|
|
|
|
|
2015-11-19 23:04:16 -04:00
|
|
|
using AP_HAL::millis;
|
|
|
|
using AP_HAL::micros;
|