Added APO branch.

This commit is contained in:
James Goppert 2011-09-28 20:51:12 -04:00
parent 888e1119e8
commit 71fbdf721a
54 changed files with 5910 additions and 51 deletions

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/*
* ardupilotone
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#define ENABLE_FASTSERIAL_DEBUG
// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_RC.h>
#include <AP_RangeFinder.h>
#include <GCS_MAVLink.h>
#include <AP_ADC.h>
#include <AP_DCM.h>
#include <AP_Compass.h>
#include <Wire.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
FastSerialPort0(Serial);
FastSerialPort1(Serial1);
FastSerialPort2(Serial2);
FastSerialPort3(Serial3);
// Vehicle Configuration
#include "BoatGeneric.h"
/*
* Required Global Declarations
*/
static apo::AP_Autopilot * autoPilot;
void setup() {
using namespace apo;
AP_Var::load_all();
/*
* Communications
*/
Serial.begin(DEBUG_BAUD, 128, 128); // debug
if (board==BOARD_ARDUPILOTMEGA_2) Serial2.begin(TELEM_BAUD, 128, 128); // gcs
else Serial3.begin(TELEM_BAUD, 128, 128); // gcs
// hardware abstraction layer
AP_HardwareAbstractionLayer * hal = new AP_HardwareAbstractionLayer(
halMode, board, vehicle, heartBeatTimeout);
// debug serial
hal->debug = &Serial;
hal->debug->println_P(PSTR("initializing debug line"));
/*
* Initialize Comm Channels
*/
hal->debug->println_P(PSTR("initializing comm channels"));
if (hal->getMode() == MODE_LIVE) {
Serial1.begin(GPS_BAUD, 128, 16); // gps
} else { // hil
Serial1.begin(HIL_BAUD, 128, 128);
}
/*
* Sensor initialization
*/
if (hal->getMode() == MODE_LIVE) {
hal->debug->println_P(PSTR("initializing adc"));
hal->adc = new ADC_CLASS;
hal->adc->Init();
if (gpsEnabled) {
hal->debug->println_P(PSTR("initializing gps"));
AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps));
hal->gps = &gpsDriver;
hal->gps->init();
}
if (baroEnabled) {
hal->debug->println_P(PSTR("initializing baro"));
hal->baro = new BARO_CLASS;
hal->baro->Init();
}
if (compassEnabled) {
hal->debug->println_P(PSTR("initializing compass"));
hal->compass = new COMPASS_CLASS;
hal->compass->set_orientation(AP_COMPASS_COMPONENTS_UP_PINS_FORWARD);
hal->compass->init();
}
/**
* Initialize ultrasonic sensors. If sensors are not plugged in, the navigator will not
* initialize them and NULL will be assigned to those corresponding pointers.
* On detecting NULL assigned to any ultrasonic sensor, its corresponding block of code
* will not be executed by the navigator.
* The coordinate system is assigned by the right hand rule with the thumb pointing down.
* In set_orientation, it is defind as (front/back,left/right,down,up)
*/
if (rangeFinderFrontEnabled) {
hal->debug->println_P(PSTR("initializing front range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(1);
rangeFinder->set_orientation(1, 0, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderBackEnabled) {
hal->debug->println_P(PSTR("initializing back range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(2);
rangeFinder->set_orientation(-1, 0, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderLeftEnabled) {
hal->debug->println_P(PSTR("initializing left range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(3);
rangeFinder->set_orientation(0, -1, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderRightEnabled) {
hal->debug->println_P(PSTR("initializing right range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(4);
rangeFinder->set_orientation(0, 1, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderUpEnabled) {
hal->debug->println_P(PSTR("initializing up range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(5);
rangeFinder->set_orientation(0, 0, -1);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderDownEnabled) {
hal->debug->println_P(PSTR("initializing down range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(6);
rangeFinder->set_orientation(0, 0, 1);
hal->rangeFinders.push_back(rangeFinder);
}
}
/*
* Select guidance, navigation, control algorithms
*/
AP_Navigator * navigator = new NAVIGATOR_CLASS(hal);
AP_Guide * guide = new GUIDE_CLASS(navigator, hal);
AP_Controller * controller = new CONTROLLER_CLASS(navigator, guide, hal);
/*
* CommLinks
*/
if (board==BOARD_ARDUPILOTMEGA_2) hal->gcs = new COMMLINK_CLASS(&Serial2, navigator, guide, controller, hal);
else hal->gcs = new COMMLINK_CLASS(&Serial3, navigator, guide, controller, hal);
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
/*
* Start the autopilot
*/
hal->debug->printf_P(PSTR("initializing arduplane\n"));
hal->debug->printf_P(PSTR("free ram: %d bytes\n"),freeMemory());
autoPilot = new apo::AP_Autopilot(navigator, guide, controller, hal,
loop0Rate, loop1Rate, loop2Rate, loop3Rate);
}
void loop() {
autoPilot->update();
}

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/*
* BoatGeneric.h
*
* Created on: May 1, 2011
* Author: jgoppert
*/
#ifndef BOATGENERIC_H_
#define BOATGENERIC_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_BOAT;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerBoat
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
// gains
const float steeringP = 1.0;
const float steeringI = 0.0;
const float steeringD = 0.0;
const float steeringIMax = 0.0;
const float steeringYMax = 3.0;
const float throttleP = 0.0;
const float throttleI = 0.0;
const float throttleD = 0.0;
const float throttleIMax = 0.0;
const float throttleYMax = 0.0;
const float throttleDFCut = 3.0;
#include "ControllerBoat.h"
#endif /* BOATGENERIC_H_ */

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#=============================================================================#
# Author: Sebastian Rohde #
# Date: 30.08.2011 #
#=============================================================================#
#====================================================================#
# Settings #
#====================================================================#
set(FIRMWARE_NAME ArduBoat)
set(${FIRMWARE_NAME}_BOARD ${BOARD}) # Arduino Target board
set(${FIRMWARE_NAME}_SKETCHES
ardupilotone.pde
) # Firmware sketches
set(${FIRMWARE_NAME}_SRCS
) # Firmware sources
set(${FIRMWARE_NAME}_HDRS
BoatGeneric.h
CarStampede.h
#CNIRover.h
#CNIBoat.h
ControllerBoat.h
ControllerCar.h
ControllerPlane.h
ControllerQuad.h
PlaneEasystar.h
QuadArducopter.h
QuadMikrokopter.h
) # Firmware sources
set(${FIRMWARE_NAME}_LIBS
m
APO
FastSerial
AP_Common
GCS_MAVLink
AP_GPS
APM_RC
AP_DCM
AP_ADC
AP_Compass
AP_IMU
AP_RangeFinder
APM_BMP085
ModeFilter
)
#${CONSOLE_PORT}
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port
set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X ) # Serial terminal cmd
include_directories(
${CMAKE_SOURCE_DIR}/libraries/APO
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
${CMAKE_SOURCE_DIR}/libraries/APM_RC
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
)
#====================================================================#
# Target generation #
#====================================================================#
generate_arduino_firmware(${FIRMWARE_NAME})
install(FILES
${CMAKE_CURRENT_BINARY_DIR}/${FIRMWARE_NAME}.hex
DESTINATION bin
)

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/*
* ControllerBoat.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERBOAT_H_
#define CONTROLLERBOAT_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerBoat: public AP_Controller {
private:
AP_Var_group _group;
AP_Uint8 _mode;
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chThr
};
enum {
k_pidStr = k_controllersStart, k_pidThr
};
enum {
CH_MODE = 0, CH_STR, CH_THR
};
BlockPIDDfb pidStr;
BlockPID pidThr;
public:
ControllerBoat(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal),
_group(k_cntrl, PSTR("CNTRL_")),
_mode(&_group, 1, MAV_MODE_UNINIT, PSTR("MODE")),
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
steeringI, steeringD, steeringIMax, steeringYMax),
pidThr(new AP_Var_group(k_pidThr, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut) {
_hal->debug->println_P(PSTR("initializing boat controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 7, 1100,
1500, 1900));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1540,
1900));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
1900));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();
}
virtual void update(const float & dt) {
// check for heartbeat
if (_hal->heartBeatLost()) {
_mode = MAV_MODE_FAILSAFE;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
return;
// if throttle less than 5% cut motor power
} else if (_hal->rc[CH_THR]->getRadioPosition() < 0.05) {
_mode = MAV_MODE_LOCKED;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_STANDBY);
return;
// if in live mode then set state to active
} else if (_hal->getMode() == MODE_LIVE) {
_hal->setState(MAV_STATE_ACTIVE);
// if in hardware in the loop (control) mode, set to hilsim
} else if (_hal->getMode() == MODE_HIL_CNTL) {
_hal->setState(MAV_STATE_HILSIM);
}
// read switch to set mode
if (_hal->rc[CH_MODE]->getRadioPosition() > 0) {
_mode = MAV_MODE_MANUAL;
} else {
_mode = MAV_MODE_AUTO;
}
// manual mode
switch (_mode) {
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
//_hal->debug->println("manual");
break;
}
case MAV_MODE_AUTO: {
float headingError = _guide->getHeadingCommand()
- _nav->getYaw();
if (headingError > 180 * deg2Rad)
headingError -= 360 * deg2Rad;
if (headingError < -180 * deg2Rad)
headingError += 360 * deg2Rad;
_hal->rc[CH_STR]->setPosition(
pidStr.update(headingError, _nav->getYawRate(), dt));
_hal->rc[CH_THR]->setPosition(
pidThr.update(
_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt));
//_hal->debug->println("automode");
break;
}
default: {
setAllRadioChannelsToNeutral();
_mode = MAV_MODE_FAILSAFE;
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("unknown controller mode\n"));
break;
}
}
}
};
} // namespace apo
#endif /* CONTROLLERBOAT_H_ */

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include ../libraries/AP_Common/Arduino.mk

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/*
* ardupilotone
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#define ENABLE_FASTSERIAL_DEBUG
// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_RC.h>
#include <AP_RangeFinder.h>
#include <GCS_MAVLink.h>
#include <AP_ADC.h>
#include <AP_DCM.h>
#include <AP_Compass.h>
#include <Wire.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
FastSerialPort0(Serial);
FastSerialPort1(Serial1);
FastSerialPort2(Serial2);
FastSerialPort3(Serial3);
// Vehicle Configuration
#include "CarStampede.h"
/*
* Required Global Declarations
*/
static apo::AP_Autopilot * autoPilot;
void setup() {
using namespace apo;
AP_Var::load_all();
/*
* Communications
*/
Serial.begin(DEBUG_BAUD, 128, 128); // debug
if (board==BOARD_ARDUPILOTMEGA_2) Serial2.begin(TELEM_BAUD, 128, 128); // gcs
else Serial3.begin(TELEM_BAUD, 128, 128); // gcs
// hardware abstraction layer
AP_HardwareAbstractionLayer * hal = new AP_HardwareAbstractionLayer(
halMode, board, vehicle, heartBeatTimeout);
// debug serial
hal->debug = &Serial;
hal->debug->println_P(PSTR("initializing debug line"));
/*
* Initialize Comm Channels
*/
hal->debug->println_P(PSTR("initializing comm channels"));
if (hal->getMode() == MODE_LIVE) {
Serial1.begin(GPS_BAUD, 128, 16); // gps
} else { // hil
Serial1.begin(HIL_BAUD, 128, 128);
}
/*
* Sensor initialization
*/
if (hal->getMode() == MODE_LIVE) {
hal->debug->println_P(PSTR("initializing adc"));
hal->adc = new ADC_CLASS;
hal->adc->Init();
if (gpsEnabled) {
hal->debug->println_P(PSTR("initializing gps"));
AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps));
hal->gps = &gpsDriver;
hal->gps->init();
}
if (baroEnabled) {
hal->debug->println_P(PSTR("initializing baro"));
hal->baro = new BARO_CLASS;
hal->baro->Init();
}
if (compassEnabled) {
hal->debug->println_P(PSTR("initializing compass"));
hal->compass = new COMPASS_CLASS;
hal->compass->set_orientation(AP_COMPASS_COMPONENTS_UP_PINS_FORWARD);
hal->compass->init();
}
/**
* Initialize ultrasonic sensors. If sensors are not plugged in, the navigator will not
* initialize them and NULL will be assigned to those corresponding pointers.
* On detecting NULL assigned to any ultrasonic sensor, its corresponding block of code
* will not be executed by the navigator.
* The coordinate system is assigned by the right hand rule with the thumb pointing down.
* In set_orientation, it is defind as (front/back,left/right,down,up)
*/
if (rangeFinderFrontEnabled) {
hal->debug->println_P(PSTR("initializing front range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(1);
rangeFinder->set_orientation(1, 0, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderBackEnabled) {
hal->debug->println_P(PSTR("initializing back range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(2);
rangeFinder->set_orientation(-1, 0, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderLeftEnabled) {
hal->debug->println_P(PSTR("initializing left range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(3);
rangeFinder->set_orientation(0, -1, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderRightEnabled) {
hal->debug->println_P(PSTR("initializing right range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(4);
rangeFinder->set_orientation(0, 1, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderUpEnabled) {
hal->debug->println_P(PSTR("initializing up range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(5);
rangeFinder->set_orientation(0, 0, -1);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderDownEnabled) {
hal->debug->println_P(PSTR("initializing down range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(6);
rangeFinder->set_orientation(0, 0, 1);
hal->rangeFinders.push_back(rangeFinder);
}
}
/*
* Select guidance, navigation, control algorithms
*/
AP_Navigator * navigator = new NAVIGATOR_CLASS(hal);
AP_Guide * guide = new GUIDE_CLASS(navigator, hal);
AP_Controller * controller = new CONTROLLER_CLASS(navigator, guide, hal);
/*
* CommLinks
*/
if (board==BOARD_ARDUPILOTMEGA_2) hal->gcs = new COMMLINK_CLASS(&Serial2, navigator, guide, controller, hal);
else hal->gcs = new COMMLINK_CLASS(&Serial3, navigator, guide, controller, hal);
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
/*
* Start the autopilot
*/
hal->debug->printf_P(PSTR("initializing arduplane\n"));
hal->debug->printf_P(PSTR("free ram: %d bytes\n"),freeMemory());
autoPilot = new apo::AP_Autopilot(navigator, guide, controller, hal,
loop0Rate, loop1Rate, loop2Rate, loop3Rate);
}
void loop() {
autoPilot->update();
}

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#=============================================================================#
# Author: Sebastian Rohde #
# Date: 30.08.2011 #
#=============================================================================#
#====================================================================#
# Settings #
#====================================================================#
set(FIRMWARE_NAME ArduRover)
set(${FIRMWARE_NAME}_BOARD ${BOARD}) # Arduino Target board
set(${FIRMWARE_NAME}_SKETCHES
ardupilotone.pde
) # Firmware sketches
set(${FIRMWARE_NAME}_SRCS
) # Firmware sources
set(${FIRMWARE_NAME}_HDRS
BoatGeneric.h
CarStampede.h
#CNIRover.h
#CNIBoat.h
ControllerBoat.h
ControllerCar.h
ControllerPlane.h
ControllerQuad.h
PlaneEasystar.h
QuadArducopter.h
QuadMikrokopter.h
) # Firmware sources
set(${FIRMWARE_NAME}_LIBS
m
APO
FastSerial
AP_Common
GCS_MAVLink
AP_GPS
APM_RC
AP_DCM
AP_ADC
AP_Compass
AP_IMU
AP_RangeFinder
APM_BMP085
ModeFilter
)
#${CONSOLE_PORT}
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port
set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X ) # Serial terminal cmd
include_directories(
${CMAKE_SOURCE_DIR}/libraries/APO
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
${CMAKE_SOURCE_DIR}/libraries/APM_RC
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
)
#====================================================================#
# Target generation #
#====================================================================#
generate_arduino_firmware(${FIRMWARE_NAME})
install(FILES
${CMAKE_CURRENT_BINARY_DIR}/${FIRMWARE_NAME}.hex
DESTINATION bin
)

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/*
* CarStampede.h
*
* Created on: May 1, 2011
* Author: jgoppert
*
*/
#ifndef CARSTAMPEDE_H_
#define CARSTAMPEDE_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_CAR;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerCar
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
// gains
static const float steeringP = 1.0;
static const float steeringI = 0.0;
static const float steeringD = 0.0;
static const float steeringIMax = 0.0;
static const float steeringYMax = 3.0;
static const float throttleP = 0.0;
static const float throttleI = 0.0;
static const float throttleD = 0.0;
static const float throttleIMax = 0.0;
static const float throttleYMax = 0.0;
static const float throttleDFCut = 3.0;
#include "ControllerCar.h"
#endif /* CARSTAMPEDE_H_ */

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/*
* ControllerCar.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERCAR_H_
#define CONTROLLERCAR_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerCar: public AP_Controller {
private:
AP_Var_group _group;
AP_Uint8 _mode;
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chThr
};
enum {
k_pidStr = k_controllersStart, k_pidThr
};
enum {
CH_MODE = 0, CH_STR, CH_THR
};
BlockPIDDfb pidStr;
BlockPID pidThr;
public:
ControllerCar(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal),
_group(k_cntrl, PSTR("CNTRL_")),
_mode(&_group, 1, MAV_MODE_UNINIT, PSTR("MODE")),
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
steeringI, steeringD, steeringIMax, steeringYMax),
pidThr(new AP_Var_group(k_pidThr, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut) {
_hal->debug->println_P(PSTR("initializing car controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 7, 1100,
1500, 1900));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1540,
1900));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
1900));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();
}
virtual void update(const float & dt) {
// check for heartbeat
if (_hal->heartBeatLost()) {
_mode = MAV_MODE_FAILSAFE;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
return;
// if throttle less than 5% cut motor power
} else if (_hal->rc[CH_THR]->getRadioPosition() < 0.05) {
_mode = MAV_MODE_LOCKED;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_STANDBY);
return;
// if in live mode then set state to active
} else if (_hal->getMode() == MODE_LIVE) {
_hal->setState(MAV_STATE_ACTIVE);
// if in hardware in the loop (control) mode, set to hilsim
} else if (_hal->getMode() == MODE_HIL_CNTL) {
_hal->setState(MAV_STATE_HILSIM);
}
// read switch to set mode
if (_hal->rc[CH_MODE]->getRadioPosition() > 0) {
_mode = MAV_MODE_MANUAL;
} else {
_mode = MAV_MODE_AUTO;
}
// manual mode
switch (_mode) {
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
//_hal->debug->println("manual");
break;
}
case MAV_MODE_AUTO: {
float headingError = _guide->getHeadingCommand()
- _nav->getYaw();
if (headingError > 180 * deg2Rad)
headingError -= 360 * deg2Rad;
if (headingError < -180 * deg2Rad)
headingError += 360 * deg2Rad;
_hal->rc[CH_STR]->setPosition(
pidStr.update(headingError, _nav->getYawRate(), dt));
_hal->rc[CH_THR]->setPosition(
pidThr.update(
_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt));
//_hal->debug->println("automode");
break;
}
default: {
setAllRadioChannelsToNeutral();
_mode = MAV_MODE_FAILSAFE;
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("unknown controller mode\n"));
break;
}
}
}
};
} // namespace apo
#endif /* CONTROLLERCAR_H_ */

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/*
* ControllerTank.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERTANK_H_
#define CONTROLLERTANK_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerTank: public AP_Controller {
private:
AP_Var_group _group;
AP_Uint8 _mode;
enum {
k_chMode = k_radioChannelsStart, k_chLeft, k_chRight, k_chStr, k_chThr
};
enum {
k_pidStr = k_controllersStart, k_pidThr
};
enum {
CH_MODE = 0, CH_LEFT, CH_RIGHT, CH_STR, CH_THR
};
BlockPIDDfb pidStr;
BlockPID pidThr;
public:
ControllerTank(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal),
_group(k_cntrl, PSTR("CNTRL_")),
_mode(&_group, 1, MAV_MODE_UNINIT, PSTR("MODE")),
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
steeringI, steeringD, steeringIMax, steeringYMax),
pidThr(new AP_Var_group(k_pidThr, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut) {
_hal->debug->println_P(PSTR("initializing tank controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100, 1500,
1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100, 1500,
1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1500,
1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
1900, RC_MODE_IN));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();
}
void mix(float headingOutput, float throttleOutput) {
_hal->rc[CH_LEFT]->setPosition(throttleOutput + headingOutput);
_hal->rc[CH_RIGHT]->setPosition(throttleOutput - headingOutput);
}
virtual void update(const float & dt) {
// check for heartbeat
if (_hal->heartBeatLost()) {
_mode = MAV_MODE_FAILSAFE;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
return;
// if throttle less than 5% cut motor power
} else if (_hal->rc[CH_THR]->getRadioPosition() < 0.05) {
_mode = MAV_MODE_LOCKED;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_STANDBY);
return;
// if in live mode then set state to active
} else if (_hal->getMode() == MODE_LIVE) {
_hal->setState(MAV_STATE_ACTIVE);
// if in hardware in the loop (control) mode, set to hilsim
} else if (_hal->getMode() == MODE_HIL_CNTL) {
_hal->setState(MAV_STATE_HILSIM);
}
// read switch to set mode
if (_hal->rc[CH_MODE]->getRadioPosition() > 0) {
_mode = MAV_MODE_MANUAL;
} else {
_mode = MAV_MODE_AUTO;
}
// manual mode
switch (_mode) {
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
mix(_hal->rc[CH_STR]->getPosition(),
_hal->rc[CH_THR]->getPosition());
break;
}
case MAV_MODE_AUTO: {
float headingError = _guide->getHeadingCommand()
- _nav->getYaw();
if (headingError > 180 * deg2Rad)
headingError -= 360 * deg2Rad;
if (headingError < -180 * deg2Rad)
headingError += 360 * deg2Rad;
mix(pidStr.update(headingError, _nav->getYawRate(), dt),
pidThr.update(_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt));
//_hal->debug->println("automode");
break;
}
default: {
setAllRadioChannelsToNeutral();
_mode = MAV_MODE_FAILSAFE;
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("unknown controller mode\n"));
break;
}
}
}
};
} // namespace apo
#endif /* CONTROLLERTANK_H_ */

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include ../libraries/AP_Common/Arduino.mk

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/*
* TankGeneric.h
*
* Created on: Sep 26, 2011
* Author: jgoppert
*/
#ifndef TANKGENERIC_H_
#define TANKGENERIC_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_TANK;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerTank
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
// gains
const float steeringP = 1.0;
const float steeringI = 0.0;
const float steeringD = 0.0;
const float steeringIMax = 0.0;
const float steeringYMax = 3.0;
const float throttleP = 0.0;
const float throttleI = 0.0;
const float throttleD = 0.0;
const float throttleIMax = 0.0;
const float throttleYMax = 0.0;
const float throttleDFCut = 3.0;
#include "ControllerTank.h"
#endif /* TANKGENERIC_H_ */

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#=============================================================================#
# Author: Sebastian Rohde #
# Date: 30.08.2011 #
#=============================================================================#
#====================================================================#
# Settings #
#====================================================================#
set(FIRMWARE_NAME APO)
set(${FIRMWARE_NAME}_BOARD ${BOARD}) # Arduino Target board
set(${FIRMWARE_NAME}_SKETCHES
ardupilotone.pde
) # Firmware sketches
set(${FIRMWARE_NAME}_SRCS
) # Firmware sources
set(${FIRMWARE_NAME}_HDRS
BoatGeneric.h
CarStampede.h
#CNIRover.h
#CNIBoat.h
ControllerBoat.h
ControllerCar.h
ControllerPlane.h
ControllerQuad.h
PlaneEasystar.h
QuadArducopter.h
QuadMikrokopter.h
) # Firmware sources
set(${FIRMWARE_NAME}_LIBS
m
APO
FastSerial
AP_Common
GCS_MAVLink
AP_GPS
APM_RC
AP_DCM
AP_ADC
AP_Compass
AP_IMU
AP_RangeFinder
APM_BMP085
ModeFilter
)
#${CONSOLE_PORT}
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port
set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X ) # Serial terminal cmd
include_directories(
${CMAKE_SOURCE_DIR}/libraries/APO
${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
${CMAKE_SOURCE_DIR}/libraries/APM_RC
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
)
#====================================================================#
# Target generation #
#====================================================================#
generate_arduino_firmware(${FIRMWARE_NAME})
install(FILES
${CMAKE_CURRENT_BINARY_DIR}/${FIRMWARE_NAME}.hex
DESTINATION bin
)

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/*
* ControllerPlane.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERPLANE_H_
#define CONTROLLERPLANE_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerPlane: public AP_Controller {
private:
AP_Var_group _group;
AP_Var_group _trimGroup;
AP_Uint8 _mode;
AP_Uint8 _rdrAilMix;
bool _needsTrim;
AP_Float _ailTrim;
AP_Float _elvTrim;
AP_Float _rdrTrim;
AP_Float _thrTrim;
enum {
ch_mode = 0, ch_roll, ch_pitch, ch_thr, ch_yaw
};
enum {
k_chMode = k_radioChannelsStart,
k_chRoll,
k_chPitch,
k_chYaw,
k_chThr,
k_pidBnkRll = k_controllersStart,
k_pidSpdPit,
k_pidPitPit,
k_pidYwrYaw,
k_pidHdgBnk,
k_pidAltThr,
k_trim = k_customStart
};
BlockPID pidBnkRll; // bank error to roll servo deflection
BlockPID pidSpdPit; // speed error to pitch command
BlockPID pidPitPit; // pitch error to pitch servo deflection
BlockPID pidYwrYaw; // yaw rate error to yaw servo deflection
BlockPID pidHdgBnk; // heading error to bank command
BlockPID pidAltThr; // altitude error to throttle deflection
bool requireRadio;
public:
ControllerPlane(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal),
_group(k_cntrl, PSTR("cntrl_")),
_trimGroup(k_trim, PSTR("trim_")),
_mode(&_group, 1, MAV_MODE_UNINIT, PSTR("mode")),
_rdrAilMix(&_group, 2, rdrAilMix, PSTR("rdrAilMix")),
_needsTrim(false),
_ailTrim(&_trimGroup, 1, ailTrim, PSTR("ail")),
_elvTrim(&_trimGroup, 2, elvTrim, PSTR("elv")),
_rdrTrim(&_trimGroup, 3, rdrTrim, PSTR("rdr")),
_thrTrim(&_trimGroup, 4, thrTrim, PSTR("thr")),
pidBnkRll(new AP_Var_group(k_pidBnkRll, PSTR("bnkRll_")), 1,
pidBnkRllP, pidBnkRllI, pidBnkRllD, pidBnkRllAwu,
pidBnkRllLim, pidBnkRllDFCut),
pidPitPit(new AP_Var_group(k_pidPitPit, PSTR("pitPit_")), 1,
pidPitPitP, pidPitPitI, pidPitPitD, pidPitPitAwu,
pidPitPitLim, pidPitPitDFCut),
pidSpdPit(new AP_Var_group(k_pidSpdPit, PSTR("spdPit_")), 1,
pidSpdPitP, pidSpdPitI, pidSpdPitD, pidSpdPitAwu,
pidSpdPitLim, pidSpdPitDFCut),
pidYwrYaw(new AP_Var_group(k_pidYwrYaw, PSTR("ywrYaw_")), 1,
pidYwrYawP, pidYwrYawI, pidYwrYawD, pidYwrYawAwu,
pidYwrYawLim, pidYwrYawDFCut),
pidHdgBnk(new AP_Var_group(k_pidHdgBnk, PSTR("hdgBnk_")), 1,
pidHdgBnkP, pidHdgBnkI, pidHdgBnkD, pidHdgBnkAwu,
pidHdgBnkLim, pidHdgBnkDFCut),
pidAltThr(new AP_Var_group(k_pidAltThr, PSTR("altThr_")), 1,
pidAltThrP, pidAltThrI, pidAltThrD, pidAltThrAwu,
pidAltThrLim, pidAltThrDFCut),
requireRadio(false) {
_hal->debug->println_P(PSTR("initializing car controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("mode_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chRoll, PSTR("roll_"), APM_RC, 0, 1200,
1500, 1800, RC_MODE_INOUT));
_hal->rc.push_back(
new AP_RcChannel(k_chPitch, PSTR("pitch_"), APM_RC, 1, 1200,
1500, 1800, RC_MODE_INOUT));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("thr_"), APM_RC, 2, 1100, 1100,
1900, RC_MODE_INOUT));
_hal->rc.push_back(
new AP_RcChannel(k_chYaw, PSTR("yaw_"), APM_RC, 3, 1200, 1500,
1800, RC_MODE_INOUT));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();
}
virtual void update(const float & dt) {
// check for heartbeat
if (_hal->heartBeatLost()) {
_mode = MAV_MODE_FAILSAFE;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
return;
// if the value of the throttle is less than 5% cut motor power
} else if (requireRadio && _hal->rc[ch_thr]->getRadioPosition() < 0.05) {
_mode = MAV_MODE_LOCKED;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_STANDBY);
return;
// if in live mode then set state to active
} else if (_hal->getMode() == MODE_LIVE) {
_hal->setState(MAV_STATE_ACTIVE);
// if in hardware in the loop (control) mode, set to hilsim
} else if (_hal->getMode() == MODE_HIL_CNTL) {
_hal->setState(MAV_STATE_HILSIM);
}
// read switch to set mode
if (_hal->rc[ch_mode]->getRadioPosition() > 0) {
_mode = MAV_MODE_MANUAL;
} else {
_mode = MAV_MODE_AUTO;
}
// manual mode
switch (_mode) {
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
// force auto to read new manual trim
if (_needsTrim == false)
_needsTrim = true;
//_hal->debug->println("manual");
break;
}
case MAV_MODE_AUTO: {
float headingError = _guide->getHeadingCommand()
- _nav->getYaw();
if (headingError > 180 * deg2Rad)
headingError -= 360 * deg2Rad;
if (headingError < -180 * deg2Rad)
headingError += 360 * deg2Rad;
float aileron = pidBnkRll.update(
pidHdgBnk.update(headingError, dt) - _nav->getRoll(), dt);
float elevator = pidPitPit.update(
-pidSpdPit.update(
_guide->getAirSpeedCommand() - _nav->getAirSpeed(),
dt) - _nav->getPitch(), dt);
float rudder = pidYwrYaw.update(-_nav->getYawRate(), dt);
// desired yaw rate is zero, needs washout
float throttle = pidAltThr.update(
_guide->getAltitudeCommand() - _nav->getAlt(), dt);
// if needs trim
if (_needsTrim) {
// need to subtract current controller deflections so control
// surfaces are actually at the same position as manual flight
_ailTrim = _hal->rc[ch_roll]->getRadioPosition() - aileron;
_elvTrim = _hal->rc[ch_pitch]->getRadioPosition() - elevator;
_rdrTrim = _hal->rc[ch_yaw]->getRadioPosition() - rudder;
_thrTrim = _hal->rc[ch_thr]->getRadioPosition() - throttle;
_needsTrim = false;
}
// actuator mixing/ output
_hal->rc[ch_roll]->setPosition(
aileron + _rdrAilMix * rudder + _ailTrim);
_hal->rc[ch_yaw]->setPosition(rudder + _rdrTrim);
_hal->rc[ch_pitch]->setPosition(elevator + _elvTrim);
_hal->rc[ch_thr]->setPosition(throttle + _thrTrim);
//_hal->debug->println("automode");
// heading debug
// Serial.print("heading command: "); Serial.println(_guide->getHeadingCommand());
// Serial.print("heading: "); Serial.println(_nav->getYaw());
// Serial.print("heading error: "); Serial.println(headingError);
// alt debug
// Serial.print("alt command: "); Serial.println(_guide->getAltitudeCommand());
// Serial.print("alt: "); Serial.println(_nav->getAlt());
// Serial.print("alt error: "); Serial.println(_guide->getAltitudeCommand() - _nav->getAlt());
break;
}
default: {
setAllRadioChannelsToNeutral();
_mode = MAV_MODE_FAILSAFE;
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("unknown controller mode\n"));
break;
}
}
}
};
} // namespace apo
#endif /* CONTROLLERPLANE_H_ */

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/*
* ControllerQuad.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERQUAD_H_
#define CONTROLLERQUAD_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerQuad: public AP_Controller {
public:
/**
* note that these are not the controller radio channel numbers, they are just
* unique keys so they can be reaccessed from the hal rc vector
*/
enum {
CH_MODE = 0, // note scicoslab channels set mode, left, right, front, back order
CH_LEFT, // this enum must match this
CH_RIGHT,
CH_FRONT,
CH_BACK,
CH_ROLL,
CH_PITCH,
CH_YAW,
CH_THRUST
};
enum {
k_chMode = k_radioChannelsStart,
k_chLeft,
k_chRight,
k_chFront,
k_chBack,
k_chRoll,
k_chPitch,
k_chYaw,
k_chThr
};
enum {
k_pidGroundSpeed2Throttle = k_controllersStart,
k_pidStr,
k_pidPN,
k_pidPE,
k_pidPD,
k_pidRoll,
k_pidPitch,
k_pidYawRate,
k_pidYaw,
};
ControllerQuad(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal),
pidRoll(new AP_Var_group(k_pidRoll, PSTR("ROLL_")), 1,
PID_ATT_P, PID_ATT_I, PID_ATT_D, PID_ATT_AWU,
PID_ATT_LIM),
pidPitch(new AP_Var_group(k_pidPitch, PSTR("PITCH_")), 1,
PID_ATT_P, PID_ATT_I, PID_ATT_D, PID_ATT_AWU,
PID_ATT_LIM),
pidYaw(new AP_Var_group(k_pidYaw, PSTR("YAW_")), 1,
PID_YAWPOS_P, PID_YAWPOS_I, PID_YAWPOS_D,
PID_YAWPOS_AWU, PID_YAWPOS_LIM),
pidYawRate(new AP_Var_group(k_pidYawRate, PSTR("YAWRT_")), 1,
PID_YAWSPEED_P, PID_YAWSPEED_I, PID_YAWSPEED_D,
PID_YAWSPEED_AWU, PID_YAWSPEED_LIM, PID_YAWSPEED_DFCUT),
pidPN(new AP_Var_group(k_pidPN, PSTR("NORTH_")), 1, PID_POS_P,
PID_POS_I, PID_POS_D, PID_POS_AWU, PID_POS_LIM),
pidPE(new AP_Var_group(k_pidPE, PSTR("EAST_")), 1, PID_POS_P,
PID_POS_I, PID_POS_D, PID_POS_AWU, PID_POS_LIM),
pidPD(new AP_Var_group(k_pidPD, PSTR("DOWN_")), 1, PID_POS_Z_P,
PID_POS_Z_I, PID_POS_Z_D, PID_POS_Z_AWU, PID_POS_Z_LIM) {
/*
* allocate radio channels
* the order of the channels has to match the enumeration above
*/
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100,
1100, 1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100,
1100, 1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chFront, PSTR("FRONT_"), APM_RC, 2, 1100,
1100, 1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chBack, PSTR("BACK_"), APM_RC, 3, 1100,
1100, 1900, RC_MODE_OUT));
_hal->rc.push_back(
new AP_RcChannel(k_chRoll, PSTR("ROLL_"), APM_RC, 0, 1100,
1500, 1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chPitch, PSTR("PITCH_"), APM_RC, 1, 1100,
1500, 1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chYaw, PSTR("YAW_"), APM_RC, 2, 1100, 1500,
1900, RC_MODE_IN));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THRUST_"), APM_RC, 3, 1100,
1100, 1900, RC_MODE_IN));
}
virtual void update(const float & dt) {
// check for heartbeat
if (_hal->heartBeatLost()) {
_mode = MAV_MODE_FAILSAFE;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_EMERGENCY);
_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
return;
// if throttle less than 5% cut motor power
} else if (_hal->rc[CH_THRUST]->getRadioPosition() < 0.05) {
_mode = MAV_MODE_LOCKED;
setAllRadioChannelsToNeutral();
_hal->setState(MAV_STATE_STANDBY);
return;
// if in live mode then set state to active
} else if (_hal->getMode() == MODE_LIVE) {
_hal->setState(MAV_STATE_ACTIVE);
// if in hardware in the loop (control) mode, set to hilsim
} else if (_hal->getMode() == MODE_HIL_CNTL) {
_hal->setState(MAV_STATE_HILSIM);
}
// manual mode
float mixRemoteWeight = 0;
if (_hal->rc[CH_MODE]->getRadioPosition() > 0) {
mixRemoteWeight = 1;
_mode = MAV_MODE_MANUAL;
} else {
_mode = MAV_MODE_AUTO;
}
// commands for inner loop
float cmdRoll = 0;
float cmdPitch = 0;
float cmdYawRate = 0;
float thrustMix = 0;
switch(_mode) {
case MAV_MODE_MANUAL: {
setAllRadioChannelsManually();
// "mix manual"
cmdRoll = 0.5 * _hal->rc[CH_ROLL]->getPosition()
* mixRemoteWeight;
cmdPitch = 0.5 * _hal->rc[CH_PITCH]->getPosition()
* mixRemoteWeight;
cmdYawRate = 0.5 * _hal->rc[CH_YAW]->getPosition()
* mixRemoteWeight;
thrustMix = _hal->rc[CH_THRUST]->getPosition() * mixRemoteWeight;
break;
}
case MAV_MODE_AUTO: {
// XXX kills all commands,
// auto not currently implemented
// position loop
/*
float cmdNorthTilt = pidPN.update(_nav->getPN(),_nav->getVN(),dt);
float cmdEastTilt = pidPE.update(_nav->getPE(),_nav->getVE(),dt);
float cmdDown = pidPD.update(_nav->getPD(),_nav->getVD(),dt);
// "transform-to-body"
{
float trigSin = sin(-yaw);
float trigCos = cos(-yaw);
_cmdPitch = _cmdEastTilt * trigCos
- _cmdNorthTilt * trigSin;
_cmdRoll = -_cmdEastTilt * trigSin
+ _cmdNorthTilt * trigCos;
// note that the north tilt is negative of the pitch
}
//thrustMix += THRUST_HOVER_OFFSET;
// "thrust-trim-adjust"
if (fabs(_cmdRoll) > 0.5) {
_thrustMix *= 1.13949393;
} else {
_thrustMix /= cos(_cmdRoll);
}
if (fabs(_cmdPitch) > 0.5) {
_thrustMix *= 1.13949393;
} else {
_thrustMix /= cos(_cmdPitch);
}
*/
}
}
// attitude loop
// XXX negative sign added to nav roll, not sure why this is necessary
// XXX negative sign added to nav roll rate, not sure why this is necessary
float rollMix = pidRoll.update(cmdRoll + _nav->getRoll(),
-_nav->getRollRate(), dt);
// XXX negative sign added to cmdPitch, not sure why this is necessary
float pitchMix = pidPitch.update(-cmdPitch - _nav->getPitch(),
_nav->getPitchRate(), dt);
// XXX negative sign added to cmdYawRate, not sure why this is necessary
float yawMix = pidYawRate.update(-cmdYawRate - _nav->getYawRate(), dt);
_hal->rc[CH_LEFT]->setPosition(thrustMix + rollMix + yawMix);
_hal->rc[CH_RIGHT]->setPosition(thrustMix - rollMix + yawMix);
_hal->rc[CH_FRONT]->setPosition(thrustMix + pitchMix - yawMix);
_hal->rc[CH_BACK]->setPosition(thrustMix - pitchMix - yawMix);
// _hal->debug->printf("L: %f\t R: %f\t F: %f\t B: %f\n",
// _hal->rc[CH_LEFT]->getPosition(),
// _hal->rc[CH_RIGHT]->getPosition(),
// _hal->rc[CH_FRONT]->getPosition(),
// _hal->rc[CH_BACK]->getPosition());
_hal->debug->printf(
"rollMix: %f\t pitchMix: %f\t yawMix: %f\t thrustMix: %f\n",
rollMix, pitchMix, yawMix, thrustMix);
// _hal->debug->printf("roll pwm: %d\t pitch pwm: %d\t yaw pwm: %d\t thrust pwm: %d\n",
// _hal->rc[CH_ROLL]->readRadio(),
// _hal->rc[CH_PITCH]->readRadio(),
// _hal->rc[CH_YAW]->readRadio(),
// _hal->rc[CH_THRUST]->readRadio());
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();
}
private:
AP_Uint8 _mode;
BlockPIDDfb pidRoll, pidPitch, pidYaw;
BlockPID pidYawRate;
BlockPIDDfb pidPN, pidPE, pidPD;
};
} // namespace apo
#endif /* CONTROLLERQUAD_H_ */

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include ../libraries/AP_Common/Arduino.mk

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/*
* PlaneEasystar.h
*
* Created on: May 1, 2011
* Author: jgoppert
*/
#ifndef PLANEEASYSTAR_H_
#define PLANEEASYSTAR_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_PLANE;
//static const apo::halMode_t halMode = apo::MODE_LIVE; // live mode, actual flight
static const apo::halMode_t halMode = apo::MODE_HIL_CNTL; // hardware in the loop, control level
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerPlane
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
// gains
static const float rdrAilMix = 1.0; // since there are no ailerons
// bank error to roll servo
static const float pidBnkRllP = -0.5;
static const float pidBnkRllI = 0.0;
static const float pidBnkRllD = 0.0;
static const float pidBnkRllAwu = 0.0;
static const float pidBnkRllLim = 1.0;
static const float pidBnkRllDFCut = 0.0;
// pitch error to pitch servo
static const float pidPitPitP = -1;
static const float pidPitPitI = 0.0;
static const float pidPitPitD = 0.0;
static const float pidPitPitAwu = 0.0;
static const float pidPitPitLim = 1.0;
static const float pidPitPitDFCut = 0.0;
// speed error to pitch command
static const float pidSpdPitP = 0.1;
static const float pidSpdPitI = 0.0;
static const float pidSpdPitD = 0.0;
static const float pidSpdPitAwu = 0.0;
static const float pidSpdPitLim = 1.0;
static const float pidSpdPitDFCut = 0.0;
// yaw rate error to yaw servo
static const float pidYwrYawP = -0.2;
static const float pidYwrYawI = 0.0;
static const float pidYwrYawD = 0.0;
static const float pidYwrYawAwu = 0.0;
static const float pidYwrYawLim = 1.0;
static const float pidYwrYawDFCut = 0.0;
// heading error to bank angle command
static const float pidHdgBnkP = 1.0;
static const float pidHdgBnkI = 0.0;
static const float pidHdgBnkD = 0.0;
static const float pidHdgBnkAwu = 0.0;
static const float pidHdgBnkLim = 0.5;
static const float pidHdgBnkDFCut = 0.0;
// altitude error to throttle command
static const float pidAltThrP = .01;
static const float pidAltThrI = 0.0;
static const float pidAltThrD = 0.0;
static const float pidAltThrAwu = 0.0;
static const float pidAltThrLim = 1;
static const float pidAltThrDFCut = 0.0;
// trim control positions (-1,1)
static const float ailTrim = 0.0;
static const float elvTrim = 0.0;
static const float rdrTrim = 0.0;
static const float thrTrim = 0.5;
#include "ControllerPlane.h"
#endif /* PLANEEASYSTAR_H_ */

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/*
* QuadArducopter.h
*
* Created on: May 1, 2011
* Author: jgoppert
*/
#ifndef QUADARDUCOPTER_H_
#define QUADARDUCOPTER_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerQuad
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
//motor parameters
static const float MOTOR_MAX = 1;
static const float MOTOR_MIN = 0.1;
// position control loop
static const float PID_POS_INTERVAL = 1 / 100; // 5 hz
static const float PID_POS_P = 0;
static const float PID_POS_I = 0;
static const float PID_POS_D = 0;
static const float PID_POS_LIM = 0; // about 5 deg
static const float PID_POS_AWU = 0; // about 5 deg
static const float PID_POS_Z_P = 0;
static const float PID_POS_Z_I = 0;
static const float PID_POS_Z_D = 0;
static const float PID_POS_Z_LIM = 0;
static const float PID_POS_Z_AWU = 0;
// attitude control loop
static const float PID_ATT_INTERVAL = 1 / 100; // 100 hz
static const float PID_ATT_P = 0.1; // 0.1
static const float PID_ATT_I = 0; // 0.0
static const float PID_ATT_D = 0.1; // 0.1
static const float PID_ATT_LIM = 1; // 0.01 // 10 % #define MOTORs
static const float PID_ATT_AWU = 0; // 0.0
static const float PID_YAWPOS_P = 0;
static const float PID_YAWPOS_I = 0;
static const float PID_YAWPOS_D = 0;
static const float PID_YAWPOS_LIM = 0; // 1 rad/s
static const float PID_YAWPOS_AWU = 0; // 1 rad/s
static const float PID_YAWSPEED_P = .2;
static const float PID_YAWSPEED_I = 0;
static const float PID_YAWSPEED_D = 0;
static const float PID_YAWSPEED_LIM = .3; // 0.01 // 10 % MOTORs
static const float PID_YAWSPEED_AWU = 0.0;
static const float PID_YAWSPEED_DFCUT = 3.0; // 3 Radians, about 1 Hz
// mixing
static const float MIX_REMOTE_WEIGHT = 1;
static const float MIX_POSITION_WEIGHT = 1;
static const float MIX_POSITION_Z_WEIGHT = 1;
static const float MIX_POSITION_YAW_WEIGHT = 1;
static const float THRUST_HOVER_OFFSET = 0.475;
#include "ControllerQuad.h"
#endif /* QUADARDUCOPTER_H_ */

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/*
* QuadMikrokopter
*
* Created on: May 1, 2011
* Author: jgoppert
*/
#ifndef QUADMIKROKOPTER_H_
#define QUADMIKROKOPTER_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerQuad
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600
// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;
static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;
// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;
//motor parameters
static const float MOTOR_MAX = 1;
static const float MOTOR_MIN = 0.1;
// position control loop
static const float PID_POS_INTERVAL = 1 / 100; // 5 hz
static const float PID_POS_P = 0;
static const float PID_POS_I = 0;
static const float PID_POS_D = 0;
static const float PID_POS_LIM = 0; // about 5 deg
static const float PID_POS_AWU = 0; // about 5 deg
static const float PID_POS_Z_P = 0;
static const float PID_POS_Z_I = 0;
static const float PID_POS_Z_D = 0;
static const float PID_POS_Z_LIM = 0;
static const float PID_POS_Z_AWU = 0;
// attitude control loop
static const float PID_ATT_INTERVAL = 1 / 100; // 100 hz
static const float PID_ATT_P = 0.1; // 0.1
static const float PID_ATT_I = 0; // 0.0
static const float PID_ATT_D = 0.1; // 0.1
static const float PID_ATT_LIM = 1; // 0.01 // 10 % #define MOTORs
static const float PID_ATT_AWU = 0; // 0.0
static const float PID_YAWPOS_P = 0;
static const float PID_YAWPOS_I = 0;
static const float PID_YAWPOS_D = 0;
static const float PID_YAWPOS_LIM = 0; // 1 rad/s
static const float PID_YAWPOS_AWU = 0; // 1 rad/s
static const float PID_YAWSPEED_P = .2;
static const float PID_YAWSPEED_I = 0;
static const float PID_YAWSPEED_D = 0;
static const float PID_YAWSPEED_LIM = .3; // 0.01 // 10 % MOTORs
static const float PID_YAWSPEED_AWU = 0.0;
static const float PID_YAWSPEED_DFCUT = 3.0; // 3 Radians, about 1 Hz
// mixing
static const float MIX_REMOTE_WEIGHT = 1;
static const float MIX_POSITION_WEIGHT = 1;
static const float MIX_POSITION_Z_WEIGHT = 1;
static const float MIX_POSITION_YAW_WEIGHT = 1;
static const float THRUST_HOVER_OFFSET = 0.475;
#include "ControllerQuad.h"
#endif /* QUADMIKROKOPTER_H_ */

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/*
* ardupilotone
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#define ENABLE_FASTSERIAL_DEBUG
// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_RC.h>
#include <AP_RangeFinder.h>
#include <GCS_MAVLink.h>
#include <AP_ADC.h>
#include <AP_DCM.h>
#include <AP_Compass.h>
#include <Wire.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
FastSerialPort0(Serial);
FastSerialPort1(Serial1);
FastSerialPort2(Serial2);
FastSerialPort3(Serial3);
// Vehicle Configuration
#include "PlaneEasystar.h"
/*
* Required Global Declarations
*/
static apo::AP_Autopilot * autoPilot;
void setup() {
using namespace apo;
AP_Var::load_all();
/*
* Communications
*/
Serial.begin(DEBUG_BAUD, 128, 128); // debug
if (board==BOARD_ARDUPILOTMEGA_2) Serial2.begin(TELEM_BAUD, 128, 128); // gcs
else Serial3.begin(TELEM_BAUD, 128, 128); // gcs
// hardware abstraction layer
AP_HardwareAbstractionLayer * hal = new AP_HardwareAbstractionLayer(
halMode, board, vehicle, heartBeatTimeout);
// debug serial
hal->debug = &Serial;
hal->debug->println_P(PSTR("initializing debug line"));
/*
* Initialize Comm Channels
*/
hal->debug->println_P(PSTR("initializing comm channels"));
if (hal->getMode() == MODE_LIVE) {
Serial1.begin(GPS_BAUD, 128, 16); // gps
} else { // hil
Serial1.begin(HIL_BAUD, 128, 128);
}
/*
* Sensor initialization
*/
if (hal->getMode() == MODE_LIVE) {
hal->debug->println_P(PSTR("initializing adc"));
hal->adc = new ADC_CLASS;
hal->adc->Init();
if (gpsEnabled) {
hal->debug->println_P(PSTR("initializing gps"));
AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps));
hal->gps = &gpsDriver;
hal->gps->init();
}
if (baroEnabled) {
hal->debug->println_P(PSTR("initializing baro"));
hal->baro = new BARO_CLASS;
hal->baro->Init();
}
if (compassEnabled) {
hal->debug->println_P(PSTR("initializing compass"));
hal->compass = new COMPASS_CLASS;
hal->compass->set_orientation(AP_COMPASS_COMPONENTS_UP_PINS_FORWARD);
hal->compass->init();
}
/**
* Initialize ultrasonic sensors. If sensors are not plugged in, the navigator will not
* initialize them and NULL will be assigned to those corresponding pointers.
* On detecting NULL assigned to any ultrasonic sensor, its corresponding block of code
* will not be executed by the navigator.
* The coordinate system is assigned by the right hand rule with the thumb pointing down.
* In set_orientation, it is defind as (front/back,left/right,down,up)
*/
if (rangeFinderFrontEnabled) {
hal->debug->println_P(PSTR("initializing front range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(1);
rangeFinder->set_orientation(1, 0, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderBackEnabled) {
hal->debug->println_P(PSTR("initializing back range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(2);
rangeFinder->set_orientation(-1, 0, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderLeftEnabled) {
hal->debug->println_P(PSTR("initializing left range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(3);
rangeFinder->set_orientation(0, -1, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderRightEnabled) {
hal->debug->println_P(PSTR("initializing right range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(4);
rangeFinder->set_orientation(0, 1, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderUpEnabled) {
hal->debug->println_P(PSTR("initializing up range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(5);
rangeFinder->set_orientation(0, 0, -1);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderDownEnabled) {
hal->debug->println_P(PSTR("initializing down range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(6);
rangeFinder->set_orientation(0, 0, 1);
hal->rangeFinders.push_back(rangeFinder);
}
}
/*
* Select guidance, navigation, control algorithms
*/
AP_Navigator * navigator = new NAVIGATOR_CLASS(hal);
AP_Guide * guide = new GUIDE_CLASS(navigator, hal);
AP_Controller * controller = new CONTROLLER_CLASS(navigator, guide, hal);
/*
* CommLinks
*/
if (board==BOARD_ARDUPILOTMEGA_2) hal->gcs = new COMMLINK_CLASS(&Serial2, navigator, guide, controller, hal);
else hal->gcs = new COMMLINK_CLASS(&Serial3, navigator, guide, controller, hal);
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
/*
* Start the autopilot
*/
hal->debug->printf_P(PSTR("initializing arduplane\n"));
hal->debug->printf_P(PSTR("free ram: %d bytes\n"),freeMemory());
autoPilot = new apo::AP_Autopilot(navigator, guide, controller, hal,
loop0Rate, loop1Rate, loop2Rate, loop3Rate);
}
void loop() {
autoPilot->update();
}

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/*
* APO.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "APO.h"

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/*
* APO.h
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#ifndef APO_H_
#define APO_H_
#include "AP_Autopilot.h"
#include "AP_Guide.h"
#include "AP_Controller.h"
#include "AP_HardwareAbstractionLayer.h"
#include "AP_MavlinkCommand.h"
#include "AP_Navigator.h"
#include "AP_RcChannel.h"
//#include "AP_Var_keys.h"
#endif /* APO_H_ */

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/*
* AP_Autopilot.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_Autopilot.h"
namespace apo {
class AP_HardwareAbstractionLayer;
AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal,
float loop0Rate, float loop1Rate, float loop2Rate, float loop3Rate) :
Loop(loop0Rate, callback0, this), _navigator(navigator), _guide(guide),
_controller(controller), _hal(hal), _loop0Rate(loop0Rate),
_loop1Rate(loop1Rate), _loop2Rate(loop2Rate), _loop3Rate(loop3Rate),
_loop4Rate(loop3Rate) {
hal->setState(MAV_STATE_BOOT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
/*
* Calibration
*/
hal->setState(MAV_STATE_CALIBRATING);
hal->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
navigator->calibrate();
// start clock
//uint32_t timeStart = millis();
//uint16_t gpsWaitTime = 5000; // 5 second wait for gps
/*
* Look for valid initial state
*/
while (1) {
// letc gcs known we are alive
hal->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
hal->hil->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
delay(1000);
if (hal->getMode() == MODE_LIVE) {
_navigator->updateSlow(0);
if (_hal->gps) {
if (hal->gps->fix) {
break;
} else {
hal->gcs->sendText(SEVERITY_LOW,
PSTR("waiting for gps lock\n"));
hal->debug->printf_P(PSTR("waiting for gps lock\n"));
}
} else { // no gps, can skip
break;
}
} else if (hal->getMode() == MODE_HIL_CNTL) { // hil
_hal->hil->receive();
Serial.println("HIL Recieve Called");
if (_navigator->getTimeStamp() != 0) {
// give hil a chance to send some packets
for (int i = 0; i < 5; i++) {
hal->debug->println_P(PSTR("reading initial hil packets"));
hal->gcs->sendText(SEVERITY_LOW,
PSTR("reading initial hil packets"));
delay(1000);
}
break;
}
hal->debug->println_P(PSTR("waiting for hil packet"));
}
}
AP_MavlinkCommand::home.setAlt(_navigator->getAlt());
AP_MavlinkCommand::home.setLat(_navigator->getLat());
AP_MavlinkCommand::home.setLon(_navigator->getLon());
AP_MavlinkCommand::home.save();
_hal->debug->printf_P(PSTR("\nhome before load lat: %f deg, lon: %f deg\n"),
AP_MavlinkCommand::home.getLat()*rad2Deg,
AP_MavlinkCommand::home.getLon()*rad2Deg);
AP_MavlinkCommand::home.load();
_hal->debug->printf_P(PSTR("home after load lat: %f deg, lon: %f deg\n"),
AP_MavlinkCommand::home.getLat()*rad2Deg,
AP_MavlinkCommand::home.getLon()*rad2Deg);
/*
* Attach loops
*/
hal->debug->println_P(PSTR("attaching loops"));
subLoops().push_back(new Loop(getLoopRate(1), callback1, this));
subLoops().push_back(new Loop(getLoopRate(2), callback2, this));
subLoops().push_back(new Loop(getLoopRate(3), callback3, this));
subLoops().push_back(new Loop(getLoopRate(4), callback4, this));
hal->debug->println_P(PSTR("running"));
hal->gcs->sendText(SEVERITY_LOW, PSTR("running"));
if (hal->getMode() == MODE_LIVE) {
hal->setState(MAV_STATE_ACTIVE);
} else {
hal->setState(MAV_STATE_HILSIM);
}
/*
* Radio setup
*/
hal->debug->println_P(PSTR("initializing radio"));
APM_RC.Init(); // APM Radio initialization,
// start this after control loop is running
}
void AP_Autopilot::callback0(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->hal()->debug->println_P(PSTR("callback 0"));
/*
* ahrs update
*/
if (apo->getNavigator())
apo->getNavigator()->updateFast(1.0 / apo->getLoopRate(0));
}
void AP_Autopilot::callback1(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 1"));
/*
* hardware in the loop
*/
if (apo->getHal()->hil && apo->getHal()->getMode() != MODE_LIVE) {
apo->getHal()->hil->receive();
apo->getHal()->hil->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
}
/*
* update guidance laws
*/
if (apo->getGuide())
{
//apo->getHal()->debug->println_P(PSTR("updating guide"));
apo->getGuide()->update();
}
/*
* update control laws
*/
if (apo->getController()) {
//apo->getHal()->debug->println_P(PSTR("updating controller"));
apo->getController()->update(1. / apo->getLoopRate(1));
}
/*
char msg[50];
sprintf(msg, "c_hdg: %f, c_thr: %f", apo->guide()->headingCommand, apo->guide()->groundSpeedCommand);
apo->hal()->gcs->sendText(AP_CommLink::SEVERITY_LOW, msg);
*/
}
void AP_Autopilot::callback2(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 2"));
/*
* send telemetry
*/
if (apo->getHal()->gcs) {
// send messages
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GPS_RAW);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_ATTITUDE);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GLOBAL_POSITION);
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_RAW);
//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SCALED_IMU);
}
/*
* slow navigation loop update
*/
if (apo->getNavigator()) {
apo->getNavigator()->updateSlow(1.0 / apo->getLoopRate(2));
}
/*
* handle ground control station communication
*/
if (apo->getHal()->gcs) {
// send messages
apo->getHal()->gcs->requestCmds();
apo->getHal()->gcs->sendParameters();
// receive messages
apo->getHal()->gcs->receive();
}
/*
* navigator debug
*/
/*
if (apo->navigator()) {
apo->getHal()->debug->printf_P(PSTR("roll: %f deg\tpitch: %f deg\tyaw: %f deg\n"),
apo->navigator()->getRoll()*rad2Deg,
apo->navigator()->getPitch()*rad2Deg,
apo->navigator()->getYaw()*rad2Deg);
apo->getHal()->debug->printf_P(PSTR("lat: %f deg\tlon: %f deg\talt: %f m\n"),
apo->navigator()->getLat()*rad2Deg,
apo->navigator()->getLon()*rad2Deg,
apo->navigator()->getAlt());
}
*/
}
void AP_Autopilot::callback3(void * data) {
AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 3"));
/*
* send heartbeat
*/
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
/*
* load/loop rate/ram debug
*/
apo->getHal()->load = apo->load();
apo->getHal()->debug->printf_P(PSTR("load: %d%%\trate: %f Hz\tfree ram: %d bytes\n"),
apo->load(),1.0/apo->dt(),freeMemory());
apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SYS_STATUS);
/*
* adc debug
*/
//apo->getDebug().printf_P(PSTR("adc: %d %d %d %d %d %d %d %d\n"),
//apo->adc()->Ch(0), apo->adc()->Ch(1), apo->adc()->Ch(2),
//apo->adc()->Ch(3), apo->adc()->Ch(4), apo->adc()->Ch(5),
//apo->adc()->Ch(6), apo->adc()->Ch(7), apo->adc()->Ch(8));
}
void AP_Autopilot::callback4(void * data) {
//AP_Autopilot * apo = (AP_Autopilot *) data;
//apo->getHal()->debug->println_P(PSTR("callback 4"));
}
} // apo

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/*
* AP_Autopilot.h
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#ifndef AP_AUTOPILOT_H_
#define AP_AUTOPILOT_H_
/*
* AVR runtime
*/
#include <avr/io.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <math.h>
/*
* Libraries
*/
#include "../AP_Common/AP_Common.h"
#include "../FastSerial/FastSerial.h"
#include "../AP_GPS/GPS.h"
#include "../APM_RC/APM_RC.h"
#include "../AP_ADC/AP_ADC.h"
#include "../APM_BMP085/APM_BMP085.h"
#include "../AP_Compass/AP_Compass.h"
#include "../AP_Math/AP_Math.h"
#include "../AP_IMU/AP_IMU.h"
#include "../AP_DCM/AP_DCM.h"
#include "../AP_Common/AP_Loop.h"
#include "../GCS_MAVLink/GCS_MAVLink.h"
#include "../AP_RangeFinder/AP_RangeFinder.h"
/*
* Local Modules
*/
#include "AP_HardwareAbstractionLayer.h"
#include "AP_RcChannel.h"
#include "AP_Controller.h"
#include "AP_Navigator.h"
#include "AP_Guide.h"
#include "AP_CommLink.h"
/**
* ArduPilotOne namespace to protect varibles
* from overlap with avr and libraries etc.
* ArduPilotOne does not use any global
* variables.
*/
namespace apo {
// forward declarations
class AP_CommLink;
/**
* This class encapsulates the entire autopilot system
* The constructor takes guide, navigator, and controller
* as well as the hardware abstraction layer.
*
* It inherits from loop to manage
* the subloops and sets the overall
* frequency for the autopilot.
*
*/
class AP_Autopilot: public Loop {
public:
/**
* Default constructor
*/
AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal,
float loop0Rate, float loop1Rate, float loop2Rate, float loop3Rate);
/**
* Accessors
*/
AP_Navigator * getNavigator() {
return _navigator;
}
AP_Guide * getGuide() {
return _guide;
}
AP_Controller * getController() {
return _controller;
}
AP_HardwareAbstractionLayer * getHal() {
return _hal;
}
float getLoopRate(uint8_t i) {
switch(i) {
case 0: return _loop0Rate;
case 1: return _loop1Rate;
case 2: return _loop2Rate;
case 3: return _loop3Rate;
case 4: return _loop4Rate;
default: return 0;
}
}
private:
/**
* Loop 0 Callbacks (fastest)
* - inertial navigation
* @param data A void pointer used to pass the apo class
* so that the apo public interface may be accessed.
*/
static void callback0(void * data);
float _loop0Rate;
/**
* Loop 1 Callbacks
* - control
* - compass reading
* @see callback0
*/
static void callback1(void * data);
float _loop1Rate;
/**
* Loop 2 Callbacks
* - gps sensor fusion
* - compass sensor fusion
* @see callback0
*/
static void callback2(void * data);
float _loop2Rate;
/**
* Loop 3 Callbacks
* - slow messages
* @see callback0
*/
static void callback3(void * data);
float _loop3Rate;
/**
* Loop 4 Callbacks
* - super slow mesages
* - log writing
* @see callback0
*/
static void callback4(void * data);
float _loop4Rate;
/**
* Components
*/
AP_Navigator * _navigator;
AP_Guide * _guide;
AP_Controller * _controller;
AP_HardwareAbstractionLayer * _hal;
/**
* Constants
*/
static const float deg2rad = M_PI / 180;
static const float rad2deg = 180 / M_PI;
};
} // namespace apo
#endif /* AP_AUTOPILOT_H_ */

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/*
* AP_CommLink.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_CommLink.h"
namespace apo {
uint8_t MavlinkComm::_nChannels = 0;
uint8_t MavlinkComm::_paramNameLengthMax = 13;
} // apo

790
libraries/APO/AP_CommLink.h Normal file
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/*
* AP_CommLink.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file 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 file 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/>.
*/
#ifndef AP_CommLink_H
#define AP_CommLink_H
#include "AP_HardwareAbstractionLayer.h"
#include "AP_MavlinkCommand.h"
#include "AP_Controller.h"
namespace apo {
class AP_Controller;
class AP_Navigator;
class AP_Guide;
class AP_HardwareAbstractionLayer;
enum {
SEVERITY_LOW, SEVERITY_MED, SEVERITY_HIGH
};
// forward declarations
//class ArduPilotOne;
//class AP_Controller;
/// CommLink class
class AP_CommLink {
public:
AP_CommLink(FastSerial * link, AP_Navigator * navigator, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal) :
_link(link), _navigator(navigator), _guide(guide),
_controller(controller), _hal(hal) {
}
virtual void send() = 0;
virtual void receive() = 0;
virtual void sendMessage(uint8_t id, uint32_t param = 0) = 0;
virtual void sendText(uint8_t severity, const char *str) = 0;
virtual void sendText(uint8_t severity, const prog_char_t *str) = 0;
virtual void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) = 0;
virtual void sendParameters() = 0;
virtual void requestCmds() = 0;
protected:
FastSerial * _link;
AP_Navigator * _navigator;
AP_Guide * _guide;
AP_Controller * _controller;
AP_HardwareAbstractionLayer * _hal;
};
class MavlinkComm: public AP_CommLink {
public:
MavlinkComm(FastSerial * link, AP_Navigator * nav, AP_Guide * guide,
AP_Controller * controller, AP_HardwareAbstractionLayer * hal) :
AP_CommLink(link, nav, guide, controller, hal),
// options
_useRelativeAlt(true),
// commands
_sendingCmds(false), _receivingCmds(false),
_cmdTimeLastSent(millis()), _cmdTimeLastReceived(millis()),
_cmdDestSysId(0), _cmdDestCompId(0), _cmdRequestIndex(0),
_cmdMax(30), _cmdNumberRequested(0),
// parameters
_parameterCount(0), _queuedParameter(NULL),
_queuedParameterIndex(0) {
switch (_nChannels) {
case 0:
mavlink_comm_0_port = link;
_channel = MAVLINK_COMM_0;
_nChannels++;
break;
case 1:
mavlink_comm_1_port = link;
_channel = MAVLINK_COMM_1;
_nChannels++;
break;
default:
// signal that number of channels exceeded
_channel = MAVLINK_COMM_3;
break;
}
}
virtual void send() {
// if number of channels exceeded return
if (_channel == MAVLINK_COMM_3)
return;
}
void sendMessage(uint8_t id, uint32_t param = 0) {
//_hal->debug->printf_P(PSTR("send message\n"));
// if number of channels exceeded return
if (_channel == MAVLINK_COMM_3)
return;
uint64_t timeStamp = micros();
switch (id) {
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_msg_heartbeat_send(_channel, mavlink_system.type,
MAV_AUTOPILOT_ARDUPILOTMEGA);
break;
}
case MAVLINK_MSG_ID_ATTITUDE: {
mavlink_msg_attitude_send(_channel, timeStamp,
_navigator->getRoll(), _navigator->getPitch(),
_navigator->getYaw(), _navigator->getRollRate(),
_navigator->getPitchRate(), _navigator->getYawRate());
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION: {
mavlink_msg_global_position_send(_channel, timeStamp,
_navigator->getLat() * rad2Deg,
_navigator->getLon() * rad2Deg, _navigator->getAlt(),
_navigator->getVN(), _navigator->getVE(),
_navigator->getVD());
break;
}
case MAVLINK_MSG_ID_GPS_RAW: {
mavlink_msg_gps_raw_send(_channel, timeStamp, _hal->gps->status(),
_navigator->getLat() * rad2Deg,
_navigator->getLon() * rad2Deg, _navigator->getAlt(), 0, 0,
_navigator->getGroundSpeed(),
_navigator->getYaw() * rad2Deg);
break;
}
/*
case MAVLINK_MSG_ID_GPS_RAW_INT: {
mavlink_msg_gps_raw_int_send(_channel,timeStamp,_hal->gps->status(),
_navigator->getLat_degInt(), _navigator->getLon_degInt(),_navigator->getAlt_intM(), 0,0,
_navigator->getGroundSpeed(),_navigator->getYaw()*rad2Deg);
break;
}
*/
case MAVLINK_MSG_ID_SCALED_IMU: {
/*
* accel/gyro debug
*/
/*
Vector3f accel = _hal->imu->get_accel();
Vector3f gyro = _hal->imu->get_gyro();
Serial.printf_P(PSTR("accel: %f %f %f gyro: %f %f %f\n"),
accel.x,accel.y,accel.z,gyro.x,gyro.y,gyro.z);
*/
Vector3f accel = _hal->imu->get_accel();
Vector3f gyro = _hal->imu->get_gyro();
mavlink_msg_raw_imu_send(_channel, timeStamp, 1000 * accel.x,
1000 * accel.y, 1000 * accel.z, 1000 * gyro.x,
1000 * gyro.y, 1000 * gyro.z, _hal->compass->mag_x,
_hal->compass->mag_y, _hal->compass->mag_z); // XXX THIS IS NOT SCALED FOR MAG
}
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED: {
int16_t ch[8];
for (int i = 0; i < 8; i++)
ch[i] = 0;
for (uint8_t i = 0; i < 8 && i < _hal->rc.getSize(); i++) {
ch[i] = 10000 * _hal->rc[i]->getPosition();
//_hal->debug->printf_P(PSTR("ch: %d position: %d\n"),i,ch[i]);
}
mavlink_msg_rc_channels_scaled_send(_channel, ch[0], ch[1], ch[2],
ch[3], ch[4], ch[5], ch[6], ch[7], 255);
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_RAW: {
int16_t ch[8];
for (int i = 0; i < 8; i++)
ch[i] = 0;
for (uint8_t i = 0; i < 8 && i < _hal->rc.getSize(); i++)
ch[i] = _hal->rc[i]->getPwm();
mavlink_msg_rc_channels_raw_send(_channel, ch[0], ch[1], ch[2],
ch[3], ch[4], ch[5], ch[6], ch[7], 255);
break;
}
case MAVLINK_MSG_ID_SYS_STATUS: {
float batteryVoltage, temp;
temp = analogRead(0);
batteryVoltage = ((temp * 5 / 1023) / 0.28);
mavlink_msg_sys_status_send(_channel, _controller->getMode(),
_guide->getMode(), _hal->getState(), _hal->load * 10,
batteryVoltage * 1000,
(batteryVoltage - 3.3) / (4.2 - 3.3) * 1000, _packetDrops);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_ACK: {
sendText(SEVERITY_LOW, PSTR("waypoint ack"));
//mavlink_waypoint_ack_t packet;
uint8_t type = 0; // ok (0), error(1)
mavlink_msg_waypoint_ack_send(_channel, _cmdDestSysId,
_cmdDestCompId, type);
// turn off waypoint send
_receivingCmds = false;
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CURRENT: {
mavlink_msg_waypoint_current_send(_channel,
_guide->getCurrentIndex());
break;
}
default: {
char msg[50];
sprintf(msg, "autopilot sending unknown command with id: %d", id);
sendText(SEVERITY_HIGH, msg);
}
} // switch
} // send message
virtual void receive() {
//_hal->debug->printf_P(PSTR("receive\n"));
// if number of channels exceeded return
//
if (_channel == MAVLINK_COMM_3)
return;
// receive new packets
mavlink_message_t msg;
mavlink_status_t status;
// process received bytes
while (comm_get_available(_channel)) {
uint8_t c = comm_receive_ch(_channel);
// Try to get a new message
if (mavlink_parse_char(_channel, c, &msg, &status))
_handleMessage(&msg);
}
// Update packet drops counter
_packetDrops += status.packet_rx_drop_count;
}
void sendText(uint8_t severity, const char *str) {
mavlink_msg_statustext_send(_channel, severity, (const int8_t*) str);
}
void sendText(uint8_t severity, const prog_char_t *str) {
mavlink_statustext_t m;
uint8_t i;
for (i = 0; i < sizeof(m.text); i++) {
m.text[i] = pgm_read_byte((const prog_char *) (str++));
}
if (i < sizeof(m.text))
m.text[i] = 0;
sendText(severity, (const char *) m.text);
}
void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) {
}
/**
* sends parameters one at a time
*/
void sendParameters() {
//_hal->debug->printf_P(PSTR("send parameters\n"));
// Check to see if we are sending parameters
while (NULL != _queuedParameter) {
AP_Var *vp;
float value;
// copy the current parameter and prepare to move to the next
vp = _queuedParameter;
_queuedParameter = _queuedParameter->next();
// if the parameter can be cast to float, report it here and break out of the loop
value = vp->cast_to_float();
if (!isnan(value)) {
char paramName[_paramNameLengthMax];
vp->copy_name(paramName, sizeof(paramName));
mavlink_msg_param_value_send(_channel, (int8_t*) paramName,
value, _countParameters(), _queuedParameterIndex);
_queuedParameterIndex++;
break;
}
}
}
/**
* request commands one at a time
*/
void requestCmds() {
//_hal->debug->printf_P(PSTR("requesting commands\n"));
// request cmds one by one
if (_receivingCmds && _cmdRequestIndex <= _cmdNumberRequested) {
mavlink_msg_waypoint_request_send(_channel, _cmdDestSysId,
_cmdDestCompId, _cmdRequestIndex);
}
}
private:
// options
bool _useRelativeAlt;
// commands
bool _sendingCmds;
bool _receivingCmds;
uint16_t _cmdTimeLastSent;
uint16_t _cmdTimeLastReceived;
uint16_t _cmdDestSysId;
uint16_t _cmdDestCompId;
uint16_t _cmdRequestIndex;
uint16_t _cmdNumberRequested;
uint16_t _cmdMax;
Vector<mavlink_command_t *> _cmdList;
// parameters
static uint8_t _paramNameLengthMax;
uint16_t _parameterCount;
AP_Var * _queuedParameter;
uint16_t _queuedParameterIndex;
// channel
mavlink_channel_t _channel;
uint16_t _packetDrops;
static uint8_t _nChannels;
void _handleMessage(mavlink_message_t * msg) {
uint32_t timeStamp = micros();
switch (msg->msgid) {
//_hal->debug->printf_P(PSTR("message received: %d"), msg->msgid);
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_heartbeat_t packet;
mavlink_msg_heartbeat_decode(msg, &packet);
_hal->lastHeartBeat = micros();
break;
}
case MAVLINK_MSG_ID_GPS_RAW: {
// decode
mavlink_gps_raw_t packet;
mavlink_msg_gps_raw_decode(msg, &packet);
_navigator->setTimeStamp(timeStamp);
_navigator->setLat(packet.lat * deg2Rad);
_navigator->setLon(packet.lon * deg2Rad);
_navigator->setAlt(packet.alt);
_navigator->setYaw(packet.hdg * deg2Rad);
_navigator->setGroundSpeed(packet.v);
_navigator->setAirSpeed(packet.v);
//_hal->debug->printf_P(PSTR("received hil gps raw packet\n"));
/*
_hal->debug->printf_P(PSTR("received lat: %f deg\tlon: %f deg\talt: %f m\n"),
packet.lat,
packet.lon,
packet.alt);
*/
break;
}
case MAVLINK_MSG_ID_ATTITUDE: {
// decode
mavlink_attitude_t packet;
mavlink_msg_attitude_decode(msg, &packet);
// set dcm hil sensor
_navigator->setTimeStamp(timeStamp);
_navigator->setRoll(packet.roll);
_navigator->setPitch(packet.pitch);
_navigator->setYaw(packet.yaw);
_navigator->setRollRate(packet.rollspeed);
_navigator->setPitchRate(packet.pitchspeed);
_navigator->setYawRate(packet.yawspeed);
//_hal->debug->printf_P(PSTR("received hil attitude packet\n"));
break;
}
case MAVLINK_MSG_ID_ACTION: {
// decode
mavlink_action_t packet;
mavlink_msg_action_decode(msg, &packet);
if (_checkTarget(packet.target, packet.target_component))
break;
// do action
sendText(SEVERITY_LOW, PSTR("action received"));
switch (packet.action) {
case MAV_ACTION_STORAGE_READ:
AP_Var::load_all();
break;
case MAV_ACTION_STORAGE_WRITE:
AP_Var::save_all();
break;
case MAV_ACTION_CALIBRATE_RC:
case MAV_ACTION_CALIBRATE_GYRO:
case MAV_ACTION_CALIBRATE_MAG:
case MAV_ACTION_CALIBRATE_ACC:
case MAV_ACTION_CALIBRATE_PRESSURE:
case MAV_ACTION_REBOOT:
case MAV_ACTION_REC_START:
case MAV_ACTION_REC_PAUSE:
case MAV_ACTION_REC_STOP:
case MAV_ACTION_TAKEOFF:
case MAV_ACTION_LAND:
case MAV_ACTION_NAVIGATE:
case MAV_ACTION_LOITER:
case MAV_ACTION_MOTORS_START:
case MAV_ACTION_CONFIRM_KILL:
case MAV_ACTION_EMCY_KILL:
case MAV_ACTION_MOTORS_STOP:
case MAV_ACTION_SHUTDOWN:
case MAV_ACTION_CONTINUE:
case MAV_ACTION_SET_MANUAL:
case MAV_ACTION_SET_AUTO:
case MAV_ACTION_LAUNCH:
case MAV_ACTION_RETURN:
case MAV_ACTION_EMCY_LAND:
case MAV_ACTION_HALT:
sendText(SEVERITY_LOW, PSTR("action not implemented"));
break;
default:
sendText(SEVERITY_LOW, PSTR("unknown action"));
break;
}
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: {
sendText(SEVERITY_LOW, PSTR("waypoint request list"));
// decode
mavlink_waypoint_request_list_t packet;
mavlink_msg_waypoint_request_list_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// Start sending waypoints
mavlink_msg_waypoint_count_send(_channel, msg->sysid, msg->compid,
_guide->getNumberOfCommands());
_cmdTimeLastSent = millis();
_cmdTimeLastReceived = millis();
_sendingCmds = true;
_receivingCmds = false;
_cmdDestSysId = msg->sysid;
_cmdDestCompId = msg->compid;
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST: {
sendText(SEVERITY_LOW, PSTR("waypoint request"));
// Check if sending waypiont
if (!_sendingCmds)
break;
// decode
mavlink_waypoint_request_t packet;
mavlink_msg_waypoint_request_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
_hal->debug->printf_P(PSTR("sequence: %d\n"),packet.seq);
AP_MavlinkCommand cmd(packet.seq);
cmd.load();
mavlink_waypoint_t wp = cmd.convert(_guide->getCurrentIndex());
mavlink_msg_waypoint_send(_channel, _cmdDestSysId, _cmdDestCompId,
wp.seq, wp.frame, wp.command, wp.current, wp.autocontinue,
wp.param1, wp.param2, wp.param3, wp.param4, wp.x, wp.y,
wp.z);
// update last waypoint comm stamp
_cmdTimeLastSent = millis();
break;
}
case MAVLINK_MSG_ID_WAYPOINT_ACK: {
sendText(SEVERITY_LOW, PSTR("waypoint ack"));
// decode
mavlink_waypoint_ack_t packet;
mavlink_msg_waypoint_ack_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// check for error
//uint8_t type = packet.type; // ok (0), error(1)
// turn off waypoint send
_sendingCmds = false;
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
sendText(SEVERITY_LOW, PSTR("param request list"));
// decode
mavlink_param_request_list_t packet;
mavlink_msg_param_request_list_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// Start sending parameters - next call to ::update will kick the first one out
_queuedParameter = AP_Var::first();
_queuedParameterIndex = 0;
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: {
sendText(SEVERITY_LOW, PSTR("waypoint clear all"));
// decode
mavlink_waypoint_clear_all_t packet;
mavlink_msg_waypoint_clear_all_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// clear all waypoints
uint8_t type = 0; // ok (0), error(1)
_guide->setNumberOfCommands(1);
_guide->setCurrentIndex(0);
// send acknowledgement 3 times to makes sure it is received
for (int i = 0; i < 3; i++)
mavlink_msg_waypoint_ack_send(_channel, msg->sysid,
msg->compid, type);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: {
sendText(SEVERITY_LOW, PSTR("waypoint set current"));
// decode
mavlink_waypoint_set_current_t packet;
mavlink_msg_waypoint_set_current_decode(msg, &packet);
Serial.print("Packet Sequence:");
Serial.println(packet.seq);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// set current waypoint
Serial.print("Current Index:");
Serial.println(_guide->getCurrentIndex());
Serial.flush();
_guide->setCurrentIndex(packet.seq);
mavlink_msg_waypoint_current_send(_channel,
_guide->getCurrentIndex());
break;
}
case MAVLINK_MSG_ID_WAYPOINT_COUNT: {
sendText(SEVERITY_LOW, PSTR("waypoint count"));
// decode
mavlink_waypoint_count_t packet;
mavlink_msg_waypoint_count_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// start waypoint receiving
if (packet.count > _cmdMax) {
packet.count = _cmdMax;
}
_cmdNumberRequested = packet.count;
_cmdTimeLastReceived = millis();
_receivingCmds = true;
_sendingCmds = false;
_cmdRequestIndex = 0;
break;
}
case MAVLINK_MSG_ID_WAYPOINT: {
sendText(SEVERITY_LOW, PSTR("waypoint"));
// Check if receiving waypiont
if (!_receivingCmds) {
//sendText(SEVERITY_HIGH, PSTR("not receiving commands"));
break;
}
// decode
mavlink_waypoint_t packet;
mavlink_msg_waypoint_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// check if this is the requested waypoint
if (packet.seq != _cmdRequestIndex) {
char warningMsg[50];
sprintf(warningMsg,
"waypoint request out of sequence: (packet) %d / %d (ap)",
packet.seq, _cmdRequestIndex);
sendText(SEVERITY_HIGH, warningMsg);
break;
}
_hal->debug->printf_P(PSTR("received waypoint x: %f\ty: %f\tz: %f\n"),
packet.x,
packet.y,
packet.z);
// store waypoint
AP_MavlinkCommand command(packet);
//sendText(SEVERITY_HIGH, PSTR("waypoint stored"));
_cmdRequestIndex++;
if (_cmdRequestIndex == _cmdNumberRequested) {
sendMessage(MAVLINK_MSG_ID_WAYPOINT_ACK);
_receivingCmds = false;
_guide->setNumberOfCommands(_cmdNumberRequested);
//sendText(SEVERITY_LOW, PSTR("waypoint ack sent"));
} else if (_cmdRequestIndex > _cmdNumberRequested) {
_receivingCmds = false;
}
_cmdTimeLastReceived = millis();
break;
}
case MAVLINK_MSG_ID_PARAM_SET: {
sendText(SEVERITY_LOW, PSTR("param set"));
AP_Var *vp;
AP_Meta_class::Type_id var_type;
// decode
mavlink_param_set_t packet;
mavlink_msg_param_set_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// set parameter
char key[_paramNameLengthMax + 1];
strncpy(key, (char *) packet.param_id, _paramNameLengthMax);
key[_paramNameLengthMax] = 0;
// find the requested parameter
vp = AP_Var::find(key);
if ((NULL != vp) && // exists
!isnan(packet.param_value) && // not nan
!isinf(packet.param_value)) { // not inf
// add a small amount before casting parameter values
// from float to integer to avoid truncating to the
// next lower integer value.
const float rounding_addition = 0.01;
// fetch the variable type ID
var_type = vp->meta_type_id();
// handle variables with standard type IDs
if (var_type == AP_Var::k_typeid_float) {
((AP_Float *) vp)->set_and_save(packet.param_value);
} else if (var_type == AP_Var::k_typeid_float16) {
((AP_Float16 *) vp)->set_and_save(packet.param_value);
} else if (var_type == AP_Var::k_typeid_int32) {
((AP_Int32 *) vp)->set_and_save(
packet.param_value + rounding_addition);
} else if (var_type == AP_Var::k_typeid_int16) {
((AP_Int16 *) vp)->set_and_save(
packet.param_value + rounding_addition);
} else if (var_type == AP_Var::k_typeid_int8) {
((AP_Int8 *) vp)->set_and_save(
packet.param_value + rounding_addition);
} else {
// we don't support mavlink set on this parameter
break;
}
// Report back the new value if we accepted the change
// we send the value we actually set, which could be
// different from the value sent, in case someone sent
// a fractional value to an integer type
mavlink_msg_param_value_send(_channel, (int8_t *) key,
vp->cast_to_float(), _countParameters(), -1); // XXX we don't actually know what its index is...
}
break;
} // end case
}
}
uint16_t _countParameters() {
// if we haven't cached the parameter count yet...
if (0 == _parameterCount) {
AP_Var *vp;
vp = AP_Var::first();
do {
// if a parameter responds to cast_to_float then we are going to be able to report it
if (!isnan(vp->cast_to_float())) {
_parameterCount++;
}
} while (NULL != (vp = vp->next()));
}
return _parameterCount;
}
AP_Var * _findParameter(uint16_t index) {
AP_Var *vp;
vp = AP_Var::first();
while (NULL != vp) {
// if the parameter is reportable
if (!(isnan(vp->cast_to_float()))) {
// if we have counted down to the index we want
if (0 == index) {
// return the parameter
return vp;
}
// count off this parameter, as it is reportable but not
// the one we want
index--;
}
// and move to the next parameter
vp = vp->next();
}
return NULL;
}
// check the target
uint8_t _checkTarget(uint8_t sysid, uint8_t compid) {
/*
char msg[50];
sprintf(msg, "target = %d / %d\tcomp = %d / %d", sysid,
mavlink_system.sysid, compid, mavlink_system.compid);
sendText(SEVERITY_LOW, msg);
*/
if (sysid != mavlink_system.sysid) {
//sendText(SEVERITY_LOW, PSTR("system id mismatch"));
return 1;
} else if (compid != mavlink_system.compid) {
//sendText(SEVERITY_LOW, PSTR("component id mismatch"));
return 0; // XXX currently not receiving correct compid from gcs
} else {
return 0; // no error
}
}
};
} // namespace apo
#endif // AP_CommLink_H
// vim:ts=4:sw=4:tw=78:expandtab

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/*
* AP_Controller.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_Controller.h"

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/*
* AP_Controller.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file 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 file 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/>.
*/
#ifndef AP_Controller_H
#define AP_Controller_H
#include "AP_Navigator.h"
#include "AP_Guide.h"
#include "AP_HardwareAbstractionLayer.h"
#include "../AP_Common/AP_Vector.h"
#include "../AP_Common/AP_Var.h"
namespace apo {
/// Controller class
class AP_Controller {
public:
AP_Controller(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
_nav(nav), _guide(guide), _hal(hal) {
}
virtual void update(const float & dt) = 0;
virtual MAV_MODE getMode() = 0;
void setAllRadioChannelsToNeutral() {
for (uint8_t i = 0; i < _hal->rc.getSize(); i++) {
_hal->rc[i]->setPosition(0.0);
}
}
void setAllRadioChannelsManually() {
for (uint8_t i = 0; i < _hal->rc.getSize(); i++) {
_hal->rc[i]->setUsingRadio();
}
}
protected:
AP_Navigator * _nav;
AP_Guide * _guide;
AP_HardwareAbstractionLayer * _hal;
};
class AP_ControllerBlock {
public:
AP_ControllerBlock(AP_Var_group * group, uint8_t groupStart,
uint8_t groupLength) :
_group(group), _groupStart(groupStart),
_groupEnd(groupStart + groupLength) {
}
uint8_t getGroupEnd() {
return _groupEnd;
}
protected:
AP_Var_group * _group; /// helps with parameter management
uint8_t _groupStart;
uint8_t _groupEnd;
};
class BlockLowPass: public AP_ControllerBlock {
public:
BlockLowPass(AP_Var_group * group, uint8_t groupStart, float fCut,
const prog_char_t * fCutLabel = NULL) :
AP_ControllerBlock(group, groupStart, 1),
_fCut(group, groupStart, fCut, fCutLabel ? : PSTR("fCut")),
_y(0) {
}
float update(const float & input, const float & dt) {
float RC = 1 / (2 * M_PI * _fCut); // low pass filter
_y = _y + (input - _y) * (dt / (dt + RC));
return _y;
}
protected:
AP_Float _fCut;
float _y;
};
class BlockSaturation: public AP_ControllerBlock {
public:
BlockSaturation(AP_Var_group * group, uint8_t groupStart, float yMax,
const prog_char_t * yMaxLabel = NULL) :
AP_ControllerBlock(group, groupStart, 1),
_yMax(group, groupStart, yMax, yMaxLabel ? : PSTR("yMax")) {
}
float update(const float & input) {
// pid sum
float y = input;
// saturation
if (y > _yMax)
y = _yMax;
if (y < -_yMax)
y = -_yMax;
return y;
}
protected:
AP_Float _yMax; /// output saturation
};
class BlockDerivative {
public:
BlockDerivative() :
_lastInput(0), firstRun(true) {
}
float update(const float & input, const float & dt) {
float derivative = (input - _lastInput) / dt;
_lastInput = input;
if (firstRun) {
firstRun = false;
return 0;
} else
return derivative;
}
protected:
float _lastInput; /// last input
bool firstRun;
};
class BlockIntegral {
public:
BlockIntegral() :
_i(0) {
}
float update(const float & input, const float & dt) {
_i += input * dt;
return _i;
}
protected:
float _i; /// integral
};
class BlockP: public AP_ControllerBlock {
public:
BlockP(AP_Var_group * group, uint8_t groupStart, float kP,
const prog_char_t * kPLabel = NULL) :
AP_ControllerBlock(group, groupStart, 1),
_kP(group, groupStart, kP, kPLabel ? : PSTR("p")) {
}
float update(const float & input) {
return _kP * input;
}
protected:
AP_Float _kP; /// proportional gain
};
class BlockI: public AP_ControllerBlock {
public:
BlockI(AP_Var_group * group, uint8_t groupStart, float kI, float iMax,
const prog_char_t * kILabel = NULL,
const prog_char_t * iMaxLabel = NULL) :
AP_ControllerBlock(group, groupStart, 2),
_kI(group, groupStart, kI, kILabel ? : PSTR("i")),
_blockSaturation(group, groupStart + 1, iMax, iMaxLabel ? : PSTR("iMax")),
_eI(0) {
}
float update(const float & input, const float & dt) {
// integral
_eI += input * dt;
_eI = _blockSaturation.update(_eI);
return _kI * _eI;
}
protected:
AP_Float _kI; /// integral gain
BlockSaturation _blockSaturation; /// integrator saturation
float _eI; /// integral of input
};
class BlockD: public AP_ControllerBlock {
public:
BlockD(AP_Var_group * group, uint8_t groupStart, float kD, uint8_t dFCut,
const prog_char_t * kDLabel = NULL,
const prog_char_t * dFCutLabel = NULL) :
AP_ControllerBlock(group, groupStart, 2),
_blockLowPass(group, groupStart, dFCut,
dFCutLabel ? : PSTR("dFCut")),
_kD(group, _blockLowPass.getGroupEnd(), kD,
kDLabel ? : PSTR("d")), _eP(0) {
}
float update(const float & input, const float & dt) {
// derivative with low pass
float _eD = _blockLowPass.update((_eP - input) / dt, dt);
// proportional, note must come after derivative
// because derivatve uses _eP as previous value
_eP = input;
return _kD * _eD;
}
protected:
BlockLowPass _blockLowPass;
AP_Float _kD; /// derivative gain
float _eP; /// input
};
class BlockPID: public AP_ControllerBlock {
public:
BlockPID(AP_Var_group * group, uint8_t groupStart, float kP, float kI,
float kD, float iMax, float yMax, uint8_t dFcut) :
AP_ControllerBlock(group, groupStart, 6),
_blockP(group, groupStart, kP),
_blockI(group, _blockP.getGroupEnd(), kI, iMax),
_blockD(group, _blockI.getGroupEnd(), kD, dFcut),
_blockSaturation(group, _blockD.getGroupEnd(), yMax) {
}
float update(const float & input, const float & dt) {
return _blockSaturation.update(
_blockP.update(input) + _blockI.update(input, dt)
+ _blockD.update(input, dt));
}
protected:
BlockP _blockP;
BlockI _blockI;
BlockD _blockD;
BlockSaturation _blockSaturation;
};
class BlockPI: public AP_ControllerBlock {
public:
BlockPI(AP_Var_group * group, uint8_t groupStart, float kP, float kI,
float iMax, float yMax) :
AP_ControllerBlock(group, groupStart, 4),
_blockP(group, groupStart, kP),
_blockI(group, _blockP.getGroupEnd(), kI, iMax),
_blockSaturation(group, _blockI.getGroupEnd(), yMax) {
}
float update(const float & input, const float & dt) {
float y = _blockP.update(input) + _blockI.update(input, dt);
return _blockSaturation.update(y);
}
protected:
BlockP _blockP;
BlockI _blockI;
BlockSaturation _blockSaturation;
};
class BlockPD: public AP_ControllerBlock {
public:
BlockPD(AP_Var_group * group, uint8_t groupStart, float kP, float kI,
float kD, float iMax, float yMax, uint8_t dFcut) :
AP_ControllerBlock(group, groupStart, 4),
_blockP(group, groupStart, kP),
_blockD(group, _blockP.getGroupEnd(), kD, dFcut),
_blockSaturation(group, _blockD.getGroupEnd(), yMax) {
}
float update(const float & input, const float & dt) {
float y = _blockP.update(input) + _blockD.update(input, dt);
return _blockSaturation.update(y);
}
protected:
BlockP _blockP;
BlockD _blockD;
BlockSaturation _blockSaturation;
};
/// PID with derivative feedback (ignores reference derivative)
class BlockPIDDfb: public AP_ControllerBlock {
public:
BlockPIDDfb(AP_Var_group * group, uint8_t groupStart, float kP, float kI,
float kD, float iMax, float yMax, const prog_char_t * dLabel = NULL) :
AP_ControllerBlock(group, groupStart, 5),
_blockP(group, groupStart, kP),
_blockI(group, _blockP.getGroupEnd(), kI, iMax),
_blockSaturation(group, _blockI.getGroupEnd(), yMax),
_kD(group, _blockSaturation.getGroupEnd(), kD, dLabel ? : PSTR("d")) {
}
float update(const float & input, const float & derivative,
const float & dt) {
float y = _blockP.update(input) + _blockI.update(input, dt) - _kD
* derivative;
return _blockSaturation.update(y);
}
protected:
BlockP _blockP;
BlockI _blockI;
BlockSaturation _blockSaturation;
AP_Float _kD; /// derivative gain
};
} // apo
#endif // AP_Controller_H
// vim:ts=4:sw=4:expandtab

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/*
* AP_Guide.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_Guide.h"

359
libraries/APO/AP_Guide.h Normal file
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/*
* AP_Guide.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file 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 file 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/>.
*/
#ifndef AP_Guide_H
#define AP_Guide_H
#include "../GCS_MAVLink/GCS_MAVLink.h"
#include "AP_HardwareAbstractionLayer.h"
#include "AP_Navigator.h"
#include "../AP_Common/AP_Common.h"
#include "../AP_Common/AP_Vector.h"
#include "AP_MavlinkCommand.h"
#include "constants.h"
//#include "AP_CommLink.h"
namespace apo {
/// Guide class
class AP_Guide {
public:
/**
* This is the constructor, which requires a link to the navigator.
* @param navigator This is the navigator pointer.
*/
AP_Guide(AP_Navigator * navigator, AP_HardwareAbstractionLayer * hal) :
_navigator(navigator), _hal(hal), _command(0), _previousCommand(0),
_headingCommand(0), _airSpeedCommand(0),
_groundSpeedCommand(0), _altitudeCommand(0), _pNCmd(0),
_pECmd(0), _pDCmd(0), _mode(MAV_NAV_LOST),
_numberOfCommands(1), _cmdIndex(0), _nextCommandCalls(0),
_nextCommandTimer(0) {
}
virtual void update() = 0;
virtual void nextCommand() = 0;
MAV_NAV getMode() const {
return _mode;
}
uint8_t getCurrentIndex() {
return _cmdIndex;
}
void setCurrentIndex(uint8_t val) {
_cmdIndex.set_and_save(val);
_command = AP_MavlinkCommand(getCurrentIndex());
_command.load();
_previousCommand = AP_MavlinkCommand(getPreviousIndex());
_previousCommand.load();
//_hal->gcs->sendMessage(MAVLINK_MSG_ID_WAYPOINT_CURRENT);
}
uint8_t getNumberOfCommands() {
return _numberOfCommands;
}
void setNumberOfCommands(uint8_t val) {
_numberOfCommands.set_and_save(val);
}
uint8_t getPreviousIndex() {
// find previous waypoint, TODO, handle non-nav commands
int16_t prevIndex = int16_t(getCurrentIndex()) - 1;
if (prevIndex < 0)
prevIndex = getNumberOfCommands() - 1;
return (uint8_t) prevIndex;
}
uint8_t getNextIndex() {
// find previous waypoint, TODO, handle non-nav commands
int16_t nextIndex = int16_t(getCurrentIndex()) + 1;
if (nextIndex > (getNumberOfCommands() - 1))
nextIndex = 0;
return nextIndex;
}
float getHeadingCommand() {
return _headingCommand;
}
float getAirSpeedCommand() {
return _airSpeedCommand;
}
float getGroundSpeedCommand() {
return _groundSpeedCommand;
}
float getAltitudeCommand() {
return _altitudeCommand;
}
float getPNCmd() {
return _pNCmd;
}
float getPECmd() {
return _pECmd;
}
float getPDCmd() {
return _pDCmd;
}
MAV_NAV getMode() {
return _mode;
}
uint8_t getCommandIndex() {
return _cmdIndex;
}
protected:
AP_Navigator * _navigator;
AP_HardwareAbstractionLayer * _hal;
AP_MavlinkCommand _command, _previousCommand;
float _headingCommand;
float _airSpeedCommand;
float _groundSpeedCommand;
float _altitudeCommand;
float _pNCmd;
float _pECmd;
float _pDCmd;
MAV_NAV _mode;
AP_Uint8 _numberOfCommands;
AP_Uint8 _cmdIndex;
uint16_t _nextCommandCalls;
uint16_t _nextCommandTimer;
};
class MavlinkGuide: public AP_Guide {
public:
MavlinkGuide(AP_Navigator * navigator,
AP_HardwareAbstractionLayer * hal) :
AP_Guide(navigator, hal), _rangeFinderFront(), _rangeFinderBack(),
_rangeFinderLeft(), _rangeFinderRight(),
_group(k_guide, PSTR("guide_")),
_velocityCommand(&_group, 1, 1, PSTR("velCmd")),
_crossTrackGain(&_group, 2, 2, PSTR("xt")),
_crossTrackLim(&_group, 3, 10, PSTR("xtLim")) {
for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++) {
RangeFinder * rF = _hal->rangeFinders[i];
if (rF == NULL)
continue;
if (rF->orientation_x == 1 && rF->orientation_y == 0
&& rF->orientation_z == 0)
_rangeFinderFront = rF;
else if (rF->orientation_x == -1 && rF->orientation_y == 0
&& rF->orientation_z == 0)
_rangeFinderBack = rF;
else if (rF->orientation_x == 0 && rF->orientation_y == 1
&& rF->orientation_z == 0)
_rangeFinderRight = rF;
else if (rF->orientation_x == 0 && rF->orientation_y == -1
&& rF->orientation_z == 0)
_rangeFinderLeft = rF;
}
}
virtual void update() {
// _hal->debug->printf_P(
// PSTR("guide loop, number: %d, current index: %d, previous index: %d\n"),
// getNumberOfCommands(),
// getCurrentIndex(),
// getPreviousIndex());
// if we don't have enough waypoint for cross track calcs
// go home
if (_numberOfCommands == 1) {
_mode = MAV_NAV_RETURNING;
_altitudeCommand = AP_MavlinkCommand::home.getAlt();
_headingCommand = AP_MavlinkCommand::home.bearingTo(
_navigator->getLat_degInt(), _navigator->getLon_degInt())
+ 180 * deg2Rad;
if (_headingCommand > 360 * deg2Rad)
_headingCommand -= 360 * deg2Rad;
// _hal->debug->printf_P(PSTR("going home: bearing: %f distance: %f\n"),
// headingCommand,AP_MavlinkCommand::home.distanceTo(_navigator->getLat_degInt(),_navigator->getLon_degInt()));
} else {
_mode = MAV_NAV_WAYPOINT;
_altitudeCommand = _command.getAlt();
// TODO wrong behavior if 0 selected as waypoint, says previous 0
float dXt = _command.crossTrack(_previousCommand,
_navigator->getLat_degInt(),
_navigator->getLon_degInt());
float temp = dXt * _crossTrackGain * deg2Rad; // crosstrack gain, rad/m
if (temp > _crossTrackLim * deg2Rad)
temp = _crossTrackLim * deg2Rad;
if (temp < -_crossTrackLim * deg2Rad)
temp = -_crossTrackLim * deg2Rad;
float bearing = _previousCommand.bearingTo(_command);
_headingCommand = bearing - temp;
float alongTrack = _command.alongTrack(_previousCommand,
_navigator->getLat_degInt(),
_navigator->getLon_degInt());
float distanceToNext = _command.distanceTo(
_navigator->getLat_degInt(), _navigator->getLon_degInt());
float segmentLength = _previousCommand.distanceTo(_command);
if (distanceToNext < _command.getRadius() || alongTrack
> segmentLength)
{
Serial.println("radius reached");
nextCommand();
}
// _hal->debug->printf_P(
// PSTR("nav: bCurrent2Dest: %f\tdXt: %f\tcmdHeading: %f\tnextWpDistance: %f\talongTrack: %f\n"),
// bearing * rad2Deg, dXt, _headingCommand * rad2Deg, distanceToNext, alongTrack);
}
_groundSpeedCommand = _velocityCommand;
// TODO : calculate pN,pE,pD from home and gps coordinates
_pNCmd = _command.getPN(_navigator->getLat_degInt(),
_navigator->getLon_degInt());
_pECmd = _command.getPE(_navigator->getLat_degInt(),
_navigator->getLon_degInt());
_pDCmd = _command.getPD(_navigator->getAlt_intM());
// process mavlink commands
//handleCommand();
// obstacle avoidance overrides
// stop if your going to drive into something in front of you
for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++)
_hal->rangeFinders[i]->read();
float frontDistance = _rangeFinderFront->distance / 200.0; //convert for other adc
if (_rangeFinderFront && frontDistance < 2) {
_mode = MAV_NAV_VECTOR;
//airSpeedCommand = 0;
//groundSpeedCommand = 0;
// _headingCommand -= 45 * deg2Rad;
// _hal->debug->print("Obstacle Distance (m): ");
// _hal->debug->println(frontDistance);
// _hal->debug->print("Obstacle avoidance Heading Command: ");
// _hal->debug->println(headingCommand);
// _hal->debug->printf_P(
// PSTR("Front Distance, %f\n"),
// frontDistance);
}
if (_rangeFinderBack && _rangeFinderBack->distance < 5) {
_airSpeedCommand = 0;
_groundSpeedCommand = 0;
}
if (_rangeFinderLeft && _rangeFinderLeft->distance < 5) {
_airSpeedCommand = 0;
_groundSpeedCommand = 0;
}
if (_rangeFinderRight && _rangeFinderRight->distance < 5) {
_airSpeedCommand = 0;
_groundSpeedCommand = 0;
}
}
void nextCommand() {
// within 1 seconds, check if more than 5 calls to next command occur
// if they do, go to home waypoint
if (millis() - _nextCommandTimer < 1000) {
if (_nextCommandCalls > 5) {
Serial.println("commands loading too fast, returning home");
setCurrentIndex(0);
setNumberOfCommands(1);
_nextCommandCalls = 0;
_nextCommandTimer = millis();
return;
}
_nextCommandCalls++;
} else {
_nextCommandTimer = millis();
_nextCommandCalls = 0;
}
_cmdIndex = getNextIndex();
Serial.print("cmd : "); Serial.println(int(_cmdIndex));
Serial.print("cmd prev : "); Serial.println(int(getPreviousIndex()));
Serial.print("cmd num : "); Serial.println(int(getNumberOfCommands()));
_command = AP_MavlinkCommand(getCurrentIndex());
_previousCommand = AP_MavlinkCommand(getPreviousIndex());
}
void handleCommand(AP_MavlinkCommand command,
AP_MavlinkCommand previousCommand) {
// TODO handle more commands
switch (command.getCommand()) {
case MAV_CMD_NAV_WAYPOINT: {
// if within radius, increment
float d = previousCommand.distanceTo(_navigator->getLat_degInt(),
_navigator->getLon_degInt());
if (d < command.getRadius()) {
nextCommand();
Serial.println("radius reached");
}
break;
}
// case MAV_CMD_CONDITION_CHANGE_ALT:
// case MAV_CMD_CONDITION_DELAY:
// case MAV_CMD_CONDITION_DISTANCE:
// case MAV_CMD_CONDITION_LAST:
// case MAV_CMD_CONDITION_YAW:
// case MAV_CMD_DO_CHANGE_SPEED:
// case MAV_CMD_DO_CONTROL_VIDEO:
// case MAV_CMD_DO_JUMP:
// case MAV_CMD_DO_LAST:
// case MAV_CMD_DO_LAST:
// case MAV_CMD_DO_REPEAT_RELAY:
// case MAV_CMD_DO_REPEAT_SERVO:
// case MAV_CMD_DO_SET_HOME:
// case MAV_CMD_DO_SET_MODE:
// case MAV_CMD_DO_SET_PARAMETER:
// case MAV_CMD_DO_SET_RELAY:
// case MAV_CMD_DO_SET_SERVO:
// case MAV_CMD_PREFLIGHT_CALIBRATION:
// case MAV_CMD_PREFLIGHT_STORAGE:
// case MAV_CMD_NAV_LAND:
// case MAV_CMD_NAV_LAST:
// case MAV_CMD_NAV_LOITER_TIME:
// case MAV_CMD_NAV_LOITER_TURNS:
// case MAV_CMD_NAV_LOITER_UNLIM:
// case MAV_CMD_NAV_ORIENTATION_TARGET:
// case MAV_CMD_NAV_PATHPLANNING:
// case MAV_CMD_NAV_RETURN_TO_LAUNCH:
// case MAV_CMD_NAV_TAKEOFF:
default:
// unhandled command, skip
Serial.println("unhandled command");
nextCommand();
break;
}
}
private:
RangeFinder * _rangeFinderFront;
RangeFinder * _rangeFinderBack;
RangeFinder * _rangeFinderLeft;
RangeFinder * _rangeFinderRight;
AP_Var_group _group;
AP_Float _velocityCommand;
AP_Float _crossTrackGain;
AP_Float _crossTrackLim;
};
} // namespace apo
#endif // AP_Guide_H
// vim:ts=4:sw=4:expandtab

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/*
* AP_HardwareAbstractionLayer.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_HardwareAbstractionLayer.h"

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/*
* AP_HardwareAbstractionLayer.h
*
* Created on: Apr 4, 2011
*
*/
#ifndef AP_HARDWAREABSTRACTIONLAYER_H_
#define AP_HARDWAREABSTRACTIONLAYER_H_
#include "../AP_Common/AP_Common.h"
#include "../FastSerial/FastSerial.h"
#include "../AP_Common/AP_Vector.h"
#include "../GCS_MAVLink/GCS_MAVLink.h"
#include "../AP_ADC/AP_ADC.h"
#include "../AP_IMU/AP_IMU.h"
#include "../AP_GPS/GPS.h"
#include "../APM_BMP085/APM_BMP085.h"
#include "../AP_Compass/AP_Compass.h"
#include "AP_RcChannel.h"
#include "../AP_RangeFinder/AP_RangeFinder.h"
#include "../GCS_MAVLink/GCS_MAVLink.h"
class AP_ADC;
class IMU;
class GPS;
class APM_BMP085_Class;
class Compass;
class BetterStream;
class RangeFinder;
namespace apo {
class AP_RcChannel;
class AP_CommLink;
// enumerations
enum halMode_t {
MODE_LIVE, MODE_HIL_CNTL,
/*MODE_HIL_NAV*/};
enum board_t {
BOARD_ARDUPILOTMEGA_1280, BOARD_ARDUPILOTMEGA_2560, BOARD_ARDUPILOTMEGA_2
};
enum vehicle_t {
VEHICLE_CAR, VEHICLE_QUAD, VEHICLE_PLANE, VEHICLE_BOAT, VEHICLE_TANK
};
class AP_HardwareAbstractionLayer {
public:
AP_HardwareAbstractionLayer(halMode_t mode, board_t board,
vehicle_t vehicle, uint8_t heartBeatTimeout) :
adc(), gps(), baro(), compass(), rangeFinders(), imu(), rc(), gcs(),
hil(), debug(), load(), lastHeartBeat(),
_heartBeatTimeout(heartBeatTimeout), _mode(mode),
_board(board), _vehicle(vehicle), _state(MAV_STATE_UNINIT) {
/*
* Board specific hardware initialization
*/
if (board == BOARD_ARDUPILOTMEGA_1280) {
slideSwitchPin = 40;
pushButtonPin = 41;
aLedPin = 37;
bLedPin = 36;
cLedPin = 35;
eepromMaxAddr = 1024;
pinMode(aLedPin, OUTPUT); // extra led
pinMode(bLedPin, OUTPUT); // imu ledclass AP_CommLink;
pinMode(cLedPin, OUTPUT); // gps led
pinMode(slideSwitchPin, INPUT);
pinMode(pushButtonPin, INPUT);
DDRL |= B00000100; // set port L, pint 2 to output for the relay
} else if (board == BOARD_ARDUPILOTMEGA_2560) {
slideSwitchPin = 40;
pushButtonPin = 41;
aLedPin = 37;
bLedPin = 36;
cLedPin = 35;
eepromMaxAddr = 2048;
pinMode(aLedPin, OUTPUT); // extra led
pinMode(bLedPin, OUTPUT); // imu ledclass AP_CommLink;
pinMode(cLedPin, OUTPUT); // gps led
pinMode(slideSwitchPin, INPUT);
pinMode(pushButtonPin, INPUT);
DDRL |= B00000100; // set port L, pint 2 to output for the relay
}
}
/**
* Sensors
*/
AP_ADC * adc;
GPS * gps;
APM_BMP085_Class * baro;
Compass * compass;
Vector<RangeFinder *> rangeFinders;
IMU * imu;
/**
* Radio Channels
*/
Vector<AP_RcChannel *> rc;
/**
* Communication Channels
*/
AP_CommLink * gcs;
AP_CommLink * hil;
FastSerial * debug;
/**
* data
*/
uint8_t load;
uint32_t lastHeartBeat;
/**
* settings
*/
uint8_t slideSwitchPin;
uint8_t pushButtonPin;
uint8_t aLedPin;
uint8_t bLedPin;
uint8_t cLedPin;
uint16_t eepromMaxAddr;
// accessors
halMode_t getMode() {
return _mode;
}
board_t getBoard() {
return _board;
}
vehicle_t getVehicle() {
return _vehicle;
}
MAV_STATE getState() {
return _state;
}
void setState(MAV_STATE state) {
_state = state;
}
bool heartBeatLost() {
if (_heartBeatTimeout == 0)
return false;
else
return ((micros() - lastHeartBeat) / 1e6) > _heartBeatTimeout;
}
private:
// enumerations
uint8_t _heartBeatTimeout;
halMode_t _mode;
board_t _board;
vehicle_t _vehicle;
MAV_STATE _state;
};
}
#endif /* AP_HARDWAREABSTRACTIONLAYER_H_ */

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/*
* AP_MavlinkCommand.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_MavlinkCommand.h"
namespace apo {
AP_MavlinkCommand::AP_MavlinkCommand(const AP_MavlinkCommand & v) :
_data(v._data), _seq(v._seq) {
//if (FastSerial::getInitialized(0)) Serial.println("copy ctor");
}
AP_MavlinkCommand::AP_MavlinkCommand(uint16_t index, bool doLoad) :
_data(k_commands + index), _seq(index) {
if (FastSerial::getInitialized(0)) {
Serial.println("index ctor");
Serial.println("++");
Serial.print("index: "); Serial.println(index);
Serial.print("key: "); Serial.println(k_commands + index);
Serial.println("++");
}
// This is a failsafe measure to stop trying to load a command if it can't load
if (doLoad && !load()) {
Serial.println("load failed, reverting to home waypoint");
_data = AP_MavlinkCommand::home._data;
_seq = AP_MavlinkCommand::home._seq;
}
}
AP_MavlinkCommand::AP_MavlinkCommand(mavlink_waypoint_t cmd) :
_data(k_commands + cmd.seq), _seq(cmd.seq) {
setCommand(MAV_CMD(cmd.command));
setAutocontinue(cmd.autocontinue);
setFrame(MAV_FRAME(cmd.frame));
setParam1(cmd.param1);
setParam2(cmd.param2);
setParam3(cmd.param3);
setParam4(cmd.param4);
setX(cmd.x);
setY(cmd.y);
setZ(cmd.z);
save();
// reload home if sent
if (cmd.seq == 0) home.load();
Serial.println("============================================================");
Serial.println("storing new command from mavlink_waypoint_t");
Serial.print("key: "); Serial.println(_data.key(),DEC);
Serial.print("number: "); Serial.println(cmd.seq,DEC);
Serial.print("command: "); Serial.println(getCommand());
Serial.print("autocontinue: "); Serial.println(getAutocontinue(),DEC);
Serial.print("frame: "); Serial.println(getFrame(),DEC);
Serial.print("1000*param1: "); Serial.println(int(1000*getParam1()),DEC);
Serial.print("1000*param2: "); Serial.println(int(1000*getParam2()),DEC);
Serial.print("1000*param3: "); Serial.println(int(1000*getParam3()),DEC);
Serial.print("1000*param4: "); Serial.println(int(1000*getParam4()),DEC);
Serial.print("1000*x0: "); Serial.println(int(1000*cmd.x),DEC);
Serial.print("1000*y0: "); Serial.println(int(1000*cmd.y),DEC);
Serial.print("1000*z0: "); Serial.println(int(1000*cmd.z),DEC);
Serial.print("1000*x: "); Serial.println(int(1000*getX()),DEC);
Serial.print("1000*y: "); Serial.println(int(1000*getY()),DEC);
Serial.print("1000*z: "); Serial.println(int(1000*getZ()),DEC);
load();
Serial.print("1000*x1: "); Serial.println(int(1000*getX()),DEC);
Serial.print("1000*y1: "); Serial.println(int(1000*getY()),DEC);
Serial.print("1000*z1: "); Serial.println(int(1000*getZ()),DEC);
Serial.println("============================================================");
Serial.flush();
}
mavlink_waypoint_t AP_MavlinkCommand::convert(uint8_t current) {
mavlink_waypoint_t mavCmd;
mavCmd.seq = getSeq();
mavCmd.command = getCommand();
mavCmd.frame = getFrame();
mavCmd.param1 = getParam1();
mavCmd.param2 = getParam2();
mavCmd.param3 = getParam3();
mavCmd.param4 = getParam4();
mavCmd.x = getX();
mavCmd.y = getY();
mavCmd.z = getZ();
mavCmd.autocontinue = getAutocontinue();
mavCmd.current = (getSeq() == current);
mavCmd.target_component = mavlink_system.compid;
mavCmd.target_system = mavlink_system.sysid;
return mavCmd;
}
float AP_MavlinkCommand::bearingTo(AP_MavlinkCommand next) const {
float deltaLon = next.getLon() - getLon();
/*
Serial.print("Lon: "); Serial.println(getLon());
Serial.print("nextLon: "); Serial.println(next.getLon());
Serial.print("deltaLonDeg * 1e7: "); Serial.println(deltaLon*rad2DegInt);
*/
float bearing = atan2(
sin(deltaLon) * cos(next.getLat()),
cos(getLat()) * sin(next.getLat()) - sin(getLat()) * cos(
next.getLat()) * cos(deltaLon));
return bearing;
}
float AP_MavlinkCommand::bearingTo(int32_t latDegInt, int32_t lonDegInt) const {
// have to be careful to maintain the precision of the gps coordinate
float deltaLon = (lonDegInt - getLon_degInt()) * degInt2Rad;
float nextLat = latDegInt * degInt2Rad;
float bearing = atan2(
sin(deltaLon) * cos(nextLat),
cos(getLat()) * sin(nextLat) - sin(getLat()) * cos(nextLat)
* cos(deltaLon));
if (bearing < 0)
bearing += 2 * M_PI;
return bearing;
}
float AP_MavlinkCommand::distanceTo(AP_MavlinkCommand next) const {
float sinDeltaLat2 = sin((getLat() - next.getLat()) / 2);
float sinDeltaLon2 = sin((getLon() - next.getLon()) / 2);
float a = sinDeltaLat2 * sinDeltaLat2 + cos(getLat()) * cos(
next.getLat()) * sinDeltaLon2 * sinDeltaLon2;
float c = 2 * atan2(sqrt(a), sqrt(1 - a));
return rEarth * c;
}
float AP_MavlinkCommand::distanceTo(int32_t lat_degInt, int32_t lon_degInt) const {
float sinDeltaLat2 = sin(
(lat_degInt - getLat_degInt()) * degInt2Rad / 2);
float sinDeltaLon2 = sin(
(lon_degInt - getLon_degInt()) * degInt2Rad / 2);
float a = sinDeltaLat2 * sinDeltaLat2 + cos(getLat()) * cos(
lat_degInt * degInt2Rad) * sinDeltaLon2 * sinDeltaLon2;
float c = 2 * atan2(sqrt(a), sqrt(1 - a));
/*
Serial.print("wp lat_degInt: "); Serial.println(getLat_degInt());
Serial.print("wp lon_degInt: "); Serial.println(getLon_degInt());
Serial.print("lat_degInt: "); Serial.println(lat_degInt);
Serial.print("lon_degInt: "); Serial.println(lon_degInt);
Serial.print("sinDeltaLat2: "); Serial.println(sinDeltaLat2);
Serial.print("sinDeltaLon2: "); Serial.println(sinDeltaLon2);
*/
return rEarth * c;
}
//calculates cross track of a current location
float AP_MavlinkCommand::crossTrack(AP_MavlinkCommand previous,
int32_t lat_degInt, int32_t lon_degInt) {
float d = previous.distanceTo(lat_degInt, lon_degInt);
float bCurrent = previous.bearingTo(lat_degInt, lon_degInt);
float bNext = previous.bearingTo(*this);
return asin(sin(d / rEarth) * sin(bCurrent - bNext)) * rEarth;
return 0;
}
// calculates along track distance of a current location
float AP_MavlinkCommand::alongTrack(AP_MavlinkCommand previous,
int32_t lat_degInt, int32_t lon_degInt) {
// ignores lat/lon since single prec.
float dXt = this->crossTrack(previous,lat_degInt, lon_degInt);
float d = previous.distanceTo(lat_degInt, lon_degInt);
return dXt / tan(asin(dXt / d));
}
AP_MavlinkCommand AP_MavlinkCommand::home = AP_MavlinkCommand(0,false);
}

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/*
* AP_MavlinkCommand.h
*
* Created on: Apr 4, 2011
* Author: jgoppert
*/
#ifndef AP_MAVLINKCOMMAND_H_
#define AP_MAVLINKCOMMAND_H_
#include "../GCS_MAVLink/GCS_MAVLink.h"
#include "../AP_Common/AP_Common.h"
#include "AP_Var_keys.h"
#include "constants.h"
#include "../FastSerial/FastSerial.h"
namespace apo {
class AP_MavlinkCommand {
private:
struct CommandStorage {
MAV_CMD command;
bool autocontinue;
MAV_FRAME frame;
float param1;
float param2;
float param3;
float param4;
float x;
float y;
float z;
};
AP_VarS<CommandStorage> _data;
uint16_t _seq;
public:
static AP_MavlinkCommand home;
/**
* Copy Constructor
*/
AP_MavlinkCommand(const AP_MavlinkCommand & v);
/**
* Basic Constructor
* @param index Start at zero.
*/
AP_MavlinkCommand(uint16_t index, bool doLoad = true);
/**
* Constructor for copying/ saving from a mavlink waypoint.
* @param cmd The mavlink_waopint_t structure for the command.
*/
AP_MavlinkCommand(mavlink_waypoint_t cmd);
bool save() {
return _data.save();
}
bool load() {
return _data.load();
}
uint8_t getSeq() const {
return _seq;
}
bool getAutocontinue() const {
return _data.get().autocontinue;
}
void setAutocontinue(bool val) {
_data.get().autocontinue = val;
}
void setSeq(uint8_t val) {
_seq = val;
}
MAV_CMD getCommand() const {
return _data.get().command;
}
void setCommand(MAV_CMD val) {
_data.get().command = val;
}
MAV_FRAME getFrame() const {
return _data.get().frame;
}
void setFrame(MAV_FRAME val) {
_data.get().frame = val;
}
float getParam1() const {
return _data.get().param1;
}
void setParam1(float val) {
_data.get().param1 = val;
}
float getParam2() const {
return _data.get().param2;
}
void setParam2(float val) {
_data.get().param2 = val;
}
float getParam3() const {
return _data.get().param3;
}
void setParam3(float val) {
_data.get().param3 = val;
}
float getParam4() const {
return _data.get().param4;
}
void setParam4(float val) {
_data.get().param4 = val;
}
float getX() const {
return _data.get().x;
}
void setX(float val) {
_data.get().x = val;
}
float getY() const {
return _data.get().y;
}
void setY(float val) {
_data.get().y = val;
}
float getZ() const {
return _data.get().z;
}
void setZ(float val) {
_data.get().z = val;
}
float getLatDeg() const {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
return getX();
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_MISSION:
default:
return 0;
break;
}
}
void setLatDeg(float val) {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
setX(val);
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_MISSION:
default:
break;
}
}
float getLonDeg() const {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
return getY();
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_MISSION:
default:
return 0;
break;
}
}
void setLonDeg(float val) {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
setY(val);
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_MISSION:
default:
break;
}
}
void setLon(float val) {
setLonDeg(val * rad2Deg);
}
void setLon_degInt(int32_t val) {
setLonDeg(val / 1.0e7);
}
void setLat_degInt(int32_t val) {
setLatDeg(val / 1.0e7);
}
int32_t getLon_degInt() const {
return getLonDeg() * 1e7;
}
int32_t getLat_degInt() const {
return getLatDeg() * 1e7;
}
float getLon() const {
return getLonDeg() * deg2Rad;
}
float getLat() const {
return getLatDeg() * deg2Rad;
}
void setLat(float val) {
setLatDeg(val * rad2Deg);
}
float getAlt() const {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
return getZ();
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_LOCAL:
return getZ() + home.getAlt();
break;
case MAV_FRAME_MISSION:
default:
return 0;
break;
}
}
/**
* set the altitude in meters
*/
void setAlt(float val) {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
setZ(val);
break;
case MAV_FRAME_LOCAL:
setZ(val - home.getLonDeg());
break;
case MAV_FRAME_MISSION:
default:
break;
}
}
/**
* Get the relative altitude to home
* @return relative altitude in meters
*/
float getRelAlt() const {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
return getZ() - home.getAlt();
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_LOCAL:
return getZ();
break;
case MAV_FRAME_MISSION:
default:
return 0;
break;
}
}
/**
* set the relative altitude in meters from home
*/
void setRelAlt(float val) {
switch (getFrame()) {
case MAV_FRAME_GLOBAL:
setZ(val + home.getAlt());
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_LOCAL:
setZ(val);
break;
case MAV_FRAME_MISSION:
break;
}
}
float getRadius() const {
return getParam2();
}
void setRadius(float val) {
setParam2(val);
}
/**
* conversion for outbound packets to ground station
* @return output the mavlink_waypoint_t packet
*/
mavlink_waypoint_t convert(uint8_t current);
/**
* Calculate the bearing from this command to the next command
* @param next The command to calculate the bearing to.
* @return the bearing
*/
float bearingTo(AP_MavlinkCommand next) const;
/**
* Bearing form this command to a gps coordinate in integer units
* @param latDegInt latitude in degrees E-7
* @param lonDegInt longitude in degrees E-7
* @return
*/
float bearingTo(int32_t latDegInt, int32_t lonDegInt) const;
/**
* Distance to another command
* @param next The command to measure to.
* @return The distance in meters.
*/
float distanceTo(AP_MavlinkCommand next) const;
/**
* Distance to a gps coordinate in integer units
* @param latDegInt latitude in degrees E-7
* @param lonDegInt longitude in degrees E-7
* @return The distance in meters.
*/
float distanceTo(int32_t lat_degInt, int32_t lon_degInt) const;
float getPN(int32_t lat_degInt, int32_t lon_degInt) const {
// local tangent approximation at this waypoint
float deltaLat = (lat_degInt - getLat_degInt()) * degInt2Rad;
return deltaLat * rEarth;
}
float getPE(int32_t lat_degInt, int32_t lon_degInt) const {
// local tangent approximation at this waypoint
float deltaLon = (lon_degInt - getLon_degInt()) * degInt2Rad;
return cos(getLat()) * deltaLon * rEarth;
}
float getPD(int32_t alt_intM) const {
return -(alt_intM / scale_m - getAlt());
}
float getLat(float pN) const {
return pN / rEarth + getLat();
}
float getLon(float pE) const {
return pE / rEarth / cos(getLat()) + getLon();
}
/**
* Gets altitude in meters
* @param pD alt in meters
* @return
*/
float getAlt(float pD) const {
return getAlt() - pD;
}
//calculates cross track of a current location
float crossTrack(AP_MavlinkCommand previous, int32_t lat_degInt, int32_t lon_degInt);
// calculates along track distance of a current location
float alongTrack(AP_MavlinkCommand previous, int32_t lat_degInt, int32_t lon_degInt);
};
} // namespace apo
#endif /* AP_MAVLINKCOMMAND_H_ */

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/*
* AP_Navigator.cpp
*
* Created on: Apr 30, 2011
* Author: jgoppert
*/
#include "AP_Navigator.h"

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/*
* AP_Navigator.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file 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 file 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/>.
*/
#ifndef AP_Navigator_H
#define AP_Navigator_H
#include "AP_HardwareAbstractionLayer.h"
#include "../AP_DCM/AP_DCM.h"
#include "../AP_Math/AP_Math.h"
#include "../AP_Compass/AP_Compass.h"
#include "AP_MavlinkCommand.h"
#include "constants.h"
#include "AP_Var_keys.h"
#include "../AP_RangeFinder/AP_RangeFinder.h"
#include "../AP_IMU/AP_IMU.h"
namespace apo {
/// Navigator class
class AP_Navigator {
public:
AP_Navigator(AP_HardwareAbstractionLayer * hal) :
_hal(hal), _timeStamp(0), _roll(0), _rollRate(0), _pitch(0),
_pitchRate(0), _yaw(0), _yawRate(0), _airSpeed(0),
_groundSpeed(0), _vD(0), _lat_degInt(0),
_lon_degInt(0), _alt_intM(0) {
}
virtual void calibrate() {
}
virtual void updateFast(float dt) = 0;
virtual void updateSlow(float dt) = 0;
float getPD() const {
return AP_MavlinkCommand::home.getPD(getAlt_intM());
}
float getPE() const {
return AP_MavlinkCommand::home.getPE(getLat_degInt(), getLon_degInt());
}
float getPN() const {
return AP_MavlinkCommand::home.getPN(getLat_degInt(), getLon_degInt());
}
void setPD(float _pD) {
setAlt(AP_MavlinkCommand::home.getAlt(_pD));
}
void setPE(float _pE) {
setLat(AP_MavlinkCommand::home.getLat(_pE));
}
void setPN(float _pN) {
setLon(AP_MavlinkCommand::home.getLon(_pN));
}
float getAirSpeed() const {
return _airSpeed;
}
int32_t getAlt_intM() const {
return _alt_intM;
}
float getAlt() const {
return _alt_intM / scale_m;
}
void setAlt(float _alt) {
this->_alt_intM = _alt * scale_m;
}
float getLat() const {
//Serial.print("getLatfirst");
//Serial.println(_lat_degInt * degInt2Rad);
return _lat_degInt * degInt2Rad;
}
void setLat(float _lat) {
//Serial.print("setLatfirst");
//Serial.println(_lat * rad2DegInt);
setLat_degInt(_lat*rad2DegInt);
}
float getLon() const {
return _lon_degInt * degInt2Rad;
}
void setLon(float _lon) {
this->_lon_degInt = _lon * rad2DegInt;
}
float getVD() const {
return _vD;
}
float getVE() const {
return sin(getYaw()) * getGroundSpeed();
}
float getGroundSpeed() const {
return _groundSpeed;
}
int32_t getLat_degInt() const {
//Serial.print("getLat_degInt");
//Serial.println(_lat_degInt);
return _lat_degInt;
}
int32_t getLon_degInt() const {
return _lon_degInt;
}
float getVN() const {
return cos(getYaw()) * getGroundSpeed();
}
float getPitch() const {
return _pitch;
}
float getPitchRate() const {
return _pitchRate;
}
float getRoll() const {
return _roll;
}
float getRollRate() const {
return _rollRate;
}
float getYaw() const {
return _yaw;
}
float getYawRate() const {
return _yawRate;
}
void setAirSpeed(float airSpeed) {
_airSpeed = airSpeed;
}
void setAlt_intM(int32_t alt_intM) {
_alt_intM = alt_intM;
}
void setVD(float vD) {
_vD = vD;
}
void setGroundSpeed(float groundSpeed) {
_groundSpeed = groundSpeed;
}
void setLat_degInt(int32_t lat_degInt) {
_lat_degInt = lat_degInt;
//Serial.print("setLat_degInt");
//Serial.println(_lat_degInt);
}
void setLon_degInt(int32_t lon_degInt) {
_lon_degInt = lon_degInt;
}
void setPitch(float pitch) {
_pitch = pitch;
}
void setPitchRate(float pitchRate) {
_pitchRate = pitchRate;
}
void setRoll(float roll) {
_roll = roll;
}
void setRollRate(float rollRate) {
_rollRate = rollRate;
}
void setYaw(float yaw) {
_yaw = yaw;
}
void setYawRate(float yawRate) {
_yawRate = yawRate;
}
void setTimeStamp(int32_t timeStamp) {
_timeStamp = timeStamp;
}
int32_t getTimeStamp() const {
return _timeStamp;
}
protected:
AP_HardwareAbstractionLayer * _hal;
private:
int32_t _timeStamp; // micros clock
float _roll; // rad
float _rollRate; //rad/s
float _pitch; // rad
float _pitchRate; // rad/s
float _yaw; // rad
float _yawRate; // rad/s
float _airSpeed; // m/s
float _groundSpeed; // m/s
float _vD; // m/s
int32_t _lat_degInt; // deg / 1e7
int32_t _lon_degInt; // deg / 1e7
int32_t _alt_intM; // meters / 1e3
};
class DcmNavigator: public AP_Navigator {
private:
/**
* Sensors
*/
RangeFinder * _rangeFinderDown;
AP_DCM * _dcm;
IMU * _imu;
uint16_t _imuOffsetAddress;
public:
DcmNavigator(AP_HardwareAbstractionLayer * hal) :
AP_Navigator(hal), _dcm(), _imuOffsetAddress(0) {
// if orientation equal to front, store as front
/**
* rangeFinder<direction> is assigned values based on orientation which
* is specified in ArduPilotOne.pde.
*/
for (uint8_t i = 0; i < _hal-> rangeFinders.getSize(); i++) {
if (_hal->rangeFinders[i] == NULL)
continue;
if (_hal->rangeFinders[i]->orientation_x == 0
&& _hal->rangeFinders[i]->orientation_y == 0
&& _hal->rangeFinders[i]->orientation_z == 1)
_rangeFinderDown = _hal->rangeFinders[i];
}
if (_hal->getMode() == MODE_LIVE) {
if (_hal->adc)
_hal->imu = new AP_IMU_Oilpan(_hal->adc, k_sensorCalib);
if (_hal->imu)
_dcm = new AP_DCM(_hal->imu, _hal->gps, _hal->compass);
if (_hal->compass) {
_dcm->set_compass(_hal->compass);
}
}
}
virtual void calibrate() {
AP_Navigator::calibrate();
// TODO: handle cold restart
if (_hal->imu) {
/*
* Gyro has built in warm up cycle and should
* run first */
_hal->imu->init_gyro(NULL);
_hal->imu->init_accel(NULL);
}
}
virtual void updateFast(float dt) {
if (_hal->getMode() != MODE_LIVE)
return;
setTimeStamp(micros()); // if running in live mode, record new time stamp
//_hal->debug->println_P(PSTR("nav loop"));
/**
* The altitued is read off the barometer by implementing the following formula:
* altitude (in m) = 44330*(1-(p/po)^(1/5.255)),
* where, po is pressure in Pa at sea level (101325 Pa).
* See http://www.sparkfun.com/tutorials/253 or type this formula
* in a search engine for more information.
* altInt contains the altitude in meters.
*/
if (_hal->baro) {
if (_rangeFinderDown != NULL && _rangeFinderDown->distance <= 695)
setAlt(_rangeFinderDown->distance);
else {
float tmp = (_hal->baro->Press / 101325.0);
tmp = pow(tmp, 0.190295);
//setAlt(44330 * (1.0 - tmp)); //sets the altitude in meters XXX wrong, baro reads 0 press
setAlt(0.0);
}
}
// dcm class for attitude
if (_dcm) {
_dcm->update_DCM();
setRoll(_dcm->roll);
setPitch(_dcm->pitch);
setYaw(_dcm->yaw);
setRollRate(_dcm->get_gyro().x);
setPitchRate(_dcm->get_gyro().y);
setYawRate(_dcm->get_gyro().z);
/*
* accel/gyro debug
*/
/*
Vector3f accel = _hal->imu->get_accel();
Vector3f gyro = _hal->imu->get_gyro();
Serial.printf_P(PSTR("accel: %f %f %f gyro: %f %f %f\n"),
accel.x,accel.y,accel.z,gyro.x,gyro.y,gyro.z);
*/
}
}
virtual void updateSlow(float dt) {
if (_hal->getMode() != MODE_LIVE)
return;
setTimeStamp(micros()); // if running in live mode, record new time stamp
if (_hal->gps) {
_hal->gps->update();
updateGpsLight();
if (_hal->gps->fix && _hal->gps->new_data) {
setLat_degInt(_hal->gps->latitude);
setLon_degInt(_hal->gps->longitude);
setAlt_intM(_hal->gps->altitude * 10); // gps in cm, intM in mm
setGroundSpeed(_hal->gps->ground_speed / 100.0); // gps is in cm/s
}
}
if (_hal->compass) {
_hal->compass->read();
_hal->compass->calculate(getRoll(), getPitch());
_hal->compass->null_offsets(_dcm->get_dcm_matrix());
}
}
void updateGpsLight(void) {
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
static bool GPS_light = false;
switch (_hal->gps->status()) {
case (2):
//digitalWrite(C_LED_PIN, HIGH); //Turn LED C on when gps has valid fix.
break;
case (1):
if (_hal->gps->valid_read == true) {
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
if (GPS_light) {
digitalWrite(_hal->cLedPin, LOW);
} else {
digitalWrite(_hal->cLedPin, HIGH);
}
_hal->gps->valid_read = false;
}
break;
default:
digitalWrite(_hal->cLedPin, LOW);
break;
}
}
};
} // namespace apo
#endif // AP_Navigator_H
// vim:ts=4:sw=4:expandtab

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/*
AP_RcChannel.cpp - Radio library for Arduino
Code by Jason Short, James Goppert. DIYDrones.com
This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include <math.h>
#include <avr/eeprom.h>
#include "AP_RcChannel.h"
#include "../AP_Common/AP_Common.h"
#include <HardwareSerial.h>
namespace apo {
AP_RcChannel::AP_RcChannel(AP_Var::Key keyValue, const prog_char_t * name,
APM_RC_Class & rc, const uint8_t & ch, const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
const rcMode_t & rcMode, const bool & reverse) :
AP_Var_group(keyValue, name), _ch(this, 1, ch, PSTR("ch")),
_pwmMin(this, 2, pwmMin, PSTR("pMin")),
_pwmNeutral(this, 3, pwmNeutral, PSTR("pNtrl")),
_pwmMax(this, 4, pwmMax, PSTR("pMax")), _rcMode(rcMode),
_reverse(this, 5, reverse, PSTR("rev")), _rc(rc), _pwm(pwmNeutral) {
//Serial.print("pwm after ctor: "); Serial.println(pwmNeutral);
if (rcMode == RC_MODE_IN)
return;
//Serial.print("pwm set for ch: "); Serial.println(int(ch));
rc.OutputCh(ch, pwmNeutral);
}
uint16_t AP_RcChannel::getRadioPwm() {
if (_rcMode == RC_MODE_OUT) {
Serial.print("tryng to read from output channel: ");
Serial.println(int(_ch));
return _pwmNeutral; // if this happens give a safe value of neutral
}
return _rc.InputCh(_ch);
}
void AP_RcChannel::setUsingRadio() {
setPwm(getRadioPwm());
}
void AP_RcChannel::setPwm(uint16_t pwm) {
//Serial.printf("pwm in setPwm: %d\n", pwm);
//Serial.printf("reverse: %s\n", (reverse)?"true":"false");
// apply reverse
if (_reverse)
pwm = int16_t(_pwmNeutral - pwm) + _pwmNeutral;
//Serial.printf("pwm after reverse: %d\n", pwm);
// apply saturation
if (_pwm > uint8_t(_pwmMax))
_pwm = _pwmMax;
if (_pwm < uint8_t(_pwmMin))
_pwm = _pwmMin;
_pwm = pwm;
//Serial.print("ch: "); Serial.print(ch); Serial.print(" pwm: "); Serial.println(pwm);
if (_rcMode == RC_MODE_IN)
return;
_rc.OutputCh(_ch, _pwm);
}
void AP_RcChannel::setPosition(float position) {
if (position > 1.0)
position = 1.0;
else if (position < -1.0)
position = -1.0;
setPwm(_positionToPwm(position));
}
uint16_t AP_RcChannel::_positionToPwm(const float & position) {
uint16_t pwm;
//Serial.printf("position: %f\n", position);
if (position < 0)
pwm = position * int16_t(_pwmNeutral - _pwmMin) + _pwmNeutral;
else
pwm = position * int16_t(_pwmMax - _pwmNeutral) + _pwmNeutral;
if (pwm > uint16_t(_pwmMax))
pwm = _pwmMax;
if (pwm < uint16_t(_pwmMin))
pwm = _pwmMin;
return pwm;
}
float AP_RcChannel::_pwmToPosition(const uint16_t & pwm) {
float position;
if (pwm < uint8_t(_pwmNeutral))
position = 1.0 * int16_t(pwm - _pwmNeutral) / int16_t(
_pwmNeutral - _pwmMin);
else
position = 1.0 * int16_t(pwm - _pwmNeutral) / int16_t(
_pwmMax - _pwmNeutral);
if (position > 1)
position = 1;
if (position < -1)
position = -1;
return position;
}
} // namespace apo

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file AP_RcChannel.h
/// @brief AP_RcChannel manager
#ifndef AP_RCCHANNEL_H
#define AP_RCCHANNEL_H
#include <stdint.h>
#include "../APM_RC/APM_RC.h"
#include "../AP_Common/AP_Common.h"
#include "../AP_Common/AP_Var.h"
namespace apo {
enum rcMode_t {
RC_MODE_IN, RC_MODE_OUT, RC_MODE_INOUT
};
/// @class AP_RcChannel
/// @brief Object managing one RC channel
class AP_RcChannel: public AP_Var_group {
public:
/// Constructor
AP_RcChannel(AP_Var::Key key, const prog_char_t * name, APM_RC_Class & rc,
const uint8_t & ch, const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
const rcMode_t & rcMode = RC_MODE_INOUT,
const bool & reverse = false);
// configuration
AP_Uint8 _ch;AP_Uint16 _pwmMin;AP_Uint16 _pwmNeutral;AP_Uint16 _pwmMax;
rcMode_t _rcMode;AP_Bool _reverse;
// set
void setUsingRadio();
void setPwm(uint16_t pwm);
void setPosition(float position);
// get
uint16_t getPwm() {
return _pwm;
}
uint16_t getRadioPwm();
float getPosition() {
return _pwmToPosition(_pwm);
}
float getRadioPosition() {
return _pwmToPosition(getRadioPwm());
}
private:
// configuration
APM_RC_Class & _rc;
// internal states
uint16_t _pwm; // this is the internal state, position is just created when needed
// private methods
uint16_t _positionToPwm(const float & position);
float _pwmToPosition(const uint16_t & pwm);
};
} // apo
#endif // AP_RCCHANNEL_H

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#ifndef AP_Var_keys_H
#define AP_Var_keys_H
enum keys {
// general
k_config = 0,
k_cntrl,
k_guide,
k_sensorCalib,
k_radioChannelsStart=10,
k_controllersStart=30,
k_customStart=100,
// 200-256 reserved for commands
k_commands = 200
};
// max 256 keys
#endif

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set(LIB_NAME APO)
set(${LIB_NAME}_SRCS
AP_Autopilot.cpp
AP_CommLink.cpp
AP_Controller.cpp
AP_Guide.cpp
AP_HardwareAbstractionLayer.cpp
AP_MavlinkCommand.cpp
AP_Navigator.cpp
AP_RcChannel.cpp
APO.cpp
) # Firmware sources
set(${LIB_NAME}_HDRS
AP_Autopilot.h
AP_CommLink.h
AP_Controller.h
AP_Guide.h
AP_HardwareAbstractionLayer.h
AP_MavlinkCommand.h
AP_Navigator.h
AP_RcChannel.h
AP_Var_keys.h
APO.h
constants.h
template.h
)
include_directories(
# ${CMAKE_SOURCE_DIR}/libraries/AP_Common
${CMAKE_SOURCE_DIR}/libraries/FastSerial
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
#
)
set(${LIB_NAME}_BOARD ${BOARD})
generate_arduino_library(${LIB_NAME})

23
libraries/APO/constants.h Normal file
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/*
* constants.h
*
* Created on: Apr 7, 2011
* Author: nkgentry
*/
#ifndef CONSTANTS_H_
#define CONSTANTS_H_
#include "math.h"
const float scale_deg = 1e7; // scale of integer degrees/ degree
const float scale_m = 1e3; // scale of integer meters/ meter
const float rEarth = 6371000; // radius of earth, meters
const float rad2Deg = 180 / M_PI; // radians to degrees
const float deg2Rad = M_PI / 180; // degrees to radians
const float rad2DegInt = rad2Deg * scale_deg; // radians to degrees x 1e7
const float degInt2Rad = deg2Rad / scale_deg; // degrees x 1e7 to radians
#define MAV_MODE_FAILSAFE MAV_MODE_TEST3
#endif /* CONSTANTS_H_ */

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BOARD = mega
include ../../../AP_Common/Arduino.mk

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/*
AnalogReadSerial
Reads an analog input on pin 0, prints the result to the serial monitor
This example code is in the public domain.
*/
#include <GCS_MAVLink.h>
int packetDrops = 0;
void handleMessage(mavlink_message_t * msg) {
Serial.print(", received mavlink message: ");
Serial.print(msg->msgid, DEC);
}
void setup() {
Serial.begin(57600);
Serial3.begin(57600);
mavlink_comm_0_port = &Serial3;
packetDrops = 0;
}
void loop() {
mavlink_msg_heartbeat_send(MAVLINK_COMM_0, mavlink_system.type,
MAV_AUTOPILOT_ARDUPILOTMEGA);
Serial.print("heartbeat sent");
// receive new packets
mavlink_message_t msg;
mavlink_status_t status;
Serial.print(", bytes available: ");
Serial.print(comm_get_available(MAVLINK_COMM_0));
while (comm_get_available( MAVLINK_COMM_0)) {
uint8_t c = comm_receive_ch(MAVLINK_COMM_0);
// Try to get a new message
if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status))
handleMessage(&msg);
}
// Update packet drops counter
packetDrops += status.packet_rx_drop_count;
Serial.print(", dropped packets: ");
Serial.println(packetDrops);
delay(1000);
}

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BOARD = mega
include ../../../AP_Common/Arduino.mk

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@ -0,0 +1,109 @@
/*
Example of RC_Channel library.
Code by James Goppert/ Jason Short. 2010
DIYDrones.com
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <APO.h>
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
#include <APM_RC.h>
#include <AP_Vector.h>
FastSerialPort0(Serial)
; // make sure this proceeds variable declarations
// test settings
using namespace apo;
class RadioTest {
private:
float testPosition;
int8_t testSign;
enum {
version,
rollKey,
pitchKey,
thrKey,
yawKey,
ch5Key,
ch6Key,
ch7Key,
ch8Key
};
Vector<AP_RcChannel *> ch;
public:
RadioTest() :
testPosition(2), testSign(1) {
ch.push_back(
new AP_RcChannel(rollKey, PSTR("ROLL"), APM_RC, 0, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(pitchKey, PSTR("PITCH"), APM_RC, 1, 1100,
1500, 1900));
ch.push_back(
new AP_RcChannel(thrKey, PSTR("THR"), APM_RC, 2, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(yawKey, PSTR("YAW"), APM_RC, 3, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch5Key, PSTR("CH5"), APM_RC, 4, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch6Key, PSTR("CH6"), APM_RC, 5, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch7Key, PSTR("CH7"), APM_RC, 6, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500,
1900));
Serial.begin(115200);
delay(2000);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(2000);
}
void update() {
// read the radio
for (uint8_t i = 0; i < ch.getSize(); i++)
ch[i]->setUsingRadio();
// print channel names
Serial.print("\t\t");
static char name[7];
for (uint8_t i = 0; i < ch.getSize(); i++) {
ch[i]->copy_name(name, 7);
Serial.printf("%7s\t", name);
}
Serial.println();
// print pwm
Serial.printf("pwm :\t");
for (uint8_t i = 0; i < ch.getSize(); i++)
Serial.printf("%7d\t", ch[i]->getPwm());
Serial.println();
// print position
Serial.printf("position :\t");
for (uint8_t i = 0; i < ch.getSize(); i++)
Serial.printf("%7.2f\t", ch[i]->getPosition());
Serial.println();
delay(500);
}
};
RadioTest * test;
void setup() {
test = new RadioTest;
}
void loop() {
test->update();
}

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@ -0,0 +1,2 @@
BOARD = mega
include ../../../AP_Common/Arduino.mk

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@ -0,0 +1,125 @@
/*
Example of RC_Channel library.
Code by James Goppert/ Jason Short. 2010
DIYDrones.com
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <APO.h>
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
#include <APM_RC.h>
#include <AP_Vector.h>
FastSerialPort0(Serial)
; // make sure this proceeds variable declarations
// test settings
using namespace apo;
class RadioTest {
private:
float testPosition;
int8_t testSign;
enum {
version,
rollKey,
pitchKey,
thrKey,
yawKey,
ch5Key,
ch6Key,
ch7Key,
ch8Key
};
Vector<AP_RcChannel *> ch;
public:
RadioTest() :
testPosition(2), testSign(1) {
ch.push_back(
new AP_RcChannel(rollKey, PSTR("ROLL"), APM_RC, 0, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(pitchKey, PSTR("PITCH"), APM_RC, 1, 1100,
1500, 1900));
ch.push_back(
new AP_RcChannel(thrKey, PSTR("THR"), APM_RC, 2, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(yawKey, PSTR("YAW"), APM_RC, 3, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch5Key, PSTR("CH5"), APM_RC, 4, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch6Key, PSTR("CH6"), APM_RC, 5, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch7Key, PSTR("CH7"), APM_RC, 6, 1100, 1500,
1900));
ch.push_back(
new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500,
1900));
Serial.begin(115200);
delay(2000);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(2000);
}
void update() {
// update test value
testPosition += testSign * .1;
if (testPosition > 1) {
//eepromRegistry.print(Serial); // show eeprom map
testPosition = 1;
testSign = -1;
} else if (testPosition < -1) {
testPosition = -1;
testSign = 1;
}
// set channel positions
for (uint8_t i = 0; i < ch.getSize(); i++)
ch[i]->setPosition(testPosition);
// print test position
Serial.printf("\nnormalized position (%f)\n", testPosition);
// print channel names
Serial.print("\t\t");
static char name[7];
for (uint8_t i = 0; i < ch.getSize(); i++) {
ch[i]->copy_name(name, 7);
Serial.printf("%7s\t", name);
}
Serial.println();
// print pwm
Serial.printf("pwm :\t");
for (uint8_t i = 0; i < ch.getSize(); i++)
Serial.printf("%7d\t", ch[i]->getRadioPwm());
Serial.println();
// print position
Serial.printf("position :\t");
for (uint8_t i = 0; i < ch.getSize(); i++)
Serial.printf("%7.2f\t", ch[i]->getRadioPosition());
Serial.println();
delay(500);
}
};
RadioTest * test;
void setup() {
test = new RadioTest;
}
void loop() {
test->update();
}
// vim:ts=4:sw=4:expandtab

32
libraries/APO/template.h Normal file
View File

@ -0,0 +1,32 @@
/*
* Class.h
* Copyright (C) Author 2011 <email>
*
* This file 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 file 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/>.
*/
#ifndef Class_H
#define Class_H
namespace apo {
/// Class desciprtion
class Class {
public:
}
} // namespace apo
#endif // Class_H
// vim:ts=4:sw=4:expandtab

View File

@ -9,19 +9,21 @@
/// @file AP_Var.cpp /// @file AP_Var.cpp
/// @brief The AP variable store. /// @brief The AP variable store.
#if 0
# include <FastSerial.h>
extern "C" { extern void delay(unsigned long); }
# define debug(fmt, args...) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(100); } while(0)
#else
# define debug(fmt, args...)
#endif
#include <AP_Common.h> #include <AP_Common.h>
#include <math.h> #include <math.h>
#include <string.h> #include <string.h>
//#define ENABLE_FASTSERIAL_DEBUG
#ifdef ENABLE_FASTSERIAL_DEBUG
# include <FastSerial.h>
# define serialDebug(fmt, args...) if (FastSerial::getInitialized(0)) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(0); } while(0)
#else
# define serialDebug(fmt, args...)
#endif
// Global constants exported for general use. // Global constants exported for general use.
// //
AP_Float AP_Float_unity ( 1.0, AP_Var::k_key_none, NULL, AP_Var::k_flag_unlisted); AP_Float AP_Float_unity ( 1.0, AP_Var::k_key_none, NULL, AP_Var::k_flag_unlisted);
@ -71,7 +73,11 @@ AP_Var::AP_Var(AP_Var_group *pGroup, Key index, const prog_char_t *name, Flags f
// to the pointer to the node that we are considering inserting in front of. // to the pointer to the node that we are considering inserting in front of.
// //
vp = &_grouped_variables; vp = &_grouped_variables;
size_t loopCount = 0;
while (*vp != NULL) { while (*vp != NULL) {
if (loopCount++>k_num_max) return;
if ((*vp)->_key >= _key) { if ((*vp)->_key >= _key) {
break; break;
} }
@ -98,13 +104,20 @@ AP_Var::~AP_Var(void)
} }
// Scan the list and remove this if we find it // Scan the list and remove this if we find it
{
size_t loopCount = 0;
while (*vp) { while (*vp) {
if (loopCount++>k_num_max) return;
if (*vp == this) { if (*vp == this) {
*vp = _link; *vp = _link;
break; break;
} }
vp = &((*vp)->_link); vp = &((*vp)->_link);
} }
}
// If we are destroying a group, remove all its variables from the list // If we are destroying a group, remove all its variables from the list
// //
@ -112,8 +125,12 @@ AP_Var::~AP_Var(void)
// Scan the list and remove any variable that has this as its group // Scan the list and remove any variable that has this as its group
vp = &_grouped_variables; vp = &_grouped_variables;
size_t loopCount = 0;
while (*vp) { while (*vp) {
if (loopCount++>k_num_max) return;
// Does the variable claim us as its group? // Does the variable claim us as its group?
if ((*vp)->_group == this) { if ((*vp)->_group == this) {
*vp = (*vp)->_link; *vp = (*vp)->_link;
@ -145,7 +162,12 @@ AP_Var::find(const char *name)
{ {
AP_Var *vp; AP_Var *vp;
size_t loopCount = 0;
for (vp = first(); vp; vp = vp->next()) { for (vp = first(); vp; vp = vp->next()) {
if (loopCount++>k_num_max) return NULL;
char name_buffer[32]; char name_buffer[32];
// copy the variable's name into our scratch buffer // copy the variable's name into our scratch buffer
@ -165,9 +187,9 @@ AP_Var *
AP_Var::find(Key key) AP_Var::find(Key key)
{ {
AP_Var *vp; AP_Var *vp;
size_t loopCount = 0;
for (vp = first(); vp; vp = vp->next()) { for (vp = first(); vp; vp = vp->next()) {
if (loopCount++>k_num_max) return NULL;
if (key == vp->key()) { if (key == vp->key()) {
return vp; return vp;
} }
@ -188,11 +210,11 @@ bool AP_Var::save(void)
return _group->save(); return _group->save();
} }
debug("save: %S", _name ? _name : PSTR("??")); serialDebug("save: %S", _name ? _name : PSTR("??"));
// locate the variable in EEPROM, allocating space as required // locate the variable in EEPROM, allocating space as required
if (!_EEPROM_locate(true)) { if (!_EEPROM_locate(true)) {
debug("locate failed"); serialDebug("locate failed");
return false; return false;
} }
@ -200,13 +222,13 @@ bool AP_Var::save(void)
size = serialize(vbuf, sizeof(vbuf)); size = serialize(vbuf, sizeof(vbuf));
if (0 == size) { if (0 == size) {
// variable cannot be serialised into the buffer // variable cannot be serialised into the buffer
debug("cannot save (too big or not supported)"); serialDebug("cannot save (too big or not supported)");
return false; return false;
} }
// if it fit in the buffer, save it to EEPROM // if it fit in the buffer, save it to EEPROM
if (size <= sizeof(vbuf)) { if (size <= sizeof(vbuf)) {
debug("saving %u to %u", size, _key); serialDebug("saving %u to %u", size, _key);
// XXX this should use eeprom_update_block if/when Arduino moves to // XXX this should use eeprom_update_block if/when Arduino moves to
// avr-libc >= 1.7 // avr-libc >= 1.7
uint8_t *ep = (uint8_t *)_key; uint8_t *ep = (uint8_t *)_key;
@ -219,7 +241,7 @@ bool AP_Var::save(void)
// now read it back // now read it back
newv = eeprom_read_byte(ep); newv = eeprom_read_byte(ep);
if (newv != vbuf[i]) { if (newv != vbuf[i]) {
debug("readback failed at offset %p: got %u, expected %u", serialDebug("readback failed at offset %p: got %u, expected %u",
ep, newv, vbuf[i]); ep, newv, vbuf[i]);
return false; return false;
} }
@ -241,11 +263,11 @@ bool AP_Var::load(void)
return _group->load(); return _group->load();
} }
debug("load: %S", _name ? _name : PSTR("??")); serialDebug("load: %S", _name ? _name : PSTR("??"));
// locate the variable in EEPROM, but do not allocate space // locate the variable in EEPROM, but do not allocate space
if (!_EEPROM_locate(false)) { if (!_EEPROM_locate(false)) {
debug("locate failed"); serialDebug("locate failed");
return false; return false;
} }
@ -255,7 +277,7 @@ bool AP_Var::load(void)
// //
size = serialize(NULL, 0); size = serialize(NULL, 0);
if (0 == size) { if (0 == size) {
debug("cannot load (too big or not supported)"); serialDebug("cannot load (too big or not supported)");
return false; return false;
} }
@ -263,7 +285,7 @@ bool AP_Var::load(void)
// has converted _key into an EEPROM address. // has converted _key into an EEPROM address.
// //
if (size <= sizeof(vbuf)) { if (size <= sizeof(vbuf)) {
debug("loading %u from %u", size, _key); serialDebug("loading %u from %u", size, _key);
eeprom_read_block(vbuf, (void *)_key, size); eeprom_read_block(vbuf, (void *)_key, size);
return unserialize(vbuf, size); return unserialize(vbuf, size);
} }
@ -278,7 +300,12 @@ bool AP_Var::save_all(void)
bool result = true; bool result = true;
AP_Var *vp = _variables; AP_Var *vp = _variables;
size_t loopCount = 0;
while (vp) { while (vp) {
if (loopCount++>k_num_max) return false;
if (!vp->has_flags(k_flag_no_auto_load) && // not opted out of autosave if (!vp->has_flags(k_flag_no_auto_load) && // not opted out of autosave
(vp->_key != k_key_none)) { // has a key (vp->_key != k_key_none)) { // has a key
@ -298,7 +325,12 @@ bool AP_Var::load_all(void)
bool result = true; bool result = true;
AP_Var *vp = _variables; AP_Var *vp = _variables;
size_t loopCount = 0;
while (vp) { while (vp) {
if (loopCount++>k_num_max) return false;
if (!vp->has_flags(k_flag_no_auto_load) && // not opted out of autoload if (!vp->has_flags(k_flag_no_auto_load) && // not opted out of autoload
(vp->_key != k_key_none)) { // has a key (vp->_key != k_key_none)) { // has a key
@ -322,13 +354,19 @@ AP_Var::erase_all()
AP_Var *vp; AP_Var *vp;
uint16_t i; uint16_t i;
debug("erase EEPROM"); serialDebug("erase EEPROM");
// Scan the list of variables/groups, fetching their key values and // Scan the list of variables/groups, fetching their key values and
// reverting them to their not-located state. // reverting them to their not-located state.
// //
vp = _variables; vp = _variables;
size_t loopCount = 0;
while (vp) { while (vp) {
if (loopCount++>k_num_max) return;
vp->_key = vp->key() | k_key_not_located; vp->_key = vp->key() | k_key_not_located;
vp = vp->_link; vp = vp->_link;
} }
@ -405,9 +443,15 @@ AP_Var::first_member(AP_Var_group *group)
vp = &_grouped_variables; vp = &_grouped_variables;
debug("seeking %p", group); serialDebug("seeking %p", group);
size_t loopCount = 0;
while (*vp) { while (*vp) {
debug("consider %p with %p", *vp, (*vp)->_group);
if (loopCount++>k_num_max) return NULL;
serialDebug("consider %p with %p", *vp, (*vp)->_group);
if ((*vp)->_group == group) { if ((*vp)->_group == group) {
return *vp; return *vp;
} }
@ -423,7 +467,12 @@ AP_Var::next_member()
AP_Var *vp; AP_Var *vp;
vp = _link; vp = _link;
size_t loopCount = 0;
while (vp) { while (vp) {
if (loopCount++>k_num_max) return NULL;
if (vp->_group == _group) { if (vp->_group == _group) {
return vp; return vp;
} }
@ -451,7 +500,7 @@ bool AP_Var::_EEPROM_scan(void)
if ((ee_header.magic != k_EEPROM_magic) || if ((ee_header.magic != k_EEPROM_magic) ||
(ee_header.revision != k_EEPROM_revision)) { (ee_header.revision != k_EEPROM_revision)) {
debug("no header, magic 0x%x revision %u", ee_header.magic, ee_header.revision); serialDebug("no header, magic 0x%x revision %u", ee_header.magic, ee_header.revision);
return false; return false;
} }
@ -460,17 +509,22 @@ bool AP_Var::_EEPROM_scan(void)
// Avoid trying to read a header when there isn't enough space left. // Avoid trying to read a header when there isn't enough space left.
// //
eeprom_address = sizeof(ee_header); eeprom_address = sizeof(ee_header);
size_t loopCount = 0;
while (eeprom_address < (k_EEPROM_size - sizeof(var_header) - 1)) { while (eeprom_address < (k_EEPROM_size - sizeof(var_header) - 1)) {
if (loopCount++>k_num_max) return NULL;
// Read a variable header // Read a variable header
// //
debug("reading header from %u", eeprom_address); serialDebug("reading header from %u", eeprom_address);
eeprom_read_block(&var_header, (void *)eeprom_address, sizeof(var_header)); eeprom_read_block(&var_header, (void *)eeprom_address, sizeof(var_header));
// If the header is for the sentinel, scanning is complete // If the header is for the sentinel, scanning is complete
// //
if (var_header.key == k_key_sentinel) { if (var_header.key == k_key_sentinel) {
debug("found tail sentinel"); serialDebug("found tail sentinel");
break; break;
} }
@ -482,23 +536,25 @@ bool AP_Var::_EEPROM_scan(void)
var_header.size + 1 + // data for this variable var_header.size + 1 + // data for this variable
sizeof(var_header))) { // header for sentinel sizeof(var_header))) { // header for sentinel
debug("header overruns EEPROM"); serialDebug("header overruns EEPROM");
return false; return false;
} }
// look for a variable with this key // look for a variable with this key
vp = _variables; vp = _variables;
size_t loopCount2 = 0;
while(vp) { while(vp) {
if (loopCount2++>k_num_max) return false;
if (vp->key() == var_header.key) { if (vp->key() == var_header.key) {
// adjust the variable's key to point to this entry // adjust the variable's key to point to this entry
vp->_key = eeprom_address + sizeof(var_header); vp->_key = eeprom_address + sizeof(var_header);
debug("update %p with key %u -> %u", vp, var_header.key, vp->_key); serialDebug("update %p with key %u -> %u", vp, var_header.key, vp->_key);
break; break;
} }
vp = vp->_link; vp = vp->_link;
} }
if (!vp) { if (!vp) {
debug("key %u not claimed (already scanned or unknown)", var_header.key); serialDebug("key %u not claimed (already scanned or unknown)", var_header.key);
} }
// move to the next variable header // move to the next variable header
@ -514,16 +570,18 @@ bool AP_Var::_EEPROM_scan(void)
// mark all the rest as not allocated. // mark all the rest as not allocated.
// //
vp = _variables; vp = _variables;
size_t loopCount3 = 0;
while(vp) { while(vp) {
if (loopCount3++>k_num_max) return false;
if (vp->_key & k_key_not_located) { if (vp->_key & k_key_not_located) {
vp->_key |= k_key_not_allocated; vp->_key |= k_key_not_allocated;
debug("key %u not allocated", vp->key()); serialDebug("key %u not allocated", vp->key());
} }
vp = vp->_link; vp = vp->_link;
} }
// Scanning is complete // Scanning is complete
debug("scan done"); serialDebug("scan done");
_tail_sentinel = eeprom_address; _tail_sentinel = eeprom_address;
return true; return true;
} }
@ -539,7 +597,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
// Is it a group member, or does it have a no-location key? // Is it a group member, or does it have a no-location key?
// //
if (_group || (_key == k_key_none)) { if (_group || (_key == k_key_none)) {
debug("not addressable"); serialDebug("not addressable");
return false; // it is/does, and thus it has no location return false; // it is/does, and thus it has no location
} }
@ -554,7 +612,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
// try scanning to see if we can locate it. // try scanning to see if we can locate it.
// //
if (!(_key & k_key_not_allocated)) { if (!(_key & k_key_not_allocated)) {
debug("need scan"); serialDebug("need scan");
_EEPROM_scan(); _EEPROM_scan();
// Has the variable now been located? // Has the variable now been located?
@ -569,7 +627,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
if (!allocate) { if (!allocate) {
return false; return false;
} }
debug("needs allocation"); serialDebug("needs allocation");
// Ask the serializer for the size of the thing we are allocating, and fail // Ask the serializer for the size of the thing we are allocating, and fail
// if it is too large or if it has no size, as we will not be able to allocate // if it is too large or if it has no size, as we will not be able to allocate
@ -577,7 +635,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
// //
size = serialize(NULL, 0); size = serialize(NULL, 0);
if ((size == 0) || (size > k_size_max)) { if ((size == 0) || (size > k_size_max)) {
debug("size %u out of bounds", size); serialDebug("size %u out of bounds", size);
return false; return false;
} }
@ -585,7 +643,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
// header and the new tail sentinel. // header and the new tail sentinel.
// //
if ((_tail_sentinel + size + sizeof(Var_header) * 2) > k_EEPROM_size) { if ((_tail_sentinel + size + sizeof(Var_header) * 2) > k_EEPROM_size) {
debug("no space in EEPROM"); serialDebug("no space in EEPROM");
return false; return false;
} }
@ -595,7 +653,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
if (0 == _tail_sentinel) { if (0 == _tail_sentinel) {
uint8_t pad_size; uint8_t pad_size;
debug("writing header"); serialDebug("writing header");
EEPROM_header ee_header; EEPROM_header ee_header;
ee_header.magic = k_EEPROM_magic; ee_header.magic = k_EEPROM_magic;
@ -621,7 +679,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
// //
new_location = _tail_sentinel; new_location = _tail_sentinel;
_tail_sentinel += sizeof(var_header) + size; _tail_sentinel += sizeof(var_header) + size;
debug("allocated %u/%u for key %u new sentinel %u", new_location, size, key(), _tail_sentinel); serialDebug("allocated %u/%u for key %u new sentinel %u", new_location, size, key(), _tail_sentinel);
// Write the new sentinel first. If we are interrupted during this operation // Write the new sentinel first. If we are interrupted during this operation
// the old sentinel will still correctly terminate the EEPROM image. // the old sentinel will still correctly terminate the EEPROM image.
@ -670,17 +728,22 @@ AP_Var_group::_serialize_unserialize(void *buf, size_t buf_size, bool do_seriali
// Traverse the list of group members, serializing each in order // Traverse the list of group members, serializing each in order
// //
vp = first_member(this); vp = first_member(this);
debug("starting with %p", vp); serialDebug("starting with %p", vp);
total_size = 0; total_size = 0;
size_t loopCount = 0;
while (vp) { while (vp) {
if (loopCount++>k_num_max) return false;
// (un)serialise the group member // (un)serialise the group member
if (do_serialize) { if (do_serialize) {
size = vp->serialize(buf, buf_size); size = vp->serialize(buf, buf_size);
debug("serialize %p -> %u", vp, size); serialDebug("serialize %p -> %u", vp, size);
} else { } else {
size = vp->unserialize(buf, buf_size); size = vp->unserialize(buf, buf_size);
debug("unserialize %p -> %u", vp, size); serialDebug("unserialize %p -> %u", vp, size);
} }
// Unserialize will return zero if the buffer is too small // Unserialize will return zero if the buffer is too small
@ -688,7 +751,7 @@ AP_Var_group::_serialize_unserialize(void *buf, size_t buf_size, bool do_seriali
// Either case is fatal for any operation we might be trying. // Either case is fatal for any operation we might be trying.
// //
if (0 == size) { if (0 == size) {
debug("group (un)serialize failed, buffer too small or not supported"); serialDebug("group (un)serialize failed, buffer too small or not supported");
return 0; return 0;
} }
@ -704,7 +767,7 @@ AP_Var_group::_serialize_unserialize(void *buf, size_t buf_size, bool do_seriali
// and the calling function will have to treat it as an error. // and the calling function will have to treat it as an error.
// //
total_size += size; total_size += size;
debug("used %u", total_size); serialDebug("used %u", total_size);
if (size <= buf_size) { if (size <= buf_size) {
// there was space for this one, account for it // there was space for this one, account for it
buf_size -= size; buf_size -= size;

View File

@ -128,6 +128,10 @@ public:
/// ///
static const size_t k_size_max = 64; static const size_t k_size_max = 64;
/// The maximum number of keys
///
static const size_t k_num_max = 255;
/// Optional flags affecting the behavior and usage of the variable. /// Optional flags affecting the behavior and usage of the variable.
/// ///
typedef uint8_t Flags; typedef uint8_t Flags;

View File

@ -28,6 +28,6 @@ include_directories(
# #
) )
set(${LIB_NAME}_BOARD mega2560) set(${LIB_NAME}_BOARD ${BOARD})
generate_arduino_library(${LIB_NAME}) generate_arduino_library(${LIB_NAME})

View File

@ -23,6 +23,6 @@ include_directories(
# #
) )
set(${LIB_NAME}_BOARD mega2560) set(${LIB_NAME}_BOARD ${BOARD})
generate_arduino_library(${LIB_NAME}) generate_arduino_library(${LIB_NAME})

View File

@ -45,6 +45,7 @@
FastSerial::Buffer __FastSerial__rxBuffer[FS_MAX_PORTS]; FastSerial::Buffer __FastSerial__rxBuffer[FS_MAX_PORTS];
FastSerial::Buffer __FastSerial__txBuffer[FS_MAX_PORTS]; FastSerial::Buffer __FastSerial__txBuffer[FS_MAX_PORTS];
uint8_t FastSerial::_serialInitialized = 0;
// Constructor ///////////////////////////////////////////////////////////////// // Constructor /////////////////////////////////////////////////////////////////
@ -61,6 +62,8 @@ FastSerial::FastSerial(const uint8_t portNumber, volatile uint8_t *ubrrh, volati
_rxBuffer(&__FastSerial__rxBuffer[portNumber]), _rxBuffer(&__FastSerial__rxBuffer[portNumber]),
_txBuffer(&__FastSerial__txBuffer[portNumber]) _txBuffer(&__FastSerial__txBuffer[portNumber])
{ {
setInitialized(portNumber);
begin(57600);
} }
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////

View File

@ -55,6 +55,7 @@
#include "BetterStream.h" #include "BetterStream.h"
/// @file FastSerial.h /// @file FastSerial.h
/// @brief An enhanced version of the Arduino HardwareSerial class /// @brief An enhanced version of the Arduino HardwareSerial class
/// implementing interrupt-driven transmission and flexible /// implementing interrupt-driven transmission and flexible
@ -101,6 +102,7 @@ extern class FastSerial Serial3;
/// ///
class FastSerial: public BetterStream { class FastSerial: public BetterStream {
public: public:
/// Constructor /// Constructor
FastSerial(const uint8_t portNumber, volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, volatile uint8_t *ucsra, FastSerial(const uint8_t portNumber, volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, volatile uint8_t *ucsra,
volatile uint8_t *ucsrb, const uint8_t u2x, const uint8_t portEnableBits, const uint8_t portTxBits); volatile uint8_t *ucsrb, const uint8_t u2x, const uint8_t portEnableBits, const uint8_t portTxBits);
@ -149,7 +151,21 @@ public:
uint8_t *bytes; ///< pointer to allocated buffer uint8_t *bytes; ///< pointer to allocated buffer
}; };
/// Tell if the serial port has been initialized
static bool getInitialized(uint8_t port) {
return (1<<port) & _serialInitialized;
}
private: private:
/// Bit mask for initialized ports
static uint8_t _serialInitialized;
/// Set if the serial port has been initialized
static void setInitialized(uint8_t port) {
_serialInitialized |= (1<<port);
}
// register accessors // register accessors
volatile uint8_t * const _ubrrh; volatile uint8_t * const _ubrrh;
volatile uint8_t * const _ubrrl; volatile uint8_t * const _ubrrl;