mirror of https://github.com/ArduPilot/ardupilot
Added APO branch.
This commit is contained in:
parent
888e1119e8
commit
71fbdf721a
|
@ -0,0 +1,184 @@
|
|||
/*
|
||||
* 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();
|
||||
}
|
|
@ -0,0 +1,68 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,80 @@
|
|||
#=============================================================================#
|
||||
# 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
|
||||
)
|
|
@ -0,0 +1,125 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1 @@
|
|||
include ../libraries/AP_Common/Arduino.mk
|
|
@ -0,0 +1,184 @@
|
|||
/*
|
||||
* 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();
|
||||
}
|
|
@ -0,0 +1,80 @@
|
|||
#=============================================================================#
|
||||
# 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
|
||||
)
|
|
@ -0,0 +1,69 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,125 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,133 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1 @@
|
|||
include ../libraries/AP_Common/Arduino.mk
|
|
@ -0,0 +1,68 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,80 @@
|
|||
#=============================================================================#
|
||||
# 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
|
||||
)
|
|
@ -0,0 +1,215 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,250 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1 @@
|
|||
include ../libraries/AP_Common/Arduino.mk
|
|
@ -0,0 +1,113 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,98 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,98 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,184 @@
|
|||
/*
|
||||
* 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();
|
||||
}
|
|
@ -0,0 +1,8 @@
|
|||
/*
|
||||
* APO.cpp
|
||||
*
|
||||
* Created on: Apr 30, 2011
|
||||
* Author: jgoppert
|
||||
*/
|
||||
|
||||
#include "APO.h"
|
|
@ -0,0 +1,20 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,246 @@
|
|||
/*
|
||||
* 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
|
|
@ -0,0 +1,165 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,15 @@
|
|||
/*
|
||||
* 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
|
|
@ -0,0 +1,790 @@
|
|||
/*
|
||||
* 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
|
|
@ -0,0 +1,8 @@
|
|||
/*
|
||||
* AP_Controller.cpp
|
||||
*
|
||||
* Created on: Apr 30, 2011
|
||||
* Author: jgoppert
|
||||
*/
|
||||
|
||||
#include "AP_Controller.h"
|
|
@ -0,0 +1,304 @@
|
|||
/*
|
||||
* 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
|
|
@ -0,0 +1,8 @@
|
|||
/*
|
||||
* AP_Guide.cpp
|
||||
*
|
||||
* Created on: Apr 30, 2011
|
||||
* Author: jgoppert
|
||||
*/
|
||||
|
||||
#include "AP_Guide.h"
|
|
@ -0,0 +1,359 @@
|
|||
/*
|
||||
* 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
|
|
@ -0,0 +1,8 @@
|
|||
/*
|
||||
* AP_HardwareAbstractionLayer.cpp
|
||||
*
|
||||
* Created on: Apr 30, 2011
|
||||
* Author: jgoppert
|
||||
*/
|
||||
|
||||
#include "AP_HardwareAbstractionLayer.h"
|
|
@ -0,0 +1,166 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,175 @@
|
|||
/*
|
||||
* 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);
|
||||
|
||||
}
|
|
@ -0,0 +1,359 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,8 @@
|
|||
/*
|
||||
* AP_Navigator.cpp
|
||||
*
|
||||
* Created on: Apr 30, 2011
|
||||
* Author: jgoppert
|
||||
*/
|
||||
|
||||
#include "AP_Navigator.h"
|
|
@ -0,0 +1,391 @@
|
|||
/*
|
||||
* 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
|
|
@ -0,0 +1,110 @@
|
|||
/*
|
||||
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
|
|
@ -0,0 +1,69 @@
|
|||
// -*- 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
|
|
@ -0,0 +1,24 @@
|
|||
#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
|
|
@ -0,0 +1,39 @@
|
|||
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})
|
|
@ -0,0 +1,23 @@
|
|||
/*
|
||||
* 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_ */
|
|
@ -0,0 +1,2 @@
|
|||
BOARD = mega
|
||||
include ../../../AP_Common/Arduino.mk
|
|
@ -0,0 +1,49 @@
|
|||
/*
|
||||
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);
|
||||
}
|
|
@ -0,0 +1,2 @@
|
|||
BOARD = mega
|
||||
include ../../../AP_Common/Arduino.mk
|
|
@ -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();
|
||||
}
|
|
@ -0,0 +1,2 @@
|
|||
BOARD = mega
|
||||
include ../../../AP_Common/Arduino.mk
|
|
@ -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
|
|
@ -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
|
|
@ -9,19 +9,21 @@
|
|||
/// @file AP_Var.cpp
|
||||
/// @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 <math.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.
|
||||
//
|
||||
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.
|
||||
//
|
||||
vp = &_grouped_variables;
|
||||
size_t loopCount = 0;
|
||||
while (*vp != NULL) {
|
||||
|
||||
if (loopCount++>k_num_max) return;
|
||||
|
||||
if ((*vp)->_key >= _key) {
|
||||
break;
|
||||
}
|
||||
|
@ -98,13 +104,20 @@ AP_Var::~AP_Var(void)
|
|||
}
|
||||
|
||||
// Scan the list and remove this if we find it
|
||||
|
||||
{
|
||||
size_t loopCount = 0;
|
||||
while (*vp) {
|
||||
|
||||
if (loopCount++>k_num_max) return;
|
||||
|
||||
if (*vp == this) {
|
||||
*vp = _link;
|
||||
break;
|
||||
}
|
||||
vp = &((*vp)->_link);
|
||||
}
|
||||
}
|
||||
|
||||
// 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
|
||||
vp = &_grouped_variables;
|
||||
size_t loopCount = 0;
|
||||
|
||||
while (*vp) {
|
||||
|
||||
if (loopCount++>k_num_max) return;
|
||||
|
||||
// Does the variable claim us as its group?
|
||||
if ((*vp)->_group == this) {
|
||||
*vp = (*vp)->_link;
|
||||
|
@ -145,7 +162,12 @@ AP_Var::find(const char *name)
|
|||
{
|
||||
AP_Var *vp;
|
||||
|
||||
size_t loopCount = 0;
|
||||
|
||||
for (vp = first(); vp; vp = vp->next()) {
|
||||
|
||||
if (loopCount++>k_num_max) return NULL;
|
||||
|
||||
char name_buffer[32];
|
||||
|
||||
// copy the variable's name into our scratch buffer
|
||||
|
@ -165,9 +187,9 @@ AP_Var *
|
|||
AP_Var::find(Key key)
|
||||
{
|
||||
AP_Var *vp;
|
||||
|
||||
size_t loopCount = 0;
|
||||
for (vp = first(); vp; vp = vp->next()) {
|
||||
|
||||
if (loopCount++>k_num_max) return NULL;
|
||||
if (key == vp->key()) {
|
||||
return vp;
|
||||
}
|
||||
|
@ -188,11 +210,11 @@ bool AP_Var::save(void)
|
|||
return _group->save();
|
||||
}
|
||||
|
||||
debug("save: %S", _name ? _name : PSTR("??"));
|
||||
serialDebug("save: %S", _name ? _name : PSTR("??"));
|
||||
|
||||
// locate the variable in EEPROM, allocating space as required
|
||||
if (!_EEPROM_locate(true)) {
|
||||
debug("locate failed");
|
||||
serialDebug("locate failed");
|
||||
return false;
|
||||
}
|
||||
|
||||
|
@ -200,13 +222,13 @@ bool AP_Var::save(void)
|
|||
size = serialize(vbuf, sizeof(vbuf));
|
||||
if (0 == size) {
|
||||
// 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;
|
||||
}
|
||||
|
||||
// if it fit in the buffer, save it to EEPROM
|
||||
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
|
||||
// avr-libc >= 1.7
|
||||
uint8_t *ep = (uint8_t *)_key;
|
||||
|
@ -219,7 +241,7 @@ bool AP_Var::save(void)
|
|||
// now read it back
|
||||
newv = eeprom_read_byte(ep);
|
||||
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]);
|
||||
return false;
|
||||
}
|
||||
|
@ -241,11 +263,11 @@ bool AP_Var::load(void)
|
|||
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
|
||||
if (!_EEPROM_locate(false)) {
|
||||
debug("locate failed");
|
||||
serialDebug("locate failed");
|
||||
return false;
|
||||
}
|
||||
|
||||
|
@ -255,7 +277,7 @@ bool AP_Var::load(void)
|
|||
//
|
||||
size = serialize(NULL, 0);
|
||||
if (0 == size) {
|
||||
debug("cannot load (too big or not supported)");
|
||||
serialDebug("cannot load (too big or not supported)");
|
||||
return false;
|
||||
}
|
||||
|
||||
|
@ -263,7 +285,7 @@ bool AP_Var::load(void)
|
|||
// has converted _key into an EEPROM address.
|
||||
//
|
||||
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);
|
||||
return unserialize(vbuf, size);
|
||||
}
|
||||
|
@ -278,7 +300,12 @@ bool AP_Var::save_all(void)
|
|||
bool result = true;
|
||||
AP_Var *vp = _variables;
|
||||
|
||||
size_t loopCount = 0;
|
||||
|
||||
while (vp) {
|
||||
|
||||
if (loopCount++>k_num_max) return false;
|
||||
|
||||
if (!vp->has_flags(k_flag_no_auto_load) && // not opted out of autosave
|
||||
(vp->_key != k_key_none)) { // has a key
|
||||
|
||||
|
@ -298,7 +325,12 @@ bool AP_Var::load_all(void)
|
|||
bool result = true;
|
||||
AP_Var *vp = _variables;
|
||||
|
||||
size_t loopCount = 0;
|
||||
|
||||
while (vp) {
|
||||
|
||||
if (loopCount++>k_num_max) return false;
|
||||
|
||||
if (!vp->has_flags(k_flag_no_auto_load) && // not opted out of autoload
|
||||
(vp->_key != k_key_none)) { // has a key
|
||||
|
||||
|
@ -322,13 +354,19 @@ AP_Var::erase_all()
|
|||
AP_Var *vp;
|
||||
uint16_t i;
|
||||
|
||||
debug("erase EEPROM");
|
||||
serialDebug("erase EEPROM");
|
||||
|
||||
// Scan the list of variables/groups, fetching their key values and
|
||||
// reverting them to their not-located state.
|
||||
//
|
||||
vp = _variables;
|
||||
|
||||
size_t loopCount = 0;
|
||||
|
||||
while (vp) {
|
||||
|
||||
if (loopCount++>k_num_max) return;
|
||||
|
||||
vp->_key = vp->key() | k_key_not_located;
|
||||
vp = vp->_link;
|
||||
}
|
||||
|
@ -405,9 +443,15 @@ AP_Var::first_member(AP_Var_group *group)
|
|||
|
||||
vp = &_grouped_variables;
|
||||
|
||||
debug("seeking %p", group);
|
||||
serialDebug("seeking %p", group);
|
||||
|
||||
size_t loopCount = 0;
|
||||
|
||||
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) {
|
||||
return *vp;
|
||||
}
|
||||
|
@ -423,7 +467,12 @@ AP_Var::next_member()
|
|||
AP_Var *vp;
|
||||
|
||||
vp = _link;
|
||||
size_t loopCount = 0;
|
||||
|
||||
while (vp) {
|
||||
|
||||
if (loopCount++>k_num_max) return NULL;
|
||||
|
||||
if (vp->_group == _group) {
|
||||
return vp;
|
||||
}
|
||||
|
@ -451,7 +500,7 @@ bool AP_Var::_EEPROM_scan(void)
|
|||
if ((ee_header.magic != k_EEPROM_magic) ||
|
||||
(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;
|
||||
}
|
||||
|
||||
|
@ -460,17 +509,22 @@ bool AP_Var::_EEPROM_scan(void)
|
|||
// Avoid trying to read a header when there isn't enough space left.
|
||||
//
|
||||
eeprom_address = sizeof(ee_header);
|
||||
|
||||
size_t loopCount = 0;
|
||||
|
||||
while (eeprom_address < (k_EEPROM_size - sizeof(var_header) - 1)) {
|
||||
|
||||
if (loopCount++>k_num_max) return NULL;
|
||||
|
||||
// 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));
|
||||
|
||||
// If the header is for the sentinel, scanning is complete
|
||||
//
|
||||
if (var_header.key == k_key_sentinel) {
|
||||
debug("found tail sentinel");
|
||||
serialDebug("found tail sentinel");
|
||||
break;
|
||||
}
|
||||
|
||||
|
@ -482,23 +536,25 @@ bool AP_Var::_EEPROM_scan(void)
|
|||
var_header.size + 1 + // data for this variable
|
||||
sizeof(var_header))) { // header for sentinel
|
||||
|
||||
debug("header overruns EEPROM");
|
||||
serialDebug("header overruns EEPROM");
|
||||
return false;
|
||||
}
|
||||
|
||||
// look for a variable with this key
|
||||
vp = _variables;
|
||||
while (vp) {
|
||||
size_t loopCount2 = 0;
|
||||
while(vp) {
|
||||
if (loopCount2++>k_num_max) return false;
|
||||
if (vp->key() == var_header.key) {
|
||||
// adjust the variable's key to point to this entry
|
||||
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;
|
||||
}
|
||||
vp = vp->_link;
|
||||
}
|
||||
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
|
||||
|
@ -514,16 +570,18 @@ bool AP_Var::_EEPROM_scan(void)
|
|||
// mark all the rest as not allocated.
|
||||
//
|
||||
vp = _variables;
|
||||
while (vp) {
|
||||
size_t loopCount3 = 0;
|
||||
while(vp) {
|
||||
if (loopCount3++>k_num_max) return false;
|
||||
if (vp->_key & k_key_not_located) {
|
||||
vp->_key |= k_key_not_allocated;
|
||||
debug("key %u not allocated", vp->key());
|
||||
serialDebug("key %u not allocated", vp->key());
|
||||
}
|
||||
vp = vp->_link;
|
||||
}
|
||||
|
||||
// Scanning is complete
|
||||
debug("scan done");
|
||||
serialDebug("scan done");
|
||||
_tail_sentinel = eeprom_address;
|
||||
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?
|
||||
//
|
||||
if (_group || (_key == k_key_none)) {
|
||||
debug("not addressable");
|
||||
serialDebug("not addressable");
|
||||
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.
|
||||
//
|
||||
if (!(_key & k_key_not_allocated)) {
|
||||
debug("need scan");
|
||||
serialDebug("need scan");
|
||||
_EEPROM_scan();
|
||||
|
||||
// Has the variable now been located?
|
||||
|
@ -569,7 +627,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
|
|||
if (!allocate) {
|
||||
return false;
|
||||
}
|
||||
debug("needs allocation");
|
||||
serialDebug("needs allocation");
|
||||
|
||||
// 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
|
||||
|
@ -577,7 +635,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
|
|||
//
|
||||
size = serialize(NULL, 0);
|
||||
if ((size == 0) || (size > k_size_max)) {
|
||||
debug("size %u out of bounds", size);
|
||||
serialDebug("size %u out of bounds", size);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
@ -585,7 +643,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
|
|||
// header and the new tail sentinel.
|
||||
//
|
||||
if ((_tail_sentinel + size + sizeof(Var_header) * 2) > k_EEPROM_size) {
|
||||
debug("no space in EEPROM");
|
||||
serialDebug("no space in EEPROM");
|
||||
return false;
|
||||
}
|
||||
|
||||
|
@ -595,7 +653,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
|
|||
if (0 == _tail_sentinel) {
|
||||
uint8_t pad_size;
|
||||
|
||||
debug("writing header");
|
||||
serialDebug("writing header");
|
||||
EEPROM_header ee_header;
|
||||
|
||||
ee_header.magic = k_EEPROM_magic;
|
||||
|
@ -621,7 +679,7 @@ bool AP_Var::_EEPROM_locate(bool allocate)
|
|||
//
|
||||
new_location = _tail_sentinel;
|
||||
_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
|
||||
// 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
|
||||
//
|
||||
vp = first_member(this);
|
||||
debug("starting with %p", vp);
|
||||
serialDebug("starting with %p", vp);
|
||||
total_size = 0;
|
||||
|
||||
size_t loopCount = 0;
|
||||
|
||||
while (vp) {
|
||||
|
||||
if (loopCount++>k_num_max) return false;
|
||||
|
||||
// (un)serialise the group member
|
||||
if (do_serialize) {
|
||||
size = vp->serialize(buf, buf_size);
|
||||
debug("serialize %p -> %u", vp, size);
|
||||
serialDebug("serialize %p -> %u", vp, size);
|
||||
} else {
|
||||
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
|
||||
|
@ -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.
|
||||
//
|
||||
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;
|
||||
}
|
||||
|
||||
|
@ -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.
|
||||
//
|
||||
total_size += size;
|
||||
debug("used %u", total_size);
|
||||
serialDebug("used %u", total_size);
|
||||
if (size <= buf_size) {
|
||||
// there was space for this one, account for it
|
||||
buf_size -= size;
|
||||
|
|
|
@ -128,6 +128,10 @@ public:
|
|||
///
|
||||
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.
|
||||
///
|
||||
typedef uint8_t Flags;
|
||||
|
|
|
@ -28,6 +28,6 @@ include_directories(
|
|||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
set(${LIB_NAME}_BOARD ${BOARD})
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
|
@ -23,6 +23,6 @@ include_directories(
|
|||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
set(${LIB_NAME}_BOARD ${BOARD})
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
|
@ -45,6 +45,7 @@
|
|||
|
||||
FastSerial::Buffer __FastSerial__rxBuffer[FS_MAX_PORTS];
|
||||
FastSerial::Buffer __FastSerial__txBuffer[FS_MAX_PORTS];
|
||||
uint8_t FastSerial::_serialInitialized = 0;
|
||||
|
||||
// Constructor /////////////////////////////////////////////////////////////////
|
||||
|
||||
|
@ -61,6 +62,8 @@ FastSerial::FastSerial(const uint8_t portNumber, volatile uint8_t *ubrrh, volati
|
|||
_rxBuffer(&__FastSerial__rxBuffer[portNumber]),
|
||||
_txBuffer(&__FastSerial__txBuffer[portNumber])
|
||||
{
|
||||
setInitialized(portNumber);
|
||||
begin(57600);
|
||||
}
|
||||
|
||||
// Public Methods //////////////////////////////////////////////////////////////
|
||||
|
|
|
@ -55,6 +55,7 @@
|
|||
|
||||
#include "BetterStream.h"
|
||||
|
||||
|
||||
/// @file FastSerial.h
|
||||
/// @brief An enhanced version of the Arduino HardwareSerial class
|
||||
/// implementing interrupt-driven transmission and flexible
|
||||
|
@ -101,6 +102,7 @@ extern class FastSerial Serial3;
|
|||
///
|
||||
class FastSerial: public BetterStream {
|
||||
public:
|
||||
|
||||
/// Constructor
|
||||
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);
|
||||
|
@ -149,7 +151,21 @@ public:
|
|||
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:
|
||||
|
||||
/// 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
|
||||
volatile uint8_t * const _ubrrh;
|
||||
volatile uint8_t * const _ubrrl;
|
||||
|
|
Loading…
Reference in New Issue