mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-19 14:23:57 -04:00
Rover: automatic substitution for class members
This commit is contained in:
Andrew Tridgell
parent
f99186afbc
commit
adbf9c362e
@ -125,401 +125,17 @@
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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AP_HAL::BetterStream* cliSerial;
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#include "Rover.h"
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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// this sets up the parameter table, and sets the default values. This
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// must be the first AP_Param variable declared to ensure its
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// constructor runs before the constructors of the other AP_Param
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// variables
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AP_Param param_loader(var_info);
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////////////////////////////////////////////////////////////////////////////////
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// the rate we run the main loop at
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////////////////////////////////////////////////////////////////////////////////
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static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
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////////////////////////////////////////////////////////////////////////////////
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// Parameters
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////////////////////////////////////////////////////////////////////////////////
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//
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// Global parameters are all contained within the 'g' class.
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//
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static Parameters g;
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// main loop scheduler
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static AP_Scheduler scheduler;
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// mapping between input channels
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static RCMapper rcmap;
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// board specific config
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static AP_BoardConfig BoardConfig;
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// primary control channels
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static RC_Channel *channel_steer;
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static RC_Channel *channel_throttle;
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static RC_Channel *channel_learn;
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////////////////////////////////////////////////////////////////////////////////
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// prototypes
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static void update_events(void);
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void gcs_send_text_fmt(const prog_char_t *fmt, ...);
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static void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
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////////////////////////////////////////////////////////////////////////////////
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// DataFlash
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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static DataFlash_APM1 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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static DataFlash_APM2 DataFlash;
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#elif defined(HAL_BOARD_LOG_DIRECTORY)
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static DataFlash_File DataFlash(HAL_BOARD_LOG_DIRECTORY);
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#else
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DataFlash_Empty DataFlash;
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#endif
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static bool in_log_download;
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////////////////////////////////////////////////////////////////////////////////
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// Sensors
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////////////////////////////////////////////////////////////////////////////////
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//
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// There are three basic options related to flight sensor selection.
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//
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// - Normal driving mode. Real sensors are used.
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// - HIL Attitude mode. Most sensors are disabled, as the HIL
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// protocol supplies attitude information directly.
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// - HIL Sensors mode. Synthetic sensors are configured that
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// supply data from the simulation.
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//
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// GPS driver
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static AP_GPS gps;
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// flight modes convenience array
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static AP_Int8 *modes = &g.mode1;
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static AP_Baro barometer;
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Compass compass;
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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AP_ADC_ADS7844 apm1_adc;
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#endif
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AP_InertialSensor ins;
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////////////////////////////////////////////////////////////////////////////////
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// SONAR
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static RangeFinder sonar;
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// Inertial Navigation EKF
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#if AP_AHRS_NAVEKF_AVAILABLE
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AP_AHRS_NavEKF ahrs(ins, barometer, gps, sonar);
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#else
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AP_AHRS_DCM ahrs(ins, barometer, gps);
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#endif
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static AP_L1_Control L1_controller(ahrs);
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// selected navigation controller
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static AP_Navigation *nav_controller = &L1_controller;
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// steering controller
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static AP_SteerController steerController(ahrs);
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////////////////////////////////////////////////////////////////////////////////
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// Mission library
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// forward declaration to avoid compiler errors
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////////////////////////////////////////////////////////////////////////////////
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static bool start_command(const AP_Mission::Mission_Command& cmd);
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static bool verify_command(const AP_Mission::Mission_Command& cmd);
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static void exit_mission();
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AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
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static OpticalFlow optflow;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SITL sitl;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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////////////////////////////////////////////////////////////////////////////////
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static AP_SerialManager serial_manager;
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static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
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static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
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// a pin for reading the receiver RSSI voltage. The scaling by 0.25
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// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
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AP_HAL::AnalogSource *rssi_analog_source;
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// relay support
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AP_Relay relay;
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AP_ServoRelayEvents ServoRelayEvents(relay);
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// Camera
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#if CAMERA == ENABLED
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static AP_Camera camera(&relay);
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#endif
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// The rover's current location
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static struct Location current_loc;
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// Camera/Antenna mount tracking and stabilisation stuff
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// --------------------------------------
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#if MOUNT == ENABLED
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// current_loc uses the baro/gps soloution for altitude rather than gps only.
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AP_Mount camera_mount(ahrs, current_loc);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Global variables
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////////////////////////////////////////////////////////////////////////////////
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// if USB is connected
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static bool usb_connected;
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/* Radio values
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Channel assignments
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1 Steering
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2 ---
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3 Throttle
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4 ---
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5 Aux5
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6 Aux6
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7 Aux7/learn
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8 Aux8/Mode
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Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
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See libraries/RC_Channel/RC_Channel_aux.h for more information
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Radio
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////////////////////////////////////////////////////////////////////////////////
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// This is the state of the flight control system
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// There are multiple states defined such as MANUAL, FBW-A, AUTO
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enum mode control_mode = INITIALISING;
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// Used to maintain the state of the previous control switch position
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// This is set to -1 when we need to re-read the switch
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uint8_t oldSwitchPosition;
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// These are values received from the GCS if the user is using GCS joystick
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// control and are substituted for the values coming from the RC radio
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static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
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// A flag if GCS joystick control is in use
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static bool rc_override_active = false;
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////////////////////////////////////////////////////////////////////////////////
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// Failsafe
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////////////////////////////////////////////////////////////////////////////////
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// A tracking variable for type of failsafe active
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// Used for failsafe based on loss of RC signal or GCS signal. See
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// FAILSAFE_EVENT_*
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static struct {
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uint8_t bits;
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uint32_t rc_override_timer;
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uint32_t start_time;
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uint8_t triggered;
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uint32_t last_valid_rc_ms;
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} failsafe;
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// notification object for LEDs, buzzers etc (parameter set to false disables external leds)
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static AP_Notify notify;
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// A counter used to count down valid gps fixes to allow the gps estimate to settle
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// before recording our home position (and executing a ground start if we booted with an air start)
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static uint8_t ground_start_count = 20;
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////////////////////////////////////////////////////////////////////////////////
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// Location & Navigation
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////////////////////////////////////////////////////////////////////////////////
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// Constants
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const float radius_of_earth = 6378100; // meters
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// true if we have a position estimate from AHRS
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static bool have_position;
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static bool rtl_complete = false;
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// angle of our next navigation waypoint
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static int32_t next_navigation_leg_cd;
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// ground speed error in m/s
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static float groundspeed_error;
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// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
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static int16_t throttle_nudge = 0;
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// receiver RSSI
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static uint8_t receiver_rssi;
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// the time when the last HEARTBEAT message arrived from a GCS
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static uint32_t last_heartbeat_ms;
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// obstacle detection information
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static struct {
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// have we detected an obstacle?
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uint8_t detected_count;
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float turn_angle;
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uint16_t sonar1_distance_cm;
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uint16_t sonar2_distance_cm;
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// time when we last detected an obstacle, in milliseconds
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uint32_t detected_time_ms;
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} obstacle;
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// this is set to true when auto has been triggered to start
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static bool auto_triggered;
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////////////////////////////////////////////////////////////////////////////////
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// Ground speed
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////////////////////////////////////////////////////////////////////////////////
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// The amount current ground speed is below min ground speed. meters per second
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static float ground_speed = 0;
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static int16_t throttle_last = 0, throttle = 500;
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////////////////////////////////////////////////////////////////////////////////
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// CH7 control
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////////////////////////////////////////////////////////////////////////////////
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// Used to track the CH7 toggle state.
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// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true
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// This allows advanced functionality to know when to execute
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static bool ch7_flag;
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////////////////////////////////////////////////////////////////////////////////
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// Battery Sensors
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////////////////////////////////////////////////////////////////////////////////
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static AP_BattMonitor battery;
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////////////////////////////////////////////////////////////////////////////////
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// Battery Sensors
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////////////////////////////////////////////////////////////////////////////////
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#if FRSKY_TELEM_ENABLED == ENABLED
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static AP_Frsky_Telem frsky_telemetry(ahrs, battery);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Navigation control variables
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////////////////////////////////////////////////////////////////////////////////
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// The instantaneous desired lateral acceleration in m/s/s
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static float lateral_acceleration;
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////////////////////////////////////////////////////////////////////////////////
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// Waypoint distances
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////////////////////////////////////////////////////////////////////////////////
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// Distance between rover and next waypoint. Meters
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static float wp_distance;
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// Distance between previous and next waypoint. Meters
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static int32_t wp_totalDistance;
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////////////////////////////////////////////////////////////////////////////////
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// Conditional command
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////////////////////////////////////////////////////////////////////////////////
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// A value used in condition commands (eg delay, change alt, etc.)
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// For example in a change altitude command, it is the altitude to change to.
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static int32_t condition_value;
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// A starting value used to check the status of a conditional command.
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// For example in a delay command the condition_start records that start time for the delay
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static int32_t condition_start;
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////////////////////////////////////////////////////////////////////////////////
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// 3D Location vectors
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// Location structure defined in AP_Common
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////////////////////////////////////////////////////////////////////////////////
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// The home location used for RTL. The location is set when we first get stable GPS lock
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static const struct Location &home = ahrs.get_home();
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// Flag for if we have gps lock and have set the home location
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static bool home_is_set;
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// The location of the previous waypoint. Used for track following and altitude ramp calculations
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static struct Location prev_WP;
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// The location of the current/active waypoint. Used for track following
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static struct Location next_WP;
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// The location of the active waypoint in Guided mode.
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static struct Location guided_WP;
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////////////////////////////////////////////////////////////////////////////////
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// IMU variables
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////////////////////////////////////////////////////////////////////////////////
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// The main loop execution time. Seconds
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//This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
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static float G_Dt = 0.02;
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////////////////////////////////////////////////////////////////////////////////
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// Performance monitoring
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////////////////////////////////////////////////////////////////////////////////
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// Timer used to accrue data and trigger recording of the performanc monitoring log message
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static int32_t perf_mon_timer;
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// The maximum main loop execution time recorded in the current performance monitoring interval
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static uint32_t G_Dt_max;
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////////////////////////////////////////////////////////////////////////////////
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// System Timers
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////////////////////////////////////////////////////////////////////////////////
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// Time in microseconds of start of main control loop.
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static uint32_t fast_loopTimer_us;
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// Number of milliseconds used in last main loop cycle
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static uint32_t delta_us_fast_loop;
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// Counter of main loop executions. Used for performance monitoring and failsafe processing
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static uint16_t mainLoop_count;
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// set if we are driving backwards
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static bool in_reverse;
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////////////////////////////////////////////////////////////////////////////////
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// Top-level logic
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////////////////////////////////////////////////////////////////////////////////
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/*
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scheduler table - all regular tasks should be listed here, along
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with how often they should be called (in 20ms units) and the maximum
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time they are expected to take (in microseconds)
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*/
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static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
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{ read_radio, 1, 1000 },
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{ ahrs_update, 1, 6400 },
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{ read_sonars, 1, 2000 },
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{ update_current_mode, 1, 1500 },
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{ set_servos, 1, 1500 },
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{ update_GPS_50Hz, 1, 2500 },
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{ update_GPS_10Hz, 5, 2500 },
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{ update_alt, 5, 3400 },
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{ navigate, 5, 1600 },
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{ update_compass, 5, 2000 },
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{ update_commands, 5, 1000 },
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{ update_logging1, 5, 1000 },
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{ update_logging2, 5, 1000 },
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{ gcs_retry_deferred, 1, 1000 },
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{ gcs_update, 1, 1700 },
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{ gcs_data_stream_send, 1, 3000 },
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{ read_control_switch, 15, 1000 },
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{ read_trim_switch, 5, 1000 },
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{ read_battery, 5, 1000 },
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{ read_receiver_rssi, 5, 1000 },
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{ update_events, 1, 1000 },
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{ check_usb_mux, 15, 1000 },
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{ mount_update, 1, 600 },
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{ gcs_failsafe_check, 5, 600 },
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{ compass_accumulate, 1, 900 },
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{ update_notify, 1, 300 },
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{ one_second_loop, 50, 3000 },
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#if FRSKY_TELEM_ENABLED == ENABLED
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{ frsky_telemetry_send, 10, 100 }
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#endif
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};
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static Rover rover;
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/*
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setup is called when the sketch starts
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*/
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void setup() {
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void Rover::setup()
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{
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cliSerial = hal.console;
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// load the default values of variables listed in var_info[]
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@ -544,7 +160,7 @@ void setup() {
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/*
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loop() is called rapidly while the sketch is running
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*/
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void loop()
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void Rover::loop()
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{
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// wait for an INS sample
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ins.wait_for_sample();
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@ -567,7 +183,7 @@ void loop()
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}
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// update AHRS system
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static void ahrs_update()
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void Rover::ahrs_update()
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{
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hal.util->set_soft_armed(hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
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@ -600,7 +216,7 @@ static void ahrs_update()
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/*
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update camera mount - 50Hz
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*/
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static void mount_update(void)
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void Rover::mount_update(void)
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{
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#if MOUNT == ENABLED
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camera_mount.update();
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@ -610,7 +226,7 @@ static void mount_update(void)
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#endif
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}
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static void update_alt()
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void Rover::update_alt()
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{
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barometer.update();
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if (should_log(MASK_LOG_IMU)) {
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@ -621,7 +237,7 @@ static void update_alt()
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/*
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check for GCS failsafe - 10Hz
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*/
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static void gcs_failsafe_check(void)
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void Rover::gcs_failsafe_check(void)
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{
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if (g.fs_gcs_enabled) {
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failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000);
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@ -631,7 +247,7 @@ static void gcs_failsafe_check(void)
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/*
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if the compass is enabled then try to accumulate a reading
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*/
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static void compass_accumulate(void)
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void Rover::compass_accumulate(void)
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{
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if (g.compass_enabled) {
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compass.accumulate();
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@ -641,7 +257,7 @@ static void compass_accumulate(void)
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/*
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check for new compass data - 10Hz
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*/
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static void update_compass(void)
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void Rover::update_compass(void)
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{
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if (g.compass_enabled && compass.read()) {
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ahrs.set_compass(&compass);
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@ -658,7 +274,7 @@ static void update_compass(void)
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/*
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log some key data - 10Hz
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*/
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static void update_logging1(void)
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void Rover::update_logging1(void)
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{
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if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST))
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Log_Write_Attitude();
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@ -673,7 +289,7 @@ static void update_logging1(void)
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/*
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log some key data - 10Hz
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*/
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static void update_logging2(void)
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void Rover::update_logging2(void)
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{
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if (should_log(MASK_LOG_STEERING)) {
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if (control_mode == STEERING || control_mode == AUTO || control_mode == RTL || control_mode == GUIDED) {
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@ -689,7 +305,7 @@ static void update_logging2(void)
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/*
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update aux servo mappings
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*/
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static void update_aux(void)
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void Rover::update_aux(void)
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{
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RC_Channel_aux::enable_aux_servos();
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}
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@ -697,7 +313,7 @@ static void update_aux(void)
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/*
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once a second events
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*/
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static void one_second_loop(void)
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void Rover::one_second_loop(void)
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{
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if (should_log(MASK_LOG_CURRENT))
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Log_Write_Current();
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@ -715,7 +331,7 @@ static void one_second_loop(void)
|
||||
// cope with changes to mavlink system ID
|
||||
mavlink_system.sysid = g.sysid_this_mav;
|
||||
|
||||
static uint8_t counter;
|
||||
uint8_t Rover::counter;
|
||||
|
||||
counter++;
|
||||
|
||||
@ -741,9 +357,9 @@ static void one_second_loop(void)
|
||||
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
|
||||
}
|
||||
|
||||
static void update_GPS_50Hz(void)
|
||||
void Rover::update_GPS_50Hz(void)
|
||||
{
|
||||
static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
|
||||
uint32_t Rover::last_gps_reading[GPS_MAX_INSTANCES];
|
||||
gps.update();
|
||||
|
||||
for (uint8_t i=0; i<gps.num_sensors(); i++) {
|
||||
@ -757,7 +373,7 @@ static void update_GPS_50Hz(void)
|
||||
}
|
||||
|
||||
|
||||
static void update_GPS_10Hz(void)
|
||||
void Rover::update_GPS_10Hz(void)
|
||||
{
|
||||
have_position = ahrs.get_position(current_loc);
|
||||
|
||||
@ -800,7 +416,7 @@ static void update_GPS_10Hz(void)
|
||||
}
|
||||
}
|
||||
|
||||
static void update_current_mode(void)
|
||||
void Rover::update_current_mode(void)
|
||||
{
|
||||
switch (control_mode){
|
||||
case AUTO:
|
||||
@ -884,7 +500,7 @@ static void update_current_mode(void)
|
||||
}
|
||||
}
|
||||
|
||||
static void update_navigation()
|
||||
void Rover::update_navigation()
|
||||
{
|
||||
switch (control_mode) {
|
||||
case MANUAL:
|
||||
|
||||
@ -4,7 +4,7 @@
|
||||
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS)
|
||||
|
||||
// use this to prevent recursion during sensor init
|
||||
static bool in_mavlink_delay;
|
||||
bool Rover::in_mavlink_delay;
|
||||
|
||||
// true if we are out of time in our event timeslice
|
||||
static bool gcs_out_of_time;
|
||||
@ -12,17 +12,7 @@ static bool gcs_out_of_time;
|
||||
// check if a message will fit in the payload space available
|
||||
#define CHECK_PAYLOAD_SIZE(id) if (txspace < MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_## id ##_LEN) return false
|
||||
|
||||
/*
|
||||
* !!NOTE!!
|
||||
*
|
||||
* the use of NOINLINE separate functions for each message type avoids
|
||||
* a compiler bug in gcc that would cause it to use far more stack
|
||||
* space than is needed. Without the NOINLINE we use the sum of the
|
||||
* stack needed for each message type. Please be careful to follow the
|
||||
* pattern below when adding any new messages
|
||||
*/
|
||||
|
||||
static NOINLINE void send_heartbeat(mavlink_channel_t chan)
|
||||
void Rover::send_heartbeat(mavlink_channel_t chan)
|
||||
{
|
||||
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
|
||||
uint8_t system_status = MAV_STATE_ACTIVE;
|
||||
@ -91,7 +81,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
|
||||
system_status);
|
||||
}
|
||||
|
||||
static NOINLINE void send_attitude(mavlink_channel_t chan)
|
||||
void Rover::send_attitude(mavlink_channel_t chan)
|
||||
{
|
||||
Vector3f omega = ahrs.get_gyro();
|
||||
mavlink_msg_attitude_send(
|
||||
@ -105,7 +95,7 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
|
||||
omega.z);
|
||||
}
|
||||
|
||||
static NOINLINE void send_extended_status1(mavlink_channel_t chan)
|
||||
void Rover::send_extended_status1(mavlink_channel_t chan)
|
||||
{
|
||||
uint32_t control_sensors_present;
|
||||
uint32_t control_sensors_enabled;
|
||||
@ -203,7 +193,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
|
||||
|
||||
}
|
||||
|
||||
static void NOINLINE send_location(mavlink_channel_t chan)
|
||||
void Rover:: send_location(mavlink_channel_t chan)
|
||||
{
|
||||
uint32_t fix_time;
|
||||
// if we have a GPS fix, take the time as the last fix time. That
|
||||
@ -230,7 +220,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
|
||||
ahrs.yaw_sensor);
|
||||
}
|
||||
|
||||
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
|
||||
void Rover:: send_nav_controller_output(mavlink_channel_t chan)
|
||||
{
|
||||
mavlink_msg_nav_controller_output_send(
|
||||
chan,
|
||||
@ -244,7 +234,7 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
|
||||
nav_controller->crosstrack_error());
|
||||
}
|
||||
|
||||
static void NOINLINE send_servo_out(mavlink_channel_t chan)
|
||||
void Rover:: send_servo_out(mavlink_channel_t chan)
|
||||
{
|
||||
#if HIL_MODE != HIL_MODE_DISABLED
|
||||
// normalized values scaled to -10000 to 10000
|
||||
@ -266,7 +256,7 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
|
||||
#endif
|
||||
}
|
||||
|
||||
static void NOINLINE send_radio_out(mavlink_channel_t chan)
|
||||
void Rover:: send_radio_out(mavlink_channel_t chan)
|
||||
{
|
||||
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
|
||||
mavlink_msg_servo_output_raw_send(
|
||||
@ -297,7 +287,7 @@ static void NOINLINE send_radio_out(mavlink_channel_t chan)
|
||||
#endif
|
||||
}
|
||||
|
||||
static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
|
||||
void Rover:: send_vfr_hud(mavlink_channel_t chan)
|
||||
{
|
||||
mavlink_msg_vfr_hud_send(
|
||||
chan,
|
||||
@ -310,14 +300,14 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
|
||||
}
|
||||
|
||||
// report simulator state
|
||||
static void NOINLINE send_simstate(mavlink_channel_t chan)
|
||||
void Rover:: send_simstate(mavlink_channel_t chan)
|
||||
{
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
||||
sitl.simstate_send(chan);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void NOINLINE send_hwstatus(mavlink_channel_t chan)
|
||||
void Rover:: send_hwstatus(mavlink_channel_t chan)
|
||||
{
|
||||
mavlink_msg_hwstatus_send(
|
||||
chan,
|
||||
@ -325,7 +315,7 @@ static void NOINLINE send_hwstatus(mavlink_channel_t chan)
|
||||
hal.i2c->lockup_count());
|
||||
}
|
||||
|
||||
static void NOINLINE send_rangefinder(mavlink_channel_t chan)
|
||||
void Rover:: send_rangefinder(mavlink_channel_t chan)
|
||||
{
|
||||
if (!sonar.has_data(0) && !sonar.has_data(1)) {
|
||||
// no sonar to report
|
||||
@ -364,12 +354,12 @@ static void NOINLINE send_rangefinder(mavlink_channel_t chan)
|
||||
voltage);
|
||||
}
|
||||
|
||||
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
|
||||
void Rover:: send_current_waypoint(mavlink_channel_t chan)
|
||||
{
|
||||
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
|
||||
}
|
||||
|
||||
static void NOINLINE send_statustext(mavlink_channel_t chan)
|
||||
void Rover:: send_statustext(mavlink_channel_t chan)
|
||||
{
|
||||
mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
|
||||
mavlink_msg_statustext_send(
|
||||
@ -379,7 +369,7 @@ static void NOINLINE send_statustext(mavlink_channel_t chan)
|
||||
}
|
||||
|
||||
// are we still delaying telemetry to try to avoid Xbee bricking?
|
||||
static bool telemetry_delayed(mavlink_channel_t chan)
|
||||
bool Rover::telemetry_delayed(mavlink_channel_t chan)
|
||||
{
|
||||
uint32_t tnow = millis() >> 10;
|
||||
if (tnow > (uint32_t)g.telem_delay) {
|
||||
@ -1241,9 +1231,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
||||
* MAVLink to process packets while waiting for the initialisation to
|
||||
* complete
|
||||
*/
|
||||
static void mavlink_delay_cb()
|
||||
void Rover::mavlink_delay_cb()
|
||||
{
|
||||
static uint32_t last_1hz, last_50hz, last_5s;
|
||||
uint32_t Rover::last_1hz, last_50hz, last_5s;
|
||||
if (!gcs[0].initialised || in_mavlink_delay) return;
|
||||
|
||||
in_mavlink_delay = true;
|
||||
@ -1272,7 +1262,7 @@ static void mavlink_delay_cb()
|
||||
/*
|
||||
* send a message on both GCS links
|
||||
*/
|
||||
static void gcs_send_message(enum ap_message id)
|
||||
void Rover::gcs_send_message(enum ap_message id)
|
||||
{
|
||||
for (uint8_t i=0; i<num_gcs; i++) {
|
||||
if (gcs[i].initialised) {
|
||||
@ -1284,7 +1274,7 @@ static void gcs_send_message(enum ap_message id)
|
||||
/*
|
||||
* send data streams in the given rate range on both links
|
||||
*/
|
||||
static void gcs_data_stream_send(void)
|
||||
void Rover::gcs_data_stream_send(void)
|
||||
{
|
||||
for (uint8_t i=0; i<num_gcs; i++) {
|
||||
if (gcs[i].initialised) {
|
||||
@ -1296,7 +1286,7 @@ static void gcs_data_stream_send(void)
|
||||
/*
|
||||
* look for incoming commands on the GCS links
|
||||
*/
|
||||
static void gcs_update(void)
|
||||
void Rover::gcs_update(void)
|
||||
{
|
||||
for (uint8_t i=0; i<num_gcs; i++) {
|
||||
if (gcs[i].initialised) {
|
||||
@ -1309,7 +1299,7 @@ static void gcs_update(void)
|
||||
}
|
||||
}
|
||||
|
||||
static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
|
||||
void Rover::gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
|
||||
{
|
||||
for (uint8_t i=0; i<num_gcs; i++) {
|
||||
if (gcs[i].initialised) {
|
||||
@ -1350,7 +1340,7 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...)
|
||||
/**
|
||||
retry any deferred messages
|
||||
*/
|
||||
static void gcs_retry_deferred(void)
|
||||
void Rover::gcs_retry_deferred(void)
|
||||
{
|
||||
gcs_send_message(MSG_RETRY_DEFERRED);
|
||||
}
|
||||
|
||||
@ -160,7 +160,7 @@ process_logs(uint8_t argc, const Menu::arg *argv)
|
||||
|
||||
#endif // CLI_ENABLED == ENABLED
|
||||
|
||||
static void do_erase_logs(void)
|
||||
void Rover::do_erase_logs(void)
|
||||
{
|
||||
cliSerial->printf_P(PSTR("\nErasing log...\n"));
|
||||
DataFlash.EraseAll();
|
||||
@ -182,7 +182,7 @@ struct PACKED log_Performance {
|
||||
};
|
||||
|
||||
// Write a performance monitoring packet. Total length : 19 bytes
|
||||
static void Log_Write_Performance()
|
||||
void Rover::Log_Write_Performance()
|
||||
{
|
||||
struct log_Performance pkt = {
|
||||
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
|
||||
@ -200,7 +200,7 @@ static void Log_Write_Performance()
|
||||
}
|
||||
|
||||
// Write a mission command. Total length : 36 bytes
|
||||
static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
|
||||
void Rover::Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
|
||||
{
|
||||
mavlink_mission_item_t mav_cmd = {};
|
||||
AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd);
|
||||
@ -215,7 +215,7 @@ struct PACKED log_Steering {
|
||||
};
|
||||
|
||||
// Write a steering packet
|
||||
static void Log_Write_Steering()
|
||||
void Rover::Log_Write_Steering()
|
||||
{
|
||||
struct log_Steering pkt = {
|
||||
LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
|
||||
@ -233,7 +233,7 @@ struct PACKED log_Startup {
|
||||
uint16_t command_total;
|
||||
};
|
||||
|
||||
static void Log_Write_Startup(uint8_t type)
|
||||
void Rover::Log_Write_Startup(uint8_t type)
|
||||
{
|
||||
struct log_Startup pkt = {
|
||||
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
|
||||
@ -247,7 +247,7 @@ static void Log_Write_Startup(uint8_t type)
|
||||
Log_Write_EntireMission();
|
||||
}
|
||||
|
||||
static void Log_Write_EntireMission()
|
||||
void Rover::Log_Write_EntireMission()
|
||||
{
|
||||
DataFlash.Log_Write_Message_P(PSTR("New mission"));
|
||||
|
||||
@ -270,7 +270,7 @@ struct PACKED log_Control_Tuning {
|
||||
};
|
||||
|
||||
// Write a control tuning packet. Total length : 22 bytes
|
||||
static void Log_Write_Control_Tuning()
|
||||
void Rover::Log_Write_Control_Tuning()
|
||||
{
|
||||
Vector3f accel = ins.get_accel();
|
||||
struct log_Control_Tuning pkt = {
|
||||
@ -296,7 +296,7 @@ struct PACKED log_Nav_Tuning {
|
||||
};
|
||||
|
||||
// Write a navigation tuning packet. Total length : 18 bytes
|
||||
static void Log_Write_Nav_Tuning()
|
||||
void Rover::Log_Write_Nav_Tuning()
|
||||
{
|
||||
struct log_Nav_Tuning pkt = {
|
||||
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
|
||||
@ -311,7 +311,7 @@ static void Log_Write_Nav_Tuning()
|
||||
}
|
||||
|
||||
// Write an attitude packet
|
||||
static void Log_Write_Attitude()
|
||||
void Rover::Log_Write_Attitude()
|
||||
{
|
||||
Vector3f targets(0,0,0); // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
|
||||
|
||||
@ -342,7 +342,7 @@ struct PACKED log_Sonar {
|
||||
};
|
||||
|
||||
// Write a sonar packet
|
||||
static void Log_Write_Sonar()
|
||||
void Rover::Log_Write_Sonar()
|
||||
{
|
||||
uint16_t turn_time = 0;
|
||||
if (!is_zero(obstacle.turn_angle)) {
|
||||
@ -363,7 +363,7 @@ static void Log_Write_Sonar()
|
||||
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
||||
}
|
||||
|
||||
static void Log_Write_Current()
|
||||
void Rover::Log_Write_Current()
|
||||
{
|
||||
DataFlash.Log_Write_Current(battery, channel_throttle->control_in);
|
||||
|
||||
@ -371,13 +371,13 @@ static void Log_Write_Current()
|
||||
DataFlash.Log_Write_Power();
|
||||
}
|
||||
|
||||
static void Log_Write_RC(void)
|
||||
void Rover::Log_Write_RC(void)
|
||||
{
|
||||
DataFlash.Log_Write_RCIN();
|
||||
DataFlash.Log_Write_RCOUT();
|
||||
}
|
||||
|
||||
static void Log_Write_Baro(void)
|
||||
void Rover::Log_Write_Baro(void)
|
||||
{
|
||||
DataFlash.Log_Write_Baro(barometer);
|
||||
}
|
||||
@ -401,7 +401,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
|
||||
|
||||
#if CLI_ENABLED == ENABLED
|
||||
// Read the DataFlash log memory : Packet Parser
|
||||
static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
|
||||
void Rover::Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
|
||||
{
|
||||
cliSerial->printf_P(PSTR("\n" FIRMWARE_STRING
|
||||
"\nFree RAM: %u\n"),
|
||||
@ -416,7 +416,7 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
|
||||
#endif // CLI_ENABLED
|
||||
|
||||
// start a new log
|
||||
static void start_logging()
|
||||
void Rover::start_logging()
|
||||
{
|
||||
in_mavlink_delay = true;
|
||||
DataFlash.StartNewLog();
|
||||
@ -437,18 +437,18 @@ static void start_logging()
|
||||
#else // LOGGING_ENABLED
|
||||
|
||||
// dummy functions
|
||||
static void Log_Write_Startup(uint8_t type) {}
|
||||
static void Log_Write_EntireMission() {}
|
||||
static void Log_Write_Current() {}
|
||||
static void Log_Write_Nav_Tuning() {}
|
||||
static void Log_Write_Performance() {}
|
||||
static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
|
||||
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
|
||||
static void Log_Write_Control_Tuning() {}
|
||||
static void Log_Write_Sonar() {}
|
||||
static void Log_Write_Attitude() {}
|
||||
static void start_logging() {}
|
||||
static void Log_Write_RC(void) {}
|
||||
void Rover::Log_Write_Startup(uint8_t type) {}
|
||||
void Rover::Log_Write_EntireMission() {}
|
||||
void Rover::Log_Write_Current() {}
|
||||
void Rover::Log_Write_Nav_Tuning() {}
|
||||
void Rover::Log_Write_Performance() {}
|
||||
void Rover::Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
|
||||
int8_t Rover::process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
|
||||
void Rover::Log_Write_Control_Tuning() {}
|
||||
void Rover::Log_Write_Sonar() {}
|
||||
void Rover::Log_Write_Attitude() {}
|
||||
void Rover::start_logging() {}
|
||||
void Rover::Log_Write_RC(void) {}
|
||||
|
||||
#endif // LOGGING_ENABLED
|
||||
|
||||
|
||||
@ -550,7 +550,7 @@ const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
|
||||
{ Parameters::k_param_serial2_baud, 0, AP_PARAM_INT16, "SERIAL2_BAUD" },
|
||||
};
|
||||
|
||||
static void load_parameters(void)
|
||||
void Rover::load_parameters(void)
|
||||
{
|
||||
if (!AP_Param::check_var_info()) {
|
||||
cliSerial->printf_P(PSTR("Bad var table\n"));
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
/*****************************************
|
||||
* Throttle slew limit
|
||||
*****************************************/
|
||||
static void throttle_slew_limit(int16_t last_throttle)
|
||||
void Rover::throttle_slew_limit(int16_t last_throttle)
|
||||
{
|
||||
// if slew limit rate is set to zero then do not slew limit
|
||||
if (g.throttle_slewrate && last_throttle != 0) {
|
||||
@ -20,7 +20,7 @@ static void throttle_slew_limit(int16_t last_throttle)
|
||||
/*
|
||||
check for triggering of start of auto mode
|
||||
*/
|
||||
static bool auto_check_trigger(void)
|
||||
bool Rover::auto_check_trigger(void)
|
||||
{
|
||||
// only applies to AUTO mode
|
||||
if (control_mode != AUTO) {
|
||||
@ -67,7 +67,7 @@ static bool auto_check_trigger(void)
|
||||
/*
|
||||
work out if we are going to use pivot steering
|
||||
*/
|
||||
static bool use_pivot_steering(void)
|
||||
bool Rover::use_pivot_steering(void)
|
||||
{
|
||||
if (control_mode >= AUTO && g.skid_steer_out && g.pivot_turn_angle != 0) {
|
||||
int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100;
|
||||
@ -82,7 +82,7 @@ static bool use_pivot_steering(void)
|
||||
/*
|
||||
calculate the throtte for auto-throttle modes
|
||||
*/
|
||||
static void calc_throttle(float target_speed)
|
||||
void Rover::calc_throttle(float target_speed)
|
||||
{
|
||||
if (!auto_check_trigger()) {
|
||||
channel_throttle->servo_out = g.throttle_min.get();
|
||||
@ -158,7 +158,7 @@ static void calc_throttle(float target_speed)
|
||||
* Calculate desired turn angles (in medium freq loop)
|
||||
*****************************************/
|
||||
|
||||
static void calc_lateral_acceleration()
|
||||
void Rover::calc_lateral_acceleration()
|
||||
{
|
||||
switch (control_mode) {
|
||||
case AUTO:
|
||||
@ -192,7 +192,7 @@ static void calc_lateral_acceleration()
|
||||
/*
|
||||
calculate steering angle given lateral_acceleration
|
||||
*/
|
||||
static void calc_nav_steer()
|
||||
void Rover::calc_nav_steer()
|
||||
{
|
||||
// add in obstacle avoidance
|
||||
lateral_acceleration += (obstacle.turn_angle/45.0f) * g.turn_max_g;
|
||||
@ -206,7 +206,7 @@ static void calc_nav_steer()
|
||||
/*****************************************
|
||||
* Set the flight control servos based on the current calculated values
|
||||
*****************************************/
|
||||
static void set_servos(void)
|
||||
void Rover::set_servos(void)
|
||||
{
|
||||
static int16_t last_throttle;
|
||||
|
||||
|
||||
@ -12,7 +12,7 @@
|
||||
/*
|
||||
* set_next_WP - sets the target location the vehicle should fly to
|
||||
*/
|
||||
static void set_next_WP(const struct Location& loc)
|
||||
void Rover::set_next_WP(const struct Location& loc)
|
||||
{
|
||||
// copy the current WP into the OldWP slot
|
||||
// ---------------------------------------
|
||||
@ -37,7 +37,7 @@ static void set_next_WP(const struct Location& loc)
|
||||
wp_distance = wp_totalDistance;
|
||||
}
|
||||
|
||||
static void set_guided_WP(void)
|
||||
void Rover::set_guided_WP(void)
|
||||
{
|
||||
// copy the current location into the OldWP slot
|
||||
// ---------------------------------------
|
||||
@ -78,7 +78,7 @@ void init_home()
|
||||
guided_WP = home;
|
||||
}
|
||||
|
||||
static void restart_nav()
|
||||
void Rover::restart_nav()
|
||||
{
|
||||
g.pidSpeedThrottle.reset_I();
|
||||
prev_WP = current_loc;
|
||||
|
||||
@ -1,15 +1,15 @@
|
||||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
// forward declarations to make compiler happy
|
||||
static void do_nav_wp(const AP_Mission::Mission_Command& cmd);
|
||||
static void do_wait_delay(const AP_Mission::Mission_Command& cmd);
|
||||
static void do_within_distance(const AP_Mission::Mission_Command& cmd);
|
||||
static void do_change_speed(const AP_Mission::Mission_Command& cmd);
|
||||
static void do_set_home(const AP_Mission::Mission_Command& cmd);
|
||||
static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
|
||||
void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd);
|
||||
void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd);
|
||||
void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd);
|
||||
void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd);
|
||||
void Rover::do_set_home(const AP_Mission::Mission_Command& cmd);
|
||||
bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd);
|
||||
#if CAMERA == ENABLED
|
||||
static void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
|
||||
static void do_digicam_control(const AP_Mission::Mission_Command& cmd);
|
||||
void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd);
|
||||
void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd);
|
||||
#endif
|
||||
|
||||
/********************************************************************************/
|
||||
@ -125,7 +125,7 @@ start_command(const AP_Mission::Mission_Command& cmd)
|
||||
|
||||
// exit_mission - callback function called from ap-mission when the mission has completed
|
||||
// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
|
||||
static void exit_mission()
|
||||
void Rover::exit_mission()
|
||||
{
|
||||
if (control_mode == AUTO) {
|
||||
gcs_send_text_fmt(PSTR("No commands. Can't set AUTO - setting HOLD"));
|
||||
@ -138,7 +138,7 @@ static void exit_mission()
|
||||
// Returns true if command complete
|
||||
/********************************************************************************/
|
||||
|
||||
static bool verify_command(const AP_Mission::Mission_Command& cmd)
|
||||
bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
// exit immediately if not in AUTO mode
|
||||
// we return true or we will continue to be called by ap-mission
|
||||
@ -178,14 +178,14 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd)
|
||||
// Nav (Must) commands
|
||||
/********************************************************************************/
|
||||
|
||||
static void do_RTL(void)
|
||||
void Rover::do_RTL(void)
|
||||
{
|
||||
prev_WP = current_loc;
|
||||
control_mode = RTL;
|
||||
next_WP = home;
|
||||
}
|
||||
|
||||
static void do_nav_wp(const AP_Mission::Mission_Command& cmd)
|
||||
void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
set_next_WP(cmd.content.location);
|
||||
}
|
||||
@ -193,7 +193,7 @@ static void do_nav_wp(const AP_Mission::Mission_Command& cmd)
|
||||
/********************************************************************************/
|
||||
// Verify Nav (Must) commands
|
||||
/********************************************************************************/
|
||||
static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd)
|
||||
bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
|
||||
gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"),
|
||||
@ -213,7 +213,7 @@ static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd)
|
||||
return false;
|
||||
}
|
||||
|
||||
static bool verify_RTL()
|
||||
bool Rover::verify_RTL()
|
||||
{
|
||||
if (wp_distance <= g.waypoint_radius) {
|
||||
gcs_send_text_P(SEVERITY_LOW,PSTR("Reached Destination"));
|
||||
@ -236,13 +236,13 @@ static bool verify_RTL()
|
||||
// Condition (May) commands
|
||||
/********************************************************************************/
|
||||
|
||||
static void do_wait_delay(const AP_Mission::Mission_Command& cmd)
|
||||
void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
condition_start = millis();
|
||||
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
|
||||
}
|
||||
|
||||
static void do_within_distance(const AP_Mission::Mission_Command& cmd)
|
||||
void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
condition_value = cmd.content.distance.meters;
|
||||
}
|
||||
@ -251,7 +251,7 @@ static void do_within_distance(const AP_Mission::Mission_Command& cmd)
|
||||
// Verify Condition (May) commands
|
||||
/********************************************************************************/
|
||||
|
||||
static bool verify_wait_delay()
|
||||
bool Rover::verify_wait_delay()
|
||||
{
|
||||
if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value){
|
||||
condition_value = 0;
|
||||
@ -260,7 +260,7 @@ static bool verify_wait_delay()
|
||||
return false;
|
||||
}
|
||||
|
||||
static bool verify_within_distance()
|
||||
bool Rover::verify_within_distance()
|
||||
{
|
||||
if (wp_distance < condition_value){
|
||||
condition_value = 0;
|
||||
@ -273,7 +273,7 @@ static bool verify_within_distance()
|
||||
// Do (Now) commands
|
||||
/********************************************************************************/
|
||||
|
||||
static void do_change_speed(const AP_Mission::Mission_Command& cmd)
|
||||
void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
switch (cmd.p1)
|
||||
{
|
||||
@ -291,7 +291,7 @@ static void do_change_speed(const AP_Mission::Mission_Command& cmd)
|
||||
}
|
||||
}
|
||||
|
||||
static void do_set_home(const AP_Mission::Mission_Command& cmd)
|
||||
void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
if(cmd.p1 == 1 && have_position) {
|
||||
init_home();
|
||||
@ -302,7 +302,7 @@ static void do_set_home(const AP_Mission::Mission_Command& cmd)
|
||||
}
|
||||
|
||||
// do_digicam_configure Send Digicam Configure message with the camera library
|
||||
static void do_digicam_configure(const AP_Mission::Mission_Command& cmd)
|
||||
void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
#if CAMERA == ENABLED
|
||||
camera.configure_cmd(cmd);
|
||||
@ -310,7 +310,7 @@ static void do_digicam_configure(const AP_Mission::Mission_Command& cmd)
|
||||
}
|
||||
|
||||
// do_digicam_control Send Digicam Control message with the camera library
|
||||
static void do_digicam_control(const AP_Mission::Mission_Command& cmd)
|
||||
void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
#if CAMERA == ENABLED
|
||||
camera.control_cmd(cmd);
|
||||
@ -319,7 +319,7 @@ static void do_digicam_control(const AP_Mission::Mission_Command& cmd)
|
||||
}
|
||||
|
||||
// do_take_picture - take a picture with the camera library
|
||||
static void do_take_picture()
|
||||
void Rover::do_take_picture()
|
||||
{
|
||||
#if CAMERA == ENABLED
|
||||
camera.trigger_pic(true);
|
||||
@ -328,7 +328,7 @@ static void do_take_picture()
|
||||
}
|
||||
|
||||
// log_picture - log picture taken and send feedback to GCS
|
||||
static void log_picture()
|
||||
void Rover::log_picture()
|
||||
{
|
||||
gcs_send_message(MSG_CAMERA_FEEDBACK);
|
||||
if (should_log(MASK_LOG_CAMERA)) {
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
|
||||
// called by update navigation at 10Hz
|
||||
// --------------------
|
||||
static void update_commands(void)
|
||||
void Rover::update_commands(void)
|
||||
{
|
||||
if(control_mode == AUTO) {
|
||||
if(home_is_set == true && mission.num_commands() > 1) {
|
||||
|
||||
@ -1,21 +1,21 @@
|
||||
|
||||
|
||||
static void delay(uint32_t ms)
|
||||
void Rover::delay(uint32_t ms)
|
||||
{
|
||||
hal.scheduler->delay(ms);
|
||||
}
|
||||
|
||||
static void mavlink_delay(uint32_t ms)
|
||||
void Rover::mavlink_delay(uint32_t ms)
|
||||
{
|
||||
hal.scheduler->delay(ms);
|
||||
}
|
||||
|
||||
static uint32_t millis()
|
||||
uint32_t Rover::millis()
|
||||
{
|
||||
return hal.scheduler->millis();
|
||||
}
|
||||
|
||||
static uint32_t micros()
|
||||
uint32_t Rover::micros()
|
||||
{
|
||||
return hal.scheduler->micros();
|
||||
}
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
static void read_control_switch()
|
||||
void Rover::read_control_switch()
|
||||
{
|
||||
|
||||
uint8_t switchPosition = readSwitch();
|
||||
@ -35,7 +35,7 @@ static void read_control_switch()
|
||||
|
||||
}
|
||||
|
||||
static uint8_t readSwitch(void){
|
||||
uint8_t Rover::readSwitch(void){
|
||||
uint16_t pulsewidth = hal.rcin->read(g.mode_channel - 1);
|
||||
if (pulsewidth <= 900 || pulsewidth >= 2200) return 255; // This is an error condition
|
||||
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
|
||||
@ -46,7 +46,7 @@ static uint8_t readSwitch(void){
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void reset_control_switch()
|
||||
void Rover::reset_control_switch()
|
||||
{
|
||||
oldSwitchPosition = 0;
|
||||
read_control_switch();
|
||||
@ -56,7 +56,7 @@ static void reset_control_switch()
|
||||
|
||||
// read at 10 hz
|
||||
// set this to your trainer switch
|
||||
static void read_trim_switch()
|
||||
void Rover::read_trim_switch()
|
||||
{
|
||||
switch ((enum ch7_option)g.ch7_option.get()) {
|
||||
case CH7_DO_NOTHING:
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
|
||||
static void update_events(void)
|
||||
void Rover::update_events(void)
|
||||
{
|
||||
ServoRelayEvents.update_events();
|
||||
}
|
||||
|
||||
@ -13,11 +13,11 @@
|
||||
this failsafe_check function is called from the core timer interrupt
|
||||
at 1kHz.
|
||||
*/
|
||||
static void failsafe_check()
|
||||
void Rover::failsafe_check()
|
||||
{
|
||||
static uint16_t last_mainLoop_count;
|
||||
static uint32_t last_timestamp;
|
||||
static bool in_failsafe;
|
||||
uint32_t Rover::last_timestamp;
|
||||
bool Rover::in_failsafe;
|
||||
uint32_t tnow = hal.scheduler->micros();
|
||||
|
||||
if (mainLoop_count != last_mainLoop_count) {
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
//****************************************************************
|
||||
// Function that will calculate the desired direction to fly and distance
|
||||
//****************************************************************
|
||||
static void navigate()
|
||||
void Rover::navigate()
|
||||
{
|
||||
// do not navigate with corrupt data
|
||||
// ---------------------------------
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
/*
|
||||
allow for runtime change of control channel ordering
|
||||
*/
|
||||
static void set_control_channels(void)
|
||||
void Rover::set_control_channels(void)
|
||||
{
|
||||
channel_steer = RC_Channel::rc_channel(rcmap.roll()-1);
|
||||
channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
|
||||
@ -18,7 +18,7 @@ static void set_control_channels(void)
|
||||
hal.rcout->set_esc_scaling(channel_throttle->radio_min, channel_throttle->radio_max);
|
||||
}
|
||||
|
||||
static void init_rc_in()
|
||||
void Rover::init_rc_in()
|
||||
{
|
||||
// set rc dead zones
|
||||
channel_steer->set_default_dead_zone(30);
|
||||
@ -28,7 +28,7 @@ static void init_rc_in()
|
||||
update_aux();
|
||||
}
|
||||
|
||||
static void init_rc_out()
|
||||
void Rover::init_rc_out()
|
||||
{
|
||||
RC_Channel::rc_channel(CH_1)->enable_out();
|
||||
RC_Channel::rc_channel(CH_3)->enable_out();
|
||||
@ -38,7 +38,7 @@ static void init_rc_out()
|
||||
RC_Channel::setup_failsafe_trim_all();
|
||||
}
|
||||
|
||||
static void read_radio()
|
||||
void Rover::read_radio()
|
||||
{
|
||||
if (!hal.rcin->new_input()) {
|
||||
control_failsafe(channel_throttle->radio_in);
|
||||
@ -90,7 +90,7 @@ static void read_radio()
|
||||
}
|
||||
}
|
||||
|
||||
static void control_failsafe(uint16_t pwm)
|
||||
void Rover::control_failsafe(uint16_t pwm)
|
||||
{
|
||||
if (!g.fs_throttle_enabled) {
|
||||
// no throttle failsafe
|
||||
@ -109,7 +109,7 @@ static void control_failsafe(uint16_t pwm)
|
||||
}
|
||||
}
|
||||
|
||||
static void trim_control_surfaces()
|
||||
void Rover::trim_control_surfaces()
|
||||
{
|
||||
read_radio();
|
||||
// Store control surface trim values
|
||||
@ -121,7 +121,7 @@ static void trim_control_surfaces()
|
||||
}
|
||||
}
|
||||
|
||||
static void trim_radio()
|
||||
void Rover::trim_radio()
|
||||
{
|
||||
for (int y = 0; y < 30; y++) {
|
||||
read_radio();
|
||||
|
||||
@ -1,20 +1,20 @@
|
||||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
static void init_barometer(void)
|
||||
void Rover::init_barometer(void)
|
||||
{
|
||||
gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
|
||||
barometer.calibrate();
|
||||
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
|
||||
}
|
||||
|
||||
static void init_sonar(void)
|
||||
void Rover::init_sonar(void)
|
||||
{
|
||||
sonar.init();
|
||||
}
|
||||
|
||||
// read_battery - reads battery voltage and current and invokes failsafe
|
||||
// should be called at 10hz
|
||||
static void read_battery(void)
|
||||
void Rover::read_battery(void)
|
||||
{
|
||||
battery.read();
|
||||
}
|
||||
@ -29,7 +29,7 @@ void read_receiver_rssi(void)
|
||||
}
|
||||
|
||||
// read the sonars
|
||||
static void read_sonars(void)
|
||||
void Rover::read_sonars(void)
|
||||
{
|
||||
sonar.update();
|
||||
|
||||
|
||||
@ -8,8 +8,8 @@ static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
|
||||
#if !defined( __AVR_ATmega1280__ )
|
||||
static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t setup_set (uint8_t argc, const Menu::arg *argv);
|
||||
int8_t Rover:: setup_accel_scale (uint8_t argc, const Menu::arg *argv);
|
||||
int8_t Rover:: setup_set (uint8_t argc, const Menu::arg *argv);
|
||||
#endif
|
||||
static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
|
||||
@ -122,7 +122,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
|
||||
|
||||
//Set a parameter to a specified value. It will cast the value to the current type of the
|
||||
//parameter and make sure it fits in case of INT8 and INT16
|
||||
static int8_t setup_set(uint8_t argc, const Menu::arg *argv)
|
||||
int8_t Rover::setup_set(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
int8_t value_int8;
|
||||
int16_t value_int16;
|
||||
@ -446,7 +446,7 @@ setup_compass(uint8_t argc, const Menu::arg *argv)
|
||||
// CLI reports
|
||||
/***************************************************************************/
|
||||
|
||||
static void report_batt_monitor()
|
||||
void Rover::report_batt_monitor()
|
||||
{
|
||||
//print_blanks(2);
|
||||
cliSerial->printf_P(PSTR("Batt Mointor\n"));
|
||||
@ -460,7 +460,7 @@ static void report_batt_monitor()
|
||||
}
|
||||
print_blanks(2);
|
||||
}
|
||||
static void report_radio()
|
||||
void Rover::report_radio()
|
||||
{
|
||||
//print_blanks(2);
|
||||
cliSerial->printf_P(PSTR("Radio\n"));
|
||||
@ -470,7 +470,7 @@ static void report_radio()
|
||||
print_blanks(2);
|
||||
}
|
||||
|
||||
static void report_gains()
|
||||
void Rover::report_gains()
|
||||
{
|
||||
//print_blanks(2);
|
||||
cliSerial->printf_P(PSTR("Gains\n"));
|
||||
@ -482,7 +482,7 @@ static void report_gains()
|
||||
print_blanks(2);
|
||||
}
|
||||
|
||||
static void report_throttle()
|
||||
void Rover::report_throttle()
|
||||
{
|
||||
//print_blanks(2);
|
||||
cliSerial->printf_P(PSTR("Throttle\n"));
|
||||
@ -501,7 +501,7 @@ static void report_throttle()
|
||||
print_blanks(2);
|
||||
}
|
||||
|
||||
static void report_compass()
|
||||
void Rover::report_compass()
|
||||
{
|
||||
//print_blanks(2);
|
||||
cliSerial->printf_P(PSTR("Compass: "));
|
||||
@ -522,7 +522,7 @@ static void report_compass()
|
||||
print_blanks(2);
|
||||
}
|
||||
|
||||
static void report_modes()
|
||||
void Rover::report_modes()
|
||||
{
|
||||
//print_blanks(2);
|
||||
cliSerial->printf_P(PSTR("Flight modes\n"));
|
||||
@ -597,7 +597,7 @@ print_divider(void)
|
||||
static int8_t
|
||||
radio_input_switch(void)
|
||||
{
|
||||
static int8_t bouncer = 0;
|
||||
int8_t Rover::bouncer = 0;
|
||||
|
||||
|
||||
if (int16_t(channel_steer->radio_in - channel_steer->radio_trim) > 100) {
|
||||
@ -621,14 +621,14 @@ radio_input_switch(void)
|
||||
}
|
||||
|
||||
|
||||
static void zero_eeprom(void)
|
||||
void Rover::zero_eeprom(void)
|
||||
{
|
||||
cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
|
||||
StorageManager::erase();
|
||||
cliSerial->printf_P(PSTR("done\n"));
|
||||
}
|
||||
|
||||
static void print_enabled(bool b)
|
||||
void Rover::print_enabled(bool b)
|
||||
{
|
||||
if(b)
|
||||
cliSerial->printf_P(PSTR("en"));
|
||||
|
||||
@ -12,7 +12,7 @@ The init_ardupilot function processes everything we need for an in - air restart
|
||||
static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
|
||||
static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
|
||||
static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
|
||||
static int8_t reboot_board(uint8_t argc, const Menu::arg *argv);
|
||||
int8_t Rover:: reboot_board(uint8_t argc, const Menu::arg *argv);
|
||||
|
||||
// This is the help function
|
||||
// PSTR is an AVR macro to read strings from flash memory
|
||||
@ -43,14 +43,14 @@ static const struct Menu::command main_menu_commands[] PROGMEM = {
|
||||
// Create the top-level menu object.
|
||||
MENU(main_menu, THISFIRMWARE, main_menu_commands);
|
||||
|
||||
static int8_t reboot_board(uint8_t argc, const Menu::arg *argv)
|
||||
int8_t Rover::reboot_board(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
hal.scheduler->reboot(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
// the user wants the CLI. It never exits
|
||||
static void run_cli(AP_HAL::UARTDriver *port)
|
||||
void Rover::run_cli(AP_HAL::UARTDriver *port)
|
||||
{
|
||||
// disable the failsafe code in the CLI
|
||||
hal.scheduler->register_timer_failsafe(NULL,1);
|
||||
@ -69,7 +69,7 @@ static void run_cli(AP_HAL::UARTDriver *port)
|
||||
|
||||
#endif // CLI_ENABLED
|
||||
|
||||
static void init_ardupilot()
|
||||
void Rover::init_ardupilot()
|
||||
{
|
||||
// initialise console serial port
|
||||
serial_manager.init_console();
|
||||
@ -225,7 +225,7 @@ static void init_ardupilot()
|
||||
//********************************************************************************
|
||||
//This function does all the calibrations, etc. that we need during a ground start
|
||||
//********************************************************************************
|
||||
static void startup_ground(void)
|
||||
void Rover::startup_ground(void)
|
||||
{
|
||||
set_mode(INITIALISING);
|
||||
|
||||
@ -263,7 +263,7 @@ static void startup_ground(void)
|
||||
set the in_reverse flag
|
||||
reset the throttle integrator if this changes in_reverse
|
||||
*/
|
||||
static void set_reverse(bool reverse)
|
||||
void Rover::set_reverse(bool reverse)
|
||||
{
|
||||
if (in_reverse == reverse) {
|
||||
return;
|
||||
@ -272,7 +272,7 @@ static void set_reverse(bool reverse)
|
||||
in_reverse = reverse;
|
||||
}
|
||||
|
||||
static void set_mode(enum mode mode)
|
||||
void Rover::set_mode(enum mode mode)
|
||||
{
|
||||
|
||||
if(control_mode == mode){
|
||||
@ -324,7 +324,7 @@ static void set_mode(enum mode mode)
|
||||
/*
|
||||
set_mode() wrapper for MAVLink SET_MODE
|
||||
*/
|
||||
static bool mavlink_set_mode(uint8_t mode)
|
||||
bool Rover::mavlink_set_mode(uint8_t mode)
|
||||
{
|
||||
switch (mode) {
|
||||
case MANUAL:
|
||||
@ -342,7 +342,7 @@ static bool mavlink_set_mode(uint8_t mode)
|
||||
/*
|
||||
called to set/unset a failsafe event.
|
||||
*/
|
||||
static void failsafe_trigger(uint8_t failsafe_type, bool on)
|
||||
void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
|
||||
{
|
||||
uint8_t old_bits = failsafe.bits;
|
||||
if (on) {
|
||||
@ -381,7 +381,7 @@ static void failsafe_trigger(uint8_t failsafe_type, bool on)
|
||||
}
|
||||
}
|
||||
|
||||
static void startup_INS_ground(void)
|
||||
void Rover::startup_INS_ground(void)
|
||||
{
|
||||
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
|
||||
mavlink_delay(500);
|
||||
@ -409,19 +409,19 @@ static void startup_INS_ground(void)
|
||||
|
||||
// updates the notify state
|
||||
// should be called at 50hz
|
||||
static void update_notify()
|
||||
void Rover::update_notify()
|
||||
{
|
||||
notify.update();
|
||||
}
|
||||
|
||||
static void resetPerfData(void) {
|
||||
void Rover::resetPerfData(void) {
|
||||
mainLoop_count = 0;
|
||||
G_Dt_max = 0;
|
||||
perf_mon_timer = millis();
|
||||
}
|
||||
|
||||
|
||||
static void check_usb_mux(void)
|
||||
void Rover::check_usb_mux(void)
|
||||
{
|
||||
bool usb_check = hal.gpio->usb_connected();
|
||||
if (usb_check == usb_connected) {
|
||||
@ -476,7 +476,7 @@ print_mode(AP_HAL::BetterStream *port, uint8_t mode)
|
||||
/*
|
||||
check a digitial pin for high,low (1/0)
|
||||
*/
|
||||
static uint8_t check_digital_pin(uint8_t pin)
|
||||
uint8_t Rover::check_digital_pin(uint8_t pin)
|
||||
{
|
||||
int8_t dpin = hal.gpio->analogPinToDigitalPin(pin);
|
||||
if (dpin == -1) {
|
||||
@ -494,7 +494,7 @@ static uint8_t check_digital_pin(uint8_t pin)
|
||||
/*
|
||||
should we log a message type now?
|
||||
*/
|
||||
static bool should_log(uint32_t mask)
|
||||
bool Rover::should_log(uint32_t mask)
|
||||
{
|
||||
if (!(mask & g.log_bitmask) || in_mavlink_delay) {
|
||||
return false;
|
||||
@ -514,7 +514,7 @@ static bool should_log(uint32_t mask)
|
||||
send FrSky telemetry. Should be called at 5Hz by scheduler
|
||||
*/
|
||||
#if FRSKY_TELEM_ENABLED == ENABLED
|
||||
static void frsky_telemetry_send(void)
|
||||
void Rover::frsky_telemetry_send(void)
|
||||
{
|
||||
frsky_telemetry.send_frames((uint8_t)control_mode);
|
||||
}
|
||||
|
||||
@ -17,11 +17,11 @@ static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
||||
static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
|
||||
int8_t Rover:: test_shell(uint8_t argc, const Menu::arg *argv);
|
||||
#endif
|
||||
|
||||
// forward declaration to keep the compiler happy
|
||||
static void test_wp_print(const AP_Mission::Mission_Command& cmd);
|
||||
void Rover::test_wp_print(const AP_Mission::Mission_Command& cmd);
|
||||
|
||||
// Creates a constant array of structs representing menu options
|
||||
// and stores them in Flash memory, not RAM.
|
||||
@ -59,7 +59,7 @@ test_mode(uint8_t argc, const Menu::arg *argv)
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void print_hit_enter()
|
||||
void Rover::print_hit_enter()
|
||||
{
|
||||
cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user