/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #define THISFIRMWARE "AntennaTracker V0.1" /* Lead developers: Matthew Ridley and Andrew Tridgell Please contribute your ideas! See http://dev.ardupilot.com for details This program 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 program 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 . */ //////////////////////////////////////////////////////////////////////////////// // Header includes //////////////////////////////////////////////////////////////////////////////// #include #include #include #include #include #include #include #include // ArduPilot GPS library #include // ArduPilot barometer library #include // ArduPilot Mega Magnetometer Library #include // ArduPilot Mega Vector/Matrix math Library #include // ArduPilot Mega Analog to Digital Converter Library #include #include // Inertial Sensor Library #include // ArduPilot Mega DCM Library #include // Filter library #include // APM FIFO Buffer #include #include // MAVLink GCS definitions #include // ArduPilot Mega Declination Helper Library #include #include #include #include // main loop scheduler #include #include // Notify library #include // Battery monitor library #include #include // Configuration #include "config.h" // Local modules #include "defines.h" #include "Parameters.h" #include "GCS.h" #include #include #include #include #include #include AP_HAL::BetterStream* cliSerial; const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; //////////////////////////////////////////////////////////////////////////////// // the rate we run the main loop at //////////////////////////////////////////////////////////////////////////////// static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ; //////////////////////////////////////////////////////////////////////////////// // Parameters //////////////////////////////////////////////////////////////////////////////// // // Global parameters are all contained within the 'g' class. // static Parameters g; // main loop scheduler static AP_Scheduler scheduler; // notification object for LEDs, buzzers etc static AP_Notify notify; // tracking status for MAVLink static struct { float bearing; float distance; float pitch; } nav_status; //////////////////////////////////////////////////////////////////////////////// // prototypes void gcs_send_text_fmt(const prog_char_t *fmt, ...); //////////////////////////////////////////////////////////////////////////////// // Sensors //////////////////////////////////////////////////////////////////////////////// // All GPS access should be through this pointer. static GPS *g_gps; #if CONFIG_BARO == AP_BARO_BMP085 static AP_Baro_BMP085 barometer; #elif CONFIG_BARO == AP_BARO_PX4 static AP_Baro_PX4 barometer; #elif CONFIG_BARO == AP_BARO_HIL static AP_Baro_HIL barometer; #elif CONFIG_BARO == AP_BARO_MS5611 #if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi); #elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c); #else #error Unrecognized CONFIG_MS5611_SERIAL setting. #endif #else #error Unrecognized CONFIG_BARO setting #endif #if CONFIG_COMPASS == AP_COMPASS_PX4 static AP_Compass_PX4 compass; #elif CONFIG_COMPASS == AP_COMPASS_HMC5843 static AP_Compass_HMC5843 compass; #elif CONFIG_COMPASS == AP_COMPASS_HIL static AP_Compass_HIL compass; #else #error Unrecognized CONFIG_COMPASS setting #endif // GPS selection AP_GPS_Auto g_gps_driver(&g_gps); #if CONFIG_INS_TYPE == CONFIG_INS_MPU6000 AP_InertialSensor_MPU6000 ins; #elif CONFIG_INS_TYPE == CONFIG_INS_PX4 AP_InertialSensor_PX4 ins; #elif CONFIG_INS_TYPE == CONFIG_INS_HIL AP_InertialSensor_HIL ins; #elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN AP_InertialSensor_Oilpan ins( &apm1_adc ); #elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE AP_InertialSensor_Flymaple ins; #elif CONFIG_INS_TYPE == CONFIG_INS_L3G4200D AP_InertialSensor_L3G4200D ins; #else #error Unrecognised CONFIG_INS_TYPE setting. #endif // CONFIG_INS_TYPE AP_AHRS_DCM ahrs(&ins, g_gps); #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL SITL sitl; #endif /** antenna control channels */ static RC_Channel channel_yaw(CH_1); static RC_Channel channel_pitch(CH_2); //////////////////////////////////////////////////////////////////////////////// // GCS selection //////////////////////////////////////////////////////////////////////////////// static GCS_MAVLINK gcs0; static GCS_MAVLINK gcs3; /* scheduler table - all regular tasks apart from the fast_loop() should be listed here, along with how often they should be called (in 20ms units) and the maximum time they are expected to take (in microseconds) */ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = { { update_ahrs, 1, 1000 }, { update_tracking, 1, 1000 }, { update_GPS, 5, 4000 }, { update_compass, 5, 1500 }, { update_barometer, 5, 1500 }, { update_tracking, 1, 1000 }, { gcs_update, 1, 1700 }, { gcs_data_stream_send, 1, 3000 }, { compass_accumulate, 1, 1500 }, { barometer_accumulate, 1, 900 }, { update_notify, 1, 100 }, { one_second_loop, 50, 3900 } }; // setup the var_info table AP_Param param_loader(var_info, EEPROM_MAX_ADDR); /** setup the sketch - called once on startup */ void setup() { // this needs to be the first call, as it fills memory with // sentinel values memcheck_init(); cliSerial = hal.console; // load the default values of variables listed in var_info[] AP_Param::setup_sketch_defaults(); // arduplane does not use arming nor pre-arm checks AP_Notify::flags.armed = true; AP_Notify::flags.pre_arm_check = true; AP_Notify::flags.failsafe_battery = false; notify.init(); init_tracker(); // initialise the main loop scheduler scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0])); } /** loop() is called continuously */ void loop() { // wait for an INS sample if (!ins.wait_for_sample(1000)) { return; } // tell the scheduler one tick has passed scheduler.tick(); scheduler.run(19900UL); } static void one_second_loop() { // send a heartbeat gcs_send_message(MSG_HEARTBEAT); // make it possible to change orientation at runtime ahrs.set_orientation(); // sync MAVLink system ID mavlink_system.sysid = g.sysid_this_mav; static uint8_t counter; counter++; if (counter >= 60) { if(g.compass_enabled) { compass.save_offsets(); } counter = 0; } } AP_HAL_MAIN();