/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #define THISFIRMWARE "ArduRover v2.30" // This is the APMrover firmware derived from the Arduplane v2.32 by Jean-Louis Naudin (JLN) /* Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier Please contribute your ideas! APMrover alpha version tester: Franco Borasio, Daniel Chapelat... This firmware 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. // // JLN updates: last update 2012-06-21 // DOLIST: //------------------------------------------------------------------------------------------------------------------------- // Dev Startup : 2012-04-21 // // 2012-06-21: Update for HIL mode with mavlink 1.0 (new lib) // 2012-06-13: use RangeFinder optical SharpGP2Y instead of ultrasonic sonar // 2012-06-13: added Test sonar // 2012-05-17: added speed_boost during straight line // 2012-05-17: New update about the throttle rate control based on the field test done by Franco Borasio (Thanks Franco..) // 2012-05-15: The Throttle rate can be controlled by the THROTTLE_SLEW_LIMIT (the value give the step increase, 1 = 0.1) // 2012-05-14: Update about mavlink library (now compatible with the latest version of mavlink) // 2012-05-14: Added option (hold roll to full right + SW7 ON/OFF) to init_home during the wp_list reset // 2012-05-13: Add ROV_SONAR_TRIG (default = 200 cm) // 2012-05-13: Restart_nav() added and heading bug correction, tested OK in the field // 2012-05-12: RTL then stop update - Tested in the field // 2012-05-11: The rover now STOP after the RTL... (special update for Franco...) // 2012-05-11: Added SONAR detection for obstacle avoidance (alpha version for SONAR testing) // 2012-05-04: Added #define LITE ENABLED for the APM1280 or APM2560 CPU IMUless version // 2012-05-03: Successful missions tests with a full APM2560 kit (GPS MT3329 + magnetometer HMC5883L) // 2012-05-03: removing stick mixing in auto mode // 2012-05-01: special update for rover about ground_course if compass is enabled // 2012-04-30: Successfully tested in autonomous nav with a waypoints list recorded in live mode // 2012-04-30: Now a full version for APM v1 or APM v2 with magnetometer // 2012-04-27: Cosmetic changes // 2012-04-26: Only one PID (pidNavRoll) for steering the wheel with nav_roll // 2012-04-26: Added ground_speed and ground_course variables in Update_GPS // 2012-04-26: Set GPS to 10 Hz (updated in the AP_GPS lib) // 2012-04-22: Tested on Traxxas Monster Jam Grinder XL-5 3602 // 2012-04-21: Roll set to wheels control and Throttle neutral to 50% (0 -100) - Forward>50, Backward<50 // // Radio setup: // APM INPUT (Rec = receiver) // Rec ch1: Roll // Rec ch2: Throttle // Rec ch3: Pitch // Rec ch4: Yaw // Rec ch5: not used // Rec ch6: not used // Rec ch7: Option channel to 2 positions switch // Rec ch8: Mode channel to 3 positions switch // APM OUTPUT // Ch1: Wheel servo (direction) // Ch2: not used // Ch3: to the motor ESC // Ch4: not used // // more infos about this experimental version: http://diydrones.com/profile/JeanLouisNaudin // ======================================================================================================= */ //////////////////////////////////////////////////////////////////////////////// // Header includes //////////////////////////////////////////////////////////////////////////////// // AVR runtime #include #include #include #include // Libraries #include #include #include #include #include // ArduPilot Mega RC Library #include // ArduPilot GPS library #include // Wayne Truchsess I2C lib #include // Arduino SPI lib #include // for removing conflict between optical flow and dataflash on SPI3 bus #include // ArduPilot Mega Flash Memory Library #include // ArduPilot Mega Analog to Digital Converter Library #include // ArduPilot Mega polymorphic analog getter #include // ArduPilot Mega TimerProcess #include #include // ArduPilot Mega Magnetometer Library #include // ArduPilot Mega Vector/Matrix math Library #include // Inertial Sensor (uncalibated IMU) Library #include // ArduPilot Mega DCM Library #include // PID library #include // RC Channel Library #include // Range finder library #include // Filter library #include // FIFO buffer library #include // Mode Filter from Filter library #include // Mode Filter from Filter library #include // APM relay #include // Camera/Antenna mount #include // MAVLink GCS definitions #include // needed for AHRS build #include // Configuration #include "config.h" // Local modules #include "defines.h" #include "Parameters.h" #include "GCS.h" #include // ArduPilot Mega Declination Helper Library //////////////////////////////////////////////////////////////////////////////// // Serial ports //////////////////////////////////////////////////////////////////////////////// // // Note that FastSerial port buffers are allocated at ::begin time, // so there is not much of a penalty to defining ports that we don't // use. // FastSerialPort0(Serial); // FTDI/console FastSerialPort1(Serial1); // GPS port #if TELEMETRY_UART2 == ENABLED // solder bridge set to enable UART2 instead of USB MUX FastSerialPort2(Serial3); #else FastSerialPort3(Serial3); // Telemetry port for APM1 #endif static FastSerial *cliSerial = &Serial; // this sets up the parameter table, and sets the default values. This // must be the first AP_Param variable declared to ensure its // constructor runs before the constructors of the other AP_Param // variables AP_Param param_loader(var_info, WP_START_BYTE); //////////////////////////////////////////////////////////////////////////////// // ISR Registry //////////////////////////////////////////////////////////////////////////////// Arduino_Mega_ISR_Registry isr_registry; //////////////////////////////////////////////////////////////////////////////// // APM_RC_Class Instance //////////////////////////////////////////////////////////////////////////////// #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 APM_RC_APM2 APM_RC; #else APM_RC_APM1 APM_RC; #endif //////////////////////////////////////////////////////////////////////////////// // Dataflash //////////////////////////////////////////////////////////////////////////////// #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 AP_Semaphore spi3_semaphore; DataFlash_APM2 DataFlash(&spi3_semaphore); #else DataFlash_APM1 DataFlash; #endif //////////////////////////////////////////////////////////////////////////////// // 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; //////////////////////////////////////////////////////////////////////////////// // prototypes static void update_events(void); //////////////////////////////////////////////////////////////////////////////// // Sensors //////////////////////////////////////////////////////////////////////////////// // // There are three basic options related to flight sensor selection. // // - Normal flight mode. Real sensors are used. // - HIL Attitude mode. Most sensors are disabled, as the HIL // protocol supplies attitude information directly. // - HIL Sensors mode. Synthetic sensors are configured that // supply data from the simulation. // // All GPS access should be through this pointer. static GPS *g_gps; // flight modes convenience array static AP_Int8 *flight_modes = &g.flight_mode1; #if HIL_MODE == HIL_MODE_DISABLED // real sensors #if CONFIG_ADC == ENABLED static AP_ADC_ADS7844 adc; #endif #ifdef DESKTOP_BUILD AP_Baro_BMP085_HIL barometer; AP_Compass_HIL compass; #include SITL sitl; #else static AP_Compass_HMC5843 compass; #endif // real GPS selection #if GPS_PROTOCOL == GPS_PROTOCOL_AUTO AP_GPS_Auto g_gps_driver(&Serial1, &g_gps); #elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA AP_GPS_NMEA g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF AP_GPS_SIRF g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX AP_GPS_UBLOX g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK AP_GPS_MTK g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19 AP_GPS_MTK19 g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE AP_GPS_None g_gps_driver(NULL); #else #error Unrecognised GPS_PROTOCOL setting. #endif // GPS PROTOCOL # if CONFIG_INS_TYPE == CONFIG_INS_MPU6000 AP_InertialSensor_MPU6000 ins; # else AP_InertialSensor_Oilpan ins( &adc ); #endif // CONFIG_INS_TYPE AP_AHRS_DCM ahrs(&ins, g_gps); #elif HIL_MODE == HIL_MODE_SENSORS // sensor emulators AP_ADC_HIL adc; AP_Compass_HIL compass; AP_GPS_HIL g_gps_driver(NULL); AP_InertialSensor_Oilpan ins( &adc ); AP_AHRS_DCM ahrs(&ins, g_gps); #elif HIL_MODE == HIL_MODE_ATTITUDE AP_ADC_HIL adc; AP_AHRS_HIL ahrs(&ins, g_gps); AP_GPS_HIL g_gps_driver(NULL); AP_Compass_HIL compass; // never used #else #error Unrecognised HIL_MODE setting. #endif // HIL MODE // we always have a timer scheduler AP_TimerProcess timer_scheduler; //////////////////////////////////////////////////////////////////////////////// // GCS selection //////////////////////////////////////////////////////////////////////////////// // GCS_MAVLINK gcs0; GCS_MAVLINK gcs3; //////////////////////////////////////////////////////////////////////////////// // SONAR selection //////////////////////////////////////////////////////////////////////////////// // ModeFilterInt16_Size5 sonar_mode_filter(2); #if CONFIG_SONAR == ENABLED /* #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25); #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN); #endif AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter); */ AP_AnalogSource_Arduino sonar_analog_source(A0); // use AN0 analog pin for APM2 on left AP_RangeFinder_SharpGP2Y sonar(&sonar_analog_source, &sonar_mode_filter); #endif // relay support AP_Relay relay; // Camera/Antenna mount tracking and stabilisation stuff // -------------------------------------- #if MOUNT == ENABLED AP_Mount camera_mount(g_gps, &dcm); #endif //////////////////////////////////////////////////////////////////////////////// // Global variables //////////////////////////////////////////////////////////////////////////////// // APM2 only #if USB_MUX_PIN > 0 static bool usb_connected; #endif static const char *comma = ","; /* Radio values Channel assignments 1 Steering 2 --- 3 Throttle 4 --- 5 Aux5 6 Aux6 7 Aux7 8 Aux8/Mode Each Aux channel can be configured to have any of the available auxiliary functions assigned to it. See libraries/RC_Channel/RC_Channel_aux.h for more information */ //////////////////////////////////////////////////////////////////////////////// // Radio //////////////////////////////////////////////////////////////////////////////// // This is the state of the flight control system // There are multiple states defined such as MANUAL, FBW-A, AUTO byte control_mode = INITIALISING; // Used to maintain the state of the previous control switch position // This is set to -1 when we need to re-read the switch byte oldSwitchPosition; // These are values received from the GCS if the user is using GCS joystick // control and are substituted for the values coming from the RC radio static int16_t rc_override[8] = {0,0,0,0,0,0,0,0}; // A flag if GCS joystick control is in use static bool rc_override_active = false; //////////////////////////////////////////////////////////////////////////////// // Failsafe //////////////////////////////////////////////////////////////////////////////// // A tracking variable for type of failsafe active // Used for failsafe based on loss of RC signal or GCS signal static int16_t failsafe; // Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold // RC receiver should be set up to output a low throttle value when signal is lost static bool ch3_failsafe; // A timer used to track how long since we have received the last GCS heartbeat or rc override message static uint32_t rc_override_fs_timer = 0; // A timer used to track how long we have been in a "short failsafe" condition due to loss of RC signal static uint32_t ch3_failsafe_timer = 0; //////////////////////////////////////////////////////////////////////////////// // LED output //////////////////////////////////////////////////////////////////////////////// // state of the GPS light (on/off) static bool GPS_light; //////////////////////////////////////////////////////////////////////////////// // GPS variables //////////////////////////////////////////////////////////////////////////////// // This is used to scale GPS values for EEPROM storage // 10^7 times Decimal GPS means 1 == 1cm // This approximation makes calculations integer and it's easy to read static const float t7 = 10000000.0; // We use atan2 and other trig techniques to calaculate angles // A counter used to count down valid gps fixes to allow the gps estimate to settle // before recording our home position (and executing a ground start if we booted with an air start) static byte ground_start_count = 5; // Used to compute a speed estimate from the first valid gps fixes to decide if we are // on the ground or in the air. Used to decide if a ground start is appropriate if we // booted with an air start. static int16_t ground_start_avg; static int32_t gps_base_alt; //////////////////////////////////////////////////////////////////////////////// // Location & Navigation //////////////////////////////////////////////////////////////////////////////// // Constants const float radius_of_earth = 6378100; // meters const float gravity = 9.81; // meters/ sec^2 // true if we have a position estimate from AHRS static bool have_position; // This is the currently calculated direction to fly. // deg * 100 : 0 to 360 static int32_t nav_bearing; // This is the direction to the next waypoint // deg * 100 : 0 to 360 static int32_t target_bearing; //This is the direction from the last waypoint to the next waypoint // deg * 100 : 0 to 360 static int32_t crosstrack_bearing; // A gain scaler to account for ground speed/headwind/tailwind static float nav_gain_scaler = 1; static bool rtl_complete = false; // There may be two active commands in Auto mode. // This indicates the active navigation command by index number static byte nav_command_index; // This indicates the active non-navigation command by index number static byte non_nav_command_index; // This is the command type (eg navigate to waypoint) of the active navigation command static byte nav_command_ID = NO_COMMAND; static byte non_nav_command_ID = NO_COMMAND; static float groundspeed_error; // 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel static int16_t throttle_nudge = 0; // The distance as reported by Sonar in cm – Values are 20 to 700 generally. static int16_t sonar_dist; static bool obstacle = false; //////////////////////////////////////////////////////////////////////////////// // Ground speed //////////////////////////////////////////////////////////////////////////////// // The amount current ground speed is below min ground speed. Centimeters per second static int32_t groundspeed_undershoot = 0; static int32_t ground_speed = 0; static int16_t throttle_last = 0, throttle = 500; //////////////////////////////////////////////////////////////////////////////// // Location Errors //////////////////////////////////////////////////////////////////////////////// // Difference between current bearing and desired bearing. Hundredths of a degree static int32_t bearing_error; // Difference between current altitude and desired altitude. Centimeters static int32_t altitude_error; // Distance perpandicular to the course line that we are off trackline. Meters static float crosstrack_error; //////////////////////////////////////////////////////////////////////////////// // CH7 control //////////////////////////////////////////////////////////////////////////////// // Used to track the CH7 toggle state. // When CH7 goes LOW PWM from HIGH PWM, this value will have been set true // This allows advanced functionality to know when to execute static boolean trim_flag; // This register tracks the current Mission Command index when writing // a mission using CH7 in flight static int8_t CH7_wp_index; float tuning_value; //////////////////////////////////////////////////////////////////////////////// // Battery Sensors //////////////////////////////////////////////////////////////////////////////// // Battery pack 1 voltage. Initialized above the low voltage threshold to pre-load the filter and prevent low voltage events at startup. static float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery pack 1 instantaneous currrent draw. Amperes static float current_amps1; // Totalized current (Amp-hours) from battery 1 static float current_total1; // To Do - Add support for second battery pack //static float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery 2 Voltage, initialized above threshold for filter //static float current_amps2; // Current (Amperes) draw from battery 2 //static float current_total2; // Totalized current (Amp-hours) from battery 2 // JLN Update uint32_t timesw = 0; static bool speed_boost = false; //////////////////////////////////////////////////////////////////////////////// // Navigation control variables //////////////////////////////////////////////////////////////////////////////// // The instantaneous desired bank angle. Hundredths of a degree static int32_t nav_roll; // Calculated radius for the wp turn based on ground speed and max turn angle static int32_t wp_radius; //////////////////////////////////////////////////////////////////////////////// // Waypoint distances //////////////////////////////////////////////////////////////////////////////// // Distance between plane and next waypoint. Meters static int32_t wp_distance; // Distance between previous and next waypoint. Meters static int32_t wp_totalDistance; //////////////////////////////////////////////////////////////////////////////// // repeating event control //////////////////////////////////////////////////////////////////////////////// // Flag indicating current event type static byte event_id; // when the event was started in ms static int32_t event_timer; // how long to delay the next firing of event in millis static uint16_t event_delay; // how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles static int16_t event_repeat = 0; // per command value, such as PWM for servos static int16_t event_value; // the value used to cycle events (alternate value to event_value) static int16_t event_undo_value; //////////////////////////////////////////////////////////////////////////////// // Conditional command //////////////////////////////////////////////////////////////////////////////// // A value used in condition commands (eg delay, change alt, etc.) // For example in a change altitude command, it is the altitude to change to. static int32_t condition_value; // A starting value used to check the status of a conditional command. // For example in a delay command the condition_start records that start time for the delay static int32_t condition_start; // A value used in condition commands. For example the rate at which to change altitude. static int16_t condition_rate; //////////////////////////////////////////////////////////////////////////////// // 3D Location vectors // Location structure defined in AP_Common //////////////////////////////////////////////////////////////////////////////// // The home location used for RTL. The location is set when we first get stable GPS lock static struct Location home; // Flag for if we have g_gps lock and have set the home location static bool home_is_set; // The location of the previous waypoint. Used for track following and altitude ramp calculations static struct Location prev_WP; // The plane's current location static struct Location current_loc; // The location of the current/active waypoint. Used for track following static struct Location next_WP; // The location of the active waypoint in Guided mode. static struct Location guided_WP; // The location structure information from the Nav command being processed static struct Location next_nav_command; // The location structure information from the Non-Nav command being processed static struct Location next_nonnav_command; //////////////////////////////////////////////////////////////////////////////// // IMU variables //////////////////////////////////////////////////////////////////////////////// // The main loop execution time. Seconds //This is the time between calls to the DCM algorithm and is the Integration time for the gyros. static float G_Dt = 0.02; //////////////////////////////////////////////////////////////////////////////// // Performance monitoring //////////////////////////////////////////////////////////////////////////////// // Timer used to accrue data and trigger recording of the performanc monitoring log message static int32_t perf_mon_timer; // The maximum main loop execution time recorded in the current performance monitoring interval static int16_t G_Dt_max = 0; // The number of gps fixes recorded in the current performance monitoring interval static int16_t gps_fix_count = 0; // A variable used by developers to track performanc metrics. // Currently used to record the number of GCS heartbeat messages received static int16_t pmTest1 = 0; //////////////////////////////////////////////////////////////////////////////// // System Timers //////////////////////////////////////////////////////////////////////////////// // Time in miliseconds of start of main control loop. Milliseconds static uint32_t fast_loopTimer; // Time Stamp when fast loop was complete. Milliseconds static uint32_t fast_loopTimeStamp; // Number of milliseconds used in last main loop cycle static uint8_t delta_ms_fast_loop; // Counter of main loop executions. Used for performance monitoring and failsafe processing static uint16_t mainLoop_count; // Time in miliseconds of start of medium control loop. Milliseconds static uint32_t medium_loopTimer; // Counters for branching from main control loop to slower loops static byte medium_loopCounter; // Number of milliseconds used in last medium loop cycle static uint8_t delta_ms_medium_loop; // Counters for branching from medium control loop to slower loops static byte slow_loopCounter; // Counter to trigger execution of very low rate processes static byte superslow_loopCounter; // Counter to trigger execution of 1 Hz processes static byte counter_one_herz; // % MCU cycles used static float load; //////////////////////////////////////////////////////////////////////////////// // Top-level logic //////////////////////////////////////////////////////////////////////////////// void setup() { memcheck_init(); init_ardupilot(); } void loop() { // We want this to execute at 50Hz, but synchronised with the gyro/accel uint16_t num_samples = ins.num_samples_available(); if (num_samples >= 1) { delta_ms_fast_loop = millis() - fast_loopTimer; load = (float)(fast_loopTimeStamp - fast_loopTimer)/delta_ms_fast_loop; G_Dt = (float)delta_ms_fast_loop / 1000.f; fast_loopTimer = millis(); mainLoop_count++; // Execute the fast loop // --------------------- fast_loop(); // Execute the medium loop // ----------------------- medium_loop(); counter_one_herz++; if(counter_one_herz == 50){ one_second_loop(); counter_one_herz = 0; } if (millis() - perf_mon_timer > 20000) { if (mainLoop_count != 0) { #if LITE == DISABLED if (g.log_bitmask & MASK_LOG_PM) #if HIL_MODE != HIL_MODE_ATTITUDE Log_Write_Performance(); #endif #endif resetPerfData(); } } fast_loopTimeStamp = millis(); } else if (millis() - fast_loopTimeStamp < 19) { // less than 19ms has passed. We have at least one millisecond // of free time. The most useful thing to do with that time is // to accumulate some sensor readings, specifically the // compass, which is often very noisy but is not interrupt // driven, so it can't accumulate readings by itself if (g.compass_enabled) { compass.accumulate(); } } } // Main loop 50Hz static void fast_loop() { // This is the fast loop - we want it to execute at 50Hz if possible // ----------------------------------------------------------------- if (delta_ms_fast_loop > G_Dt_max) G_Dt_max = delta_ms_fast_loop; // Read radio // ---------- read_radio(); // try to send any deferred messages if the serial port now has // some space available gcs_send_message(MSG_RETRY_DEFERRED); // check for loss of control signal failsafe condition // ------------------------------------ check_short_failsafe(); #if HIL_MODE == HIL_MODE_SENSORS // update hil before dcm update gcs_update(); #endif #if LITE == DISABLED ahrs.update(); #endif // Read Sonar // ---------- #if CONFIG_SONAR == ENABLED if(g.sonar_enabled){ sonar_dist = sonar.read(); if(sonar_dist <= g.sonar_trigger) { // obstacle detected in front obstacle = true; } else { obstacle = false; } } #endif // uses the yaw from the DCM to give more accurate turns calc_bearing_error(); #if LITE == DISABLED # if HIL_MODE == HIL_MODE_DISABLED if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor); if (g.log_bitmask & MASK_LOG_RAW) Log_Write_Raw(); #endif #endif // inertial navigation // ------------------ #if INERTIAL_NAVIGATION == ENABLED // TODO: implement inertial nav function inertialNavigation(); #endif // custom code/exceptions for flight modes // --------------------------------------- update_current_flight_mode(); // apply desired roll, pitch and yaw to the plane // ---------------------------------------------- if (control_mode > LEARNING) learning(); // write out the servo PWM values // ------------------------------ set_servos(); // XXX is it appropriate to be doing the comms below on the fast loop? gcs_update(); gcs_data_stream_send(); } static void medium_loop() { #if MOUNT == ENABLED camera_mount.update_mount_position(); #endif // This is the start of the medium (10 Hz) loop pieces // ----------------------------------------- switch(medium_loopCounter) { // This case deals with the GPS //------------------------------- case 0: medium_loopCounter++; update_GPS(); calc_gndspeed_undershoot(); //#if LITE == DISABLED #if HIL_MODE != HIL_MODE_ATTITUDE if (g.compass_enabled && compass.read()) { ahrs.set_compass(&compass); // Calculate heading compass.null_offsets(); } else { ahrs.set_compass(NULL); } #endif //#endif /*{ cliSerial->print(ahrs.roll_sensor, DEC); cliSerial->printf_P(PSTR("\t")); cliSerial->print(ahrs.pitch_sensor, DEC); cliSerial->printf_P(PSTR("\t")); cliSerial->print(ahrs.yaw_sensor, DEC); cliSerial->printf_P(PSTR("\t")); Vector3f tempaccel = ins.get_accel(); cliSerial->print(tempaccel.x, DEC); cliSerial->printf_P(PSTR("\t")); cliSerial->print(tempaccel.y, DEC); cliSerial->printf_P(PSTR("\t")); cliSerial->println(tempaccel.z, DEC); }*/ break; // This case performs some navigation computations //------------------------------------------------ case 1: medium_loopCounter++; navigate(); break; // command processing //------------------------------ case 2: medium_loopCounter++; // perform next command // -------------------- update_commands(); break; // This case deals with sending high rate telemetry //------------------------------------------------- case 3: medium_loopCounter++; #if LITE == DISABLED #if HIL_MODE != HIL_MODE_ATTITUDE if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST)) Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor); if (g.log_bitmask & MASK_LOG_CTUN) Log_Write_Control_Tuning(); #endif if (g.log_bitmask & MASK_LOG_NTUN) Log_Write_Nav_Tuning(); if (g.log_bitmask & MASK_LOG_GPS) Log_Write_GPS(g_gps->time, current_loc.lat, current_loc.lng, g_gps->altitude, current_loc.alt, (long) g_gps->ground_speed, g_gps->ground_course, g_gps->fix, g_gps->num_sats); #endif break; // This case controls the slow loop //--------------------------------- case 4: medium_loopCounter = 0; delta_ms_medium_loop = millis() - medium_loopTimer; medium_loopTimer = millis(); if (g.battery_monitoring != 0){ read_battery(); } read_trim_switch(); slow_loop(); break; } } static void slow_loop() { // This is the slow (3 1/3 Hz) loop pieces //---------------------------------------- switch (slow_loopCounter){ case 0: slow_loopCounter++; check_long_failsafe(); superslow_loopCounter++; if(superslow_loopCounter >=200) { // 200 = Execute every minute #if LITE == DISABLED #if HIL_MODE != HIL_MODE_ATTITUDE if(g.compass_enabled) { compass.save_offsets(); } #endif #endif superslow_loopCounter = 0; } break; case 1: slow_loopCounter++; // Read 3-position switch on radio // ------------------------------- read_control_switch(); update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); #if MOUNT == ENABLED camera_mount.update_mount_type(); #endif break; case 2: slow_loopCounter = 0; update_events(); mavlink_system.sysid = g.sysid_this_mav; // This is just an ugly hack to keep mavlink_system.sysid sync'd with our parameter #if USB_MUX_PIN > 0 check_usb_mux(); #endif #if TRACE == ENABLED // cliSerial->printf_P(PSTR("NAV->gnd_crs=%3.0f, nav_brg=%3.0f, tgt_brg=%3.0f, brg_err=%3.0f, nav_rll=%3.1f rsvo=%3.1f\n"), // ahrs.yaw_sensor*0.01, (float)nav_bearing/100, (float)target_bearing/100, (float)bearing_error/100, (float)nav_roll/100, (float)g.channel_roll.servo_out/100); // cliSerial->printf_P(PSTR("WPL->g.command_total=%d, g.command_index=%d, nav_command_index=%d\n"), // g.command_total, g.command_index, nav_command_index); cliSerial->printf_P(PSTR("NAV->gnd_crs=%3.0f, sonar_dist = %d obstacle = %d\n"), ahrs.yaw_sensor*0.01, (int)sonar_dist, obstacle); #endif break; } } static void one_second_loop() { #if LITE == DISABLED if (g.log_bitmask & MASK_LOG_CUR) Log_Write_Current(); #endif // send a heartbeat gcs_send_message(MSG_HEARTBEAT); } static void update_GPS(void) { g_gps->update(); update_GPS_light(); have_position = ahrs.get_position(¤t_loc); if (g_gps->new_data && g_gps->status() == GPS::GPS_OK) { gps_fix_count++; if(ground_start_count > 1){ ground_start_count--; ground_start_avg += g_gps->ground_speed; } else if (ground_start_count == 1) { // We countdown N number of good GPS fixes // so that the altitude is more accurate // ------------------------------------- if (current_loc.lat == 0) { ground_start_count = 5; } else { init_home(); if (g.compass_enabled) { // Set compass declination automatically compass.set_initial_location(g_gps->latitude, g_gps->longitude); } ground_start_count = 0; } } ground_speed = g_gps->ground_speed; } } static void update_current_flight_mode(void) { switch(control_mode){ case AUTO: case RTL: calc_nav_roll(); calc_throttle(); break; case LEARNING: case MANUAL: nav_roll = 0; g.channel_roll.servo_out = g.channel_roll.pwm_to_angle(); g.channel_pitch.servo_out = g.channel_pitch.pwm_to_angle(); g.channel_rudder.servo_out = g.channel_roll.pwm_to_angle(); break; } } static void update_navigation() { switch (control_mode) { case AUTO: verify_commands(); break; case RTL: case GUIDED: // no loitering around the wp with the rover, goes direct to the wp position calc_nav_roll(); calc_bearing_error(); if(verify_RTL()) { g.channel_throttle.servo_out = g.throttle_min.get(); set_mode(MANUAL); } break; } }