/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #define THISFIRMWARE "ArduPilotMega 2.2.0" /* Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short Thanks to: Chris Anderson, HappyKillMore, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi Please contribute your ideas! 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. */ //////////////////////////////////////////////////////////////////////////////// // Header includes //////////////////////////////////////////////////////////////////////////////// // AVR runtime #include #include #include #include // Libraries #include #include #include // ArduPilot Mega RC Library #include // ArduPilot GPS library #include // Arduino I2C lib #include // ArduPilot Mega Flash Memory Library #include // ArduPilot Mega Analog to Digital Converter Library #include // ArduPilot Mega BMP085 Library #include // ArduPilot Mega Magnetometer Library #include // ArduPilot Mega Vector/Matrix math Library #include // ArduPilot Mega IMU Library #include // ArduPilot Mega DCM Library #include // PID library #include // RC Channel Library //#include // Range finder library #define MAVLINK_COMM_NUM_BUFFERS 2 #include // MAVLink GCS definitions // Configuration #include "config.h" // Local modules #include "defines.h" #include "Parameters.h" #include "GCS.h" #include "HIL.h" //////////////////////////////////////////////////////////////////////////////// // 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 FastSerialPort3(Serial3); // Telemetry port //////////////////////////////////////////////////////////////////////////////// // Parameters //////////////////////////////////////////////////////////////////////////////// // // Global parameters are all contained within the 'g' class. // Parameters g; //////////////////////////////////////////////////////////////////////////////// // prototypes 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. GPS *g_gps; #if HIL_MODE == HIL_MODE_DISABLED // real sensors AP_ADC_ADS7844 adc; APM_BMP085_Class barometer; // MAG PROTOCOL #if MAG_PROTOCOL == MAG_PROTOCOL_5843 AP_Compass_HMC5843 compass(Parameters::k_param_compass); #elif MAG_PROTOCOL == MAG_PROTOCOL_5883L AP_Compass_HMC5883L compass(Parameters::k_param_compass); #else #error Unrecognised MAG_PROTOCOL setting. #endif // MAG PROTOCOL // 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_MTK16 AP_GPS_MTK16 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 #elif HIL_MODE == HIL_MODE_SENSORS // sensor emulators AP_ADC_HIL adc; APM_BMP085_HIL_Class barometer; AP_Compass_HIL compass; AP_GPS_HIL g_gps_driver(NULL); #elif HIL_MODE == HIL_MODE_ATTITUDE AP_DCM_HIL dcm; AP_GPS_HIL g_gps_driver(NULL); AP_Compass_HIL compass; // never used AP_IMU_Shim imu; // never used #else #error Unrecognised HIL_MODE setting. #endif // HIL MODE #if HIL_MODE != HIL_MODE_DISABLED #if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK GCS_MAVLINK hil(Parameters::k_param_streamrates_port0); #elif HIL_PROTOCOL == HIL_PROTOCOL_XPLANE HIL_XPLANE hil; #endif // HIL PROTOCOL #endif // HIL_MODE // We may have a hil object instantiated just for mission planning #if HIL_MODE == HIL_MODE_DISABLED && HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_PORT == 0 GCS_MAVLINK hil(Parameters::k_param_streamrates_port0); #endif #if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_SENSORS // Normal AP_IMU_Oilpan imu(&adc, Parameters::k_param_IMU_calibration); #else // hil imu AP_IMU_Shim imu; #endif // normal dcm AP_DCM dcm(&imu, g_gps); #endif //////////////////////////////////////////////////////////////////////////////// // GCS selection //////////////////////////////////////////////////////////////////////////////// // #if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK GCS_MAVLINK gcs(Parameters::k_param_streamrates_port3); #else // If we are not using a GCS, we need a stub that does nothing. GCS_Class gcs; #endif //AP_RangeFinder_MaxsonarXL sonar; //////////////////////////////////////////////////////////////////////////////// // Global variables //////////////////////////////////////////////////////////////////////////////// byte control_mode = MANUAL; byte oldSwitchPosition; // for remembering the control mode switch const char *comma = ","; const char* flight_mode_strings[] = { "Manual", "Circle", "Stabilize", "", "", "FBW_A", "FBW_B", "", "", "", "Auto", "RTL", "Loiter", "Takeoff", "Land"}; /* Radio values Channel assignments 1 Ailerons (rudder if no ailerons) 2 Elevator 3 Throttle 4 Rudder (if we have ailerons) 5 Mode 6 TBD 7 TBD 8 TBD */ // Failsafe // -------- int failsafe; // track which type of failsafe is being processed bool ch3_failsafe; byte crash_timer; // Radio // ----- uint16_t elevon1_trim = 1500; // TODO: handle in EEProm uint16_t elevon2_trim = 1500; uint16_t ch1_temp = 1500; // Used for elevon mixing uint16_t ch2_temp = 1500; int16_t rc_override[8] = {0,0,0,0,0,0,0,0}; bool rc_override_active = false; uint32_t rc_override_fs_timer = 0; uint32_t ch3_failsafe_timer = 0; bool reverse_roll; bool reverse_pitch; bool reverse_rudder; byte mix_mode; // 0 = normal , 1 = elevons // TODO: switch these reverses to true/false, after they are handled by RC_Channel int reverse_elevons = 1; int reverse_ch1_elevon = 1; int reverse_ch2_elevon = 1; // for elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are equivalent aileron and elevator, not left and right elevon // LED output // ---------- bool GPS_light; // status of the GPS light // GPS variables // ------------- const float t7 = 10000000.0; // used to scale GPS values for EEPROM storage float scaleLongUp = 1; // used to reverse longtitude scaling float scaleLongDown = 1; // used to reverse longtitude scaling byte ground_start_count = 5; // have we achieved first lock and set Home? int ground_start_avg; // 5 samples to avg speed for ground start bool ground_start; // have we started on the ground? bool GPS_enabled = false; // used to quit "looking" for gps with auto-detect if none present // Location & Navigation // --------------------- const float radius_of_earth = 6378100; // meters const float gravity = 9.81; // meters/ sec^2 long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target int climb_rate; // m/s * 100 - For future implementation of controlled ascent/descent by rate float nav_gain_scaler = 1; // Gain scaling for headwind/tailwind TODO: why does this variable need to be initialized to 1? long hold_course = -1; // deg * 100 dir of plane byte command_must_index; // current command memory location byte command_may_index; // current command memory location byte command_must_ID; // current command ID byte command_may_ID; // current command ID // Airspeed // -------- int airspeed; // m/s * 100 int airspeed_nudge; // m/s * 100 : additional airspeed based on throttle stick position in top 1/2 of range float airspeed_error; // m/s * 100 long energy_error; // energy state error (kinetic + potential) for altitude hold long airspeed_energy_error; // kinetic portion of energy error bool airspeed_enabled = false; // Location Errors // --------------- long bearing_error; // deg * 100 : 0 to 36000 long altitude_error; // meters * 100 we are off in altitude float crosstrack_error; // meters we are off trackline // Battery Sensors // --------------- float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery Voltage of cell 1, initialized above threshold for filter float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2, initialized above threshold for filter float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3, initialized above threshold for filter float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter float current_amps; float current_total; // Airspeed Sensors // ---------------- float airspeed_raw; // Airspeed Sensor - is a float to better handle filtering int airspeed_offset; // analog air pressure sensor while still int airspeed_pressure; // airspeed as a pressure value // Barometer Sensor variables // -------------------------- unsigned long abs_pressure; // Altitude Sensor variables // ---------------------- //byte altitude_sensor = BARO; // used to know which sensor is active, BARO or SONAR // flight mode specific // -------------------- bool takeoff_complete = true; // Flag for using gps ground course instead of IMU yaw. Set false when takeoff command processes. bool land_complete; long takeoff_altitude; int landing_distance; // meters; int landing_pitch; // pitch for landing set by commands int takeoff_pitch; // Loiter management // ----------------- long old_target_bearing; // deg * 100 int loiter_total; // deg : how many times to loiter * 360 int loiter_delta; // deg : how far we just turned int loiter_sum; // deg : how far we have turned around a waypoint long loiter_time; // millis : when we started LOITER mode int loiter_time_max; // millis : how long to stay in LOITER mode // these are the values for navigation control functions // ---------------------------------------------------- long nav_roll; // deg * 100 : target roll angle long nav_pitch; // deg * 100 : target pitch angle int throttle_nudge = 0; // 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel // Waypoints // --------- long wp_distance; // meters - distance between plane and next waypoint long wp_totalDistance; // meters - distance between old and next waypoint byte next_wp_index; // Current active command index // repeating event control // ----------------------- byte event_id; // what to do - see defines long event_timer; // when the event was asked for in ms uint16_t event_delay; // how long to delay the next firing of event in millis int event_repeat = 0; // how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles int event_value; // per command value, such as PWM for servos int event_undo_value; // the value used to cycle events (alternate value to event_value) // delay command // -------------- long condition_value; // used in condition commands (eg delay, change alt, etc.) long condition_start; int condition_rate; // 3D Location vectors // ------------------- struct Location home; // home location struct Location prev_WP; // last waypoint struct Location current_loc; // current location struct Location next_WP; // next waypoint struct Location next_command; // command preloaded long target_altitude; // used for altitude management between waypoints long offset_altitude; // used for altitude management between waypoints bool home_is_set; // Flag for if we have g_gps lock and have set the home location // IMU variables // ------------- float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm) // Performance monitoring // ---------------------- long perf_mon_timer; // Metric based on accel gain deweighting int G_Dt_max; // Max main loop cycle time in milliseconds int gps_fix_count; byte gcs_messages_sent; // GCS // --- char GCS_buffer[53]; char display_PID = -1; // Flag used by DebugTerminal to indicate that the next PID calculation with this index should be displayed // System Timers // -------------- unsigned long fast_loopTimer; // Time in miliseconds of main control loop unsigned long fast_loopTimeStamp; // Time Stamp when fast loop was complete uint8_t delta_ms_fast_loop; // Delta Time in miliseconds int mainLoop_count; unsigned long medium_loopTimer; // Time in miliseconds of medium loop byte medium_loopCounter; // Counters for branching from main control loop to slower loops uint8_t delta_ms_medium_loop; byte slow_loopCounter; byte superslow_loopCounter; byte counter_one_herz; unsigned long nav_loopTimer; // used to track the elapsed ime for GPS nav unsigned long dTnav; // Delta Time in milliseconds for navigation computations unsigned long elapsedTime; // for doing custom events float load; // % MCU cycles used //Camera tracking and stabilisation stuff // -------------------------------------- byte camera_mode = 1; //0 is do nothing, 1 is stabilize, 2 is track target byte gimbal_mode = 0; // 0 - pitch & roll, 1 - pitch and yaw (pan & tilt), 2 - pitch, roll and yaw (to be added) struct Location camera_target; //point of iterest for the camera to track Vector3 target_vector(0,0,1); //x, y, z to target before rotating to planes axis, values are in meters float cam_pitch; float cam_roll; float cam_tilt; float cam_pan; struct Location GPS_mark; // GPS POI for position based triggering int picture_time = 0; // waypoint trigger variable int thr_pic = 0; // timer variable for throttle_pic int camtrig = 83; // PK6 chosen as it not near anything so safer for soldering pinMode(camtrig, OUTPUT); // these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82) //////////////////////////////////////////////////////////////////////////////// // Top-level logic //////////////////////////////////////////////////////////////////////////////// void setup() { init_ardupilot(); } void loop() { // We want this to execute at 50Hz if possible // ------------------------------------------- if (millis()-fast_loopTimer > 19) { 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) { gcs.send_message(MSG_PERF_REPORT); if (g.log_bitmask & MASK_LOG_PM) Log_Write_Performance(); resetPerfData(); } } fast_loopTimeStamp = millis(); } } // Main loop 50Hz 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(); // check for loss of control signal failsafe condition // ------------------------------------ check_short_failsafe(); // Read Airspeed // ------------- if (airspeed_enabled == true && HIL_MODE != HIL_MODE_ATTITUDE) { read_airspeed(); } else if (airspeed_enabled == true && HIL_MODE == HIL_MODE_ATTITUDE) { calc_airspeed_errors(); } #if HIL_MODE == HIL_MODE_SENSORS // update hil before dcm update hil.update(); #endif dcm.update_DCM(G_Dt); // uses the yaw from the DCM to give more accurate turns calc_bearing_error(); # if HIL_MODE == HIL_MODE_DISABLED if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) Log_Write_Attitude((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor); if (g.log_bitmask & MASK_LOG_RAW) Log_Write_Raw(); #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 > MANUAL) stabilize(); // write out the servo PWM values // ------------------------------ set_servos_4(); // XXX is it appropriate to be doing the comms below on the fast loop? #if HIL_MODE != HIL_MODE_DISABLED && HIL_PORT != GCS_PORT // kick the HIL to process incoming sensor packets hil.update(); #if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK hil.data_stream_send(45,1000); #else hil.send_message(MSG_SERVO_OUT); #endif #elif HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE == HIL_MODE_DISABLED && HIL_PORT == 0 // Case for hil object on port 0 just for mission planning hil.update(); hil.data_stream_send(45,1000); #endif // kick the GCS to process uplink data gcs.update(); #if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK gcs.data_stream_send(45,1000); #endif // XXX this should be absorbed into the above, // or be a "GCS fast loop" interface } void medium_loop() { camera(); // This is the start of the medium (10 Hz) loop pieces // ----------------------------------------- switch(medium_loopCounter) { // This case deals with the GPS //------------------------------- case 0: medium_loopCounter++; if(GPS_enabled) update_GPS(); #if HIL_MODE != HIL_MODE_ATTITUDE if(g.compass_enabled){ compass.read(); // Read magnetometer compass.calculate(dcm.get_dcm_matrix()); // Calculate heading compass.null_offsets(dcm.get_dcm_matrix()); } #endif /*{ Serial.print(dcm.roll_sensor, DEC); Serial.printf_P(PSTR("\t")); Serial.print(dcm.pitch_sensor, DEC); Serial.printf_P(PSTR("\t")); Serial.print(dcm.yaw_sensor, DEC); Serial.printf_P(PSTR("\t")); Vector3f tempaccel = imu.get_accel(); Serial.print(tempaccel.x, DEC); Serial.printf_P(PSTR("\t")); Serial.print(tempaccel.y, DEC); Serial.printf_P(PSTR("\t")); Serial.println(tempaccel.z, DEC); }*/ break; // This case performs some navigation computations //------------------------------------------------ case 1: medium_loopCounter++; if(g_gps->new_data){ g_gps->new_data = false; dTnav = millis() - nav_loopTimer; nav_loopTimer = millis(); // calculate the plane's desired bearing // ------------------------------------- navigate(); } break; // command processing //------------------------------ case 2: medium_loopCounter++; // Read altitude from sensors // ------------------ update_alt(); // altitude smoothing // ------------------ if (control_mode != FLY_BY_WIRE_B) calc_altitude_error(); // perform next command // -------------------- update_commands(); break; // This case deals with sending high rate telemetry //------------------------------------------------- case 3: medium_loopCounter++; #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)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.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); // XXX this should be a "GCS medium loop" interface #if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK gcs.data_stream_send(5,45); // send all requested output streams with rates requested // between 5 and 45 Hz #else gcs.send_message(MSG_ATTITUDE); // Sends attitude data #endif #if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0) hil.data_stream_send(5,45); #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(); } slow_loop(); break; } } 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 HIL_MODE != HIL_MODE_ATTITUDE if(g.compass_enabled) { compass.save_offsets(); } #endif superslow_loopCounter = 0; } break; case 1: slow_loopCounter++; // Read 3-position switch on radio // ------------------------------- read_control_switch(); // Read Control Surfaces/Mix switches // ---------------------------------- if (g.switch_enable) { update_servo_switches(); } break; case 2: slow_loopCounter = 0; update_events(); // XXX this should be a "GCS slow loop" interface #if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK mavlink_system.sysid = g.sysid_this_mav; // This is just an ugly hack to keep mavlink_system.sysid sync'd with our parameter gcs.data_stream_send(1,5); // send all requested output streams with rates requested // between 1 and 5 Hz #else gcs.send_message(MSG_LOCATION); gcs.send_message(MSG_CPU_LOAD, load*100); #endif #if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0) hil.data_stream_send(1,5); #endif break; } } void one_second_loop() { if (g.log_bitmask & MASK_LOG_CUR) Log_Write_Current(); // send a heartbeat gcs.send_message(MSG_HEARTBEAT); #if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0) hil.send_message(MSG_HEARTBEAT); #endif } void update_GPS(void) { g_gps->update(); update_GPS_light(); if (g_gps->new_data && g_gps->fix) { // XXX We should be sending GPS data off one of the regular loops so that we send // no-GPS-fix data too #if GCS_PROTOCOL != GCS_PROTOCOL_MAVLINK gcs.send_message(MSG_LOCATION); #endif // for performance // --------------- 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) { SendDebugln("!! bad loc"); ground_start_count = 5; } else { if(ENABLE_AIR_START == 1 && (ground_start_avg / 5) < SPEEDFILT){ startup_ground(); if (g.log_bitmask & MASK_LOG_CMD) Log_Write_Startup(TYPE_GROUNDSTART_MSG); init_home(); } else if (ENABLE_AIR_START == 0) { init_home(); } ground_start_count = 0; } } current_loc.lng = g_gps->longitude; // Lon * 10**7 current_loc.lat = g_gps->latitude; // Lat * 10**7 } } void update_current_flight_mode(void) { if(control_mode == AUTO){ crash_checker(); switch(command_must_ID){ case MAV_CMD_NAV_TAKEOFF: if (hold_course > -1) { calc_nav_roll(); } else { nav_roll = 0; } if (airspeed_enabled == true) { calc_nav_pitch(); if (nav_pitch < (long)takeoff_pitch) nav_pitch = (long)takeoff_pitch; } else { nav_pitch = (long)((float)g_gps->ground_speed / (float)g.airspeed_cruise * (float)takeoff_pitch * 0.5); nav_pitch = constrain(nav_pitch, 500l, (long)takeoff_pitch); } g.channel_throttle.servo_out = g.throttle_max; //TODO: Replace with THROTTLE_TAKEOFF or other method of controlling throttle // What is the case for doing something else? Why wouldn't you want max throttle for TO? // ****************************** break; case MAV_CMD_NAV_LAND: calc_nav_roll(); if (airspeed_enabled == true){ calc_nav_pitch(); calc_throttle(); }else{ calc_nav_pitch(); // calculate nav_pitch just to use for calc_throttle calc_throttle(); // throttle based on altitude error nav_pitch = landing_pitch; // pitch held constant } if (land_complete){ g.channel_throttle.servo_out = 0; } break; default: hold_course = -1; calc_nav_roll(); calc_nav_pitch(); calc_throttle(); break; } }else{ switch(control_mode){ case RTL: case LOITER: hold_course = -1; crash_checker(); calc_nav_roll(); calc_nav_pitch(); calc_throttle(); break; case FLY_BY_WIRE_A: // fake Navigation output using sticks nav_roll = g.channel_roll.norm_input() * g.roll_limit; nav_pitch = g.channel_pitch.norm_input() * (-1) * g.pitch_limit_min; // We use pitch_min above because it is usually greater magnitude then pitch_max. -1 is to compensate for its sign. nav_pitch = constrain(nav_pitch, -3000, 3000); // trying to give more pitch authority break; case FLY_BY_WIRE_B: // fake Navigation output using sticks // We use g.pitch_limit_min because its magnitude is // normally greater than g.pitch_limit_max nav_roll = g.channel_roll.norm_input() * g.roll_limit; altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min; if (airspeed_enabled == true) { airspeed_error = ((int)(g.flybywire_airspeed_max - g.flybywire_airspeed_min) * g.channel_throttle.servo_out) + ((int)g.flybywire_airspeed_min * 100); // Intermediate calculation - airspeed_error is just desired airspeed at this point airspeed_energy_error = (long)(((long)airspeed_error * (long)airspeed_error) - ((long)airspeed * (long)airspeed))/20000; //Changed 0.00005f * to / 20000 to avoid floating point calculation airspeed_error = (airspeed_error - airspeed); } calc_throttle(); calc_nav_pitch(); break; case STABILIZE: nav_roll = 0; nav_pitch = 0; // throttle is passthrough break; case CIRCLE: // we have no GPS installed and have lost radio contact // or we just want to fly around in a gentle circle w/o GPS // ---------------------------------------------------- nav_roll = g.roll_limit / 3; nav_pitch = 0; if (failsafe != FAILSAFE_NONE){ g.channel_throttle.servo_out = g.throttle_cruise; } break; case MANUAL: // servo_out is for Sim control only // --------------------------------- 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_rudder.pwm_to_angle(); break; //roll: -13788.000, pitch: -13698.000, thr: 0.000, rud: -13742.000 } } } void update_navigation() { // wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS // ------------------------------------------------------------------------ // distance and bearing calcs only if(control_mode == AUTO){ verify_commands(); }else{ switch(control_mode){ case LOITER: update_loiter(); calc_bearing_error(); break; case RTL: if(wp_distance <= ( g.loiter_radius + LOITER_RANGE) ) { do_RTL(); }else{ update_crosstrack(); } break; } } } void update_alt() { #if HIL_MODE == HIL_MODE_ATTITUDE current_loc.alt = g_gps->altitude; #else // this function is in place to potentially add a sonar sensor in the future //altitude_sensor = BARO; current_loc.alt = (1 - g.altitude_mix) * g_gps->altitude; // alt_MSL centimeters (meters * 100) current_loc.alt += g.altitude_mix * (read_barometer() + home.alt); #endif // Calculate new climb rate if(medium_loopCounter == 0 && slow_loopCounter == 0) add_altitude_data(millis() / 100, g_gps->altitude / 10); }