/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #define THISFIRMWARE "ArduRover v2.43beta6" /* 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 . */ /* This is the APMrover2 firmware. It was originally derived from ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the AP_HAL merge by Andrew Tridgell Maintainer: Andrew Tridgell 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 APMrover alpha version tester: Franco Borasio, Daniel Chapelat... Please contribute your ideas! See http://dev.ardupilot.com for details */ // Radio setup: // APM INPUT (Rec = receiver) // Rec ch1: Steering // Rec ch2: not used // Rec ch3: Throttle // Rec ch4: not used // Rec ch5: not used // Rec ch6: not used // Rec ch7: Option channel to 2 position switch // Rec ch8: Mode channel to 6 position switch // APM OUTPUT // Ch1: Wheel servo (direction) // Ch2: not used // Ch3: to the motor ESC // Ch4: not used //////////////////////////////////////////////////////////////////////////////// // Header includes //////////////////////////////////////////////////////////////////////////////// #include #include #include // Libraries #include #include #include #include #include #include // ArduPilot GPS library #include // ArduPilot Mega Analog to Digital Converter Library #include #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 // Filter library - butterworth filter #include // FIFO buffer library #include // Mode Filter from Filter library #include // Mode Filter from Filter library #include // APM relay #include // Camera/Antenna mount #include // Camera triggering #include // MAVLink GCS definitions #include // needed for AHRS build #include // needed for AHRS build #include #include #include // RC input mapping library #include #include // main loop scheduler #include #include #include #include #include #include #include #include #include #include #include "compat.h" #include // Notify library #include // Battery monitor library // Configuration #include "config.h" // Local modules #include "defines.h" #include "Parameters.h" #include "GCS.h" #include // ArduPilot Mega Declination Helper Library AP_HAL::BetterStream* cliSerial; const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; // 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); //////////////////////////////////////////////////////////////////////////////// // 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; // mapping between input channels static RCMapper rcmap; // primary control channels static RC_Channel *channel_steer; static RC_Channel *channel_throttle; static RC_Channel *channel_learn; //////////////////////////////////////////////////////////////////////////////// // prototypes static void update_events(void); void gcs_send_text_fmt(const prog_char_t *fmt, ...); static void print_mode(AP_HAL::BetterStream *port, uint8_t mode); //////////////////////////////////////////////////////////////////////////////// // DataFlash //////////////////////////////////////////////////////////////////////////////// #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 static DataFlash_APM1 DataFlash; #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 static DataFlash_APM2 DataFlash; #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL //static DataFlash_File DataFlash("/tmp/APMlogs"); static DataFlash_SITL DataFlash; #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 static DataFlash_File DataFlash("/fs/microsd/APM/logs"); #else DataFlash_Empty DataFlash; #endif //////////////////////////////////////////////////////////////////////////////// // Sensors //////////////////////////////////////////////////////////////////////////////// // // There are three basic options related to flight sensor selection. // // - Normal driving 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 *modes = &g.mode1; #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 static AP_ADC_ADS7844 adc; #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 #if GPS_PROTOCOL == GPS_PROTOCOL_AUTO AP_GPS_Auto g_gps_driver(&g_gps); #elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA AP_GPS_NMEA g_gps_driver; #elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF AP_GPS_SIRF g_gps_driver; #elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX AP_GPS_UBLOX g_gps_driver; #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK AP_GPS_MTK g_gps_driver; #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19 AP_GPS_MTK19 g_gps_driver; #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE AP_GPS_None g_gps_driver; #elif GPS_PROTOCOL == GPS_PROTOCOL_HIL AP_GPS_HIL g_gps_driver; #else #error Unrecognised GPS_PROTOCOL setting. #endif // GPS PROTOCOL #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_FLYMAPLE AP_InertialSensor_Flymaple ins; #elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN AP_InertialSensor_Oilpan ins( &adc ); #else #error Unrecognised CONFIG_INS_TYPE setting. #endif // CONFIG_INS_TYPE AP_AHRS_DCM ahrs(&ins, g_gps); static AP_L1_Control L1_controller(ahrs); // selected navigation controller static AP_Navigation *nav_controller = &L1_controller; // steering controller static AP_SteerController steerController(ahrs); #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL SITL sitl; #endif //////////////////////////////////////////////////////////////////////////////// // GCS selection //////////////////////////////////////////////////////////////////////////////// // GCS_MAVLINK gcs0; GCS_MAVLINK gcs3; // a pin for reading the receiver RSSI voltage. The scaling by 0.25 // is to take the 0 to 1024 range down to an 8 bit range for MAVLink AP_HAL::AnalogSource *rssi_analog_source; AP_HAL::AnalogSource *vcc_pin; //////////////////////////////////////////////////////////////////////////////// // SONAR selection //////////////////////////////////////////////////////////////////////////////// // static AP_RangeFinder_analog sonar; static AP_RangeFinder_analog sonar2; // relay support AP_Relay relay; // Camera #if CAMERA == ENABLED static AP_Camera camera(&relay); #endif // The rover's current location static struct Location current_loc; // Camera/Antenna mount tracking and stabilisation stuff // -------------------------------------- #if MOUNT == ENABLED // current_loc uses the baro/gps soloution for altitude rather than gps only. // mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether? AP_Mount camera_mount(¤t_loc, g_gps, &ahrs, 0); #endif //////////////////////////////////////////////////////////////////////////////// // Global variables //////////////////////////////////////////////////////////////////////////////// // if USB is connected static bool usb_connected; /* Radio values Channel assignments 1 Steering 2 --- 3 Throttle 4 --- 5 Aux5 6 Aux6 7 Aux7/learn 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 enum mode 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 uint8_t 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. See // FAILSAFE_EVENT_* static struct { uint8_t bits; uint32_t rc_override_timer; uint32_t start_time; uint8_t triggered; } failsafe; // notify object static AP_Notify notify; //////////////////////////////////////////////////////////////////////////////// // 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 uint8_t 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 // true if we have a position estimate from AHRS static bool have_position; static bool rtl_complete = false; // There may be two active commands in Auto mode. // This indicates the active navigation command by index number static uint8_t nav_command_index; // This indicates the active non-navigation command by index number static uint8_t non_nav_command_index; // This is the command type (eg navigate to waypoint) of the active navigation command static uint8_t nav_command_ID = NO_COMMAND; static uint8_t non_nav_command_ID = NO_COMMAND; // ground speed error in m/s 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; // receiver RSSI static uint8_t receiver_rssi; // the time when the last HEARTBEAT message arrived from a GCS static uint32_t last_heartbeat_ms; // obstacle detection information static struct { // have we detected an obstacle? uint8_t detected_count; float turn_angle; uint16_t sonar1_distance_cm; uint16_t sonar2_distance_cm; // time when we last detected an obstacle, in milliseconds uint32_t detected_time_ms; } obstacle; // this is set to true when auto has been triggered to start static bool auto_triggered; //////////////////////////////////////////////////////////////////////////////// // Ground speed //////////////////////////////////////////////////////////////////////////////// // The amount current ground speed is below min ground speed. meters per second static float ground_speed = 0; static int16_t throttle_last = 0, throttle = 500; //////////////////////////////////////////////////////////////////////////////// // 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 bool ch7_flag; // This register tracks the current Mission Command index when writing // a mission using CH7 in flight static int8_t CH7_wp_index; //////////////////////////////////////////////////////////////////////////////// // Battery Sensors //////////////////////////////////////////////////////////////////////////////// static AP_BattMonitor battery; //////////////////////////////////////////////////////////////////////////////// // Navigation control variables //////////////////////////////////////////////////////////////////////////////// // The instantaneous desired lateral acceleration in m/s/s static float lateral_acceleration; //////////////////////////////////////////////////////////////////////////////// // Waypoint distances //////////////////////////////////////////////////////////////////////////////// // Distance between rover and next waypoint. Meters static float wp_distance; // Distance between previous and next waypoint. Meters static int32_t wp_totalDistance; //////////////////////////////////////////////////////////////////////////////// // repeating event control //////////////////////////////////////////////////////////////////////////////// // Flag indicating current event type static uint8_t 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 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 uint8_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; //////////////////////////////////////////////////////////////////////////////// // Top-level logic //////////////////////////////////////////////////////////////////////////////// /* 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_GPS, 5, 2500 }, { navigate, 5, 1600 }, { update_compass, 5, 2000 }, { update_commands, 5, 1000 }, { update_logging, 5, 1000 }, { read_battery, 5, 1000 }, { read_receiver_rssi, 5, 1000 }, { read_trim_switch, 5, 1000 }, { read_control_switch, 15, 1000 }, { update_events, 15, 1000 }, { check_usb_mux, 15, 1000 }, { mount_update, 1, 500 }, { gcs_failsafe_check, 5, 500 }, { compass_accumulate, 1, 900 }, { update_notify, 1, 100 }, { one_second_loop, 50, 3000 } }; /* setup is called when the sketch starts */ void setup() { memcheck_init(); cliSerial = hal.console; // load the default values of variables listed in var_info[] AP_Param::setup_sketch_defaults(); // rover 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(); battery.init(); rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE); vcc_pin = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC); init_ardupilot(); // initialise the main loop scheduler scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0])); } /* loop() is called rapidly while the sketch is running */ void loop() { uint32_t timer = millis(); // We want this to execute at 50Hz, synchronised with the gyro/accel if (ins.sample_available()) { delta_ms_fast_loop = timer - fast_loopTimer; G_Dt = (float)delta_ms_fast_loop / 1000.f; fast_loopTimer = timer; mainLoop_count++; // Execute the fast loop // --------------------- fast_loop(); // tell the scheduler one tick has passed scheduler.tick(); fast_loopTimeStamp = millis(); scheduler.run(19000U); } if ((timer - fast_loopTimer) <= 19) { // we have plenty of time - be friendly to multi-tasking OSes hal.scheduler->delay(1); } } // 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); #if HIL_MODE != HIL_MODE_DISABLED // update hil before dcm update gcs_update(); #endif ahrs.update(); read_sonars(); if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) Log_Write_Attitude(); if (g.log_bitmask & MASK_LOG_IMU) DataFlash.Log_Write_IMU(&ins); // custom code/exceptions for flight modes // --------------------------------------- update_current_mode(); // write out the servo PWM values // ------------------------------ set_servos(); gcs_update(); gcs_data_stream_send(); } /* update camera mount - 50Hz */ static void mount_update(void) { #if MOUNT == ENABLED camera_mount.update_mount_position(); #endif #if CAMERA == ENABLED camera.trigger_pic_cleanup(); #endif } /* check for GCS failsafe - 10Hz */ static void gcs_failsafe_check(void) { if (g.fs_gcs_enabled) { failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000); } } /* if the compass is enabled then try to accumulate a reading */ static void compass_accumulate(void) { if (g.compass_enabled) { compass.accumulate(); } } /* check for new compass data - 10Hz */ static void update_compass(void) { if (g.compass_enabled && compass.read()) { ahrs.set_compass(&compass); // update offsets compass.null_offsets(); if (g.log_bitmask & MASK_LOG_COMPASS) { Log_Write_Compass(); } } else { ahrs.set_compass(NULL); } } /* log some key data - 10Hz */ static void update_logging(void) { if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST)) Log_Write_Attitude(); if (g.log_bitmask & MASK_LOG_CTUN) Log_Write_Control_Tuning(); if (g.log_bitmask & MASK_LOG_NTUN) Log_Write_Nav_Tuning(); } /* update aux servo mappings */ static void update_aux(void) { #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12); #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11); #else update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); #endif enable_aux_servos(); #if MOUNT == ENABLED camera_mount.update_mount_type(); #endif } /* once a second events */ static void one_second_loop(void) { if (g.log_bitmask & MASK_LOG_CURRENT) Log_Write_Current(); // send a heartbeat gcs_send_message(MSG_HEARTBEAT); // allow orientation change at runtime to aid config ahrs.set_orientation(); set_control_channels(); // cope with changes to aux functions update_aux(); #if MOUNT == ENABLED camera_mount.update_mount_type(); #endif // cope with changes to mavlink system ID mavlink_system.sysid = g.sysid_this_mav; static uint8_t counter; counter++; // write perf data every 20s if (counter == 20) { if (g.log_bitmask & MASK_LOG_PM) Log_Write_Performance(); resetPerfData(); } // save compass offsets once a minute if (counter >= 60) { if (g.compass_enabled) { compass.save_offsets(); } counter = 0; } } static void update_GPS(void) { static uint32_t last_gps_reading; g_gps->update(); if (g_gps->last_message_time_ms() != last_gps_reading) { last_gps_reading = g_gps->last_message_time_ms(); if (g.log_bitmask & MASK_LOG_GPS) { DataFlash.Log_Write_GPS(g_gps, current_loc.alt); } } have_position = ahrs.get_projected_position(current_loc); if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) { gps_fix_count++; if(ground_start_count > 1){ ground_start_count--; ground_start_avg += g_gps->ground_speed_cm; } 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_cm * 0.01; #if CAMERA == ENABLED if (camera.update_location(current_loc) == true) { do_take_picture(); } #endif } } static void update_current_mode(void) { switch (control_mode){ case AUTO: case RTL: case GUIDED: calc_lateral_acceleration(); calc_nav_steer(); calc_throttle(g.speed_cruise); break; case STEERING: { /* in steering mode we control lateral acceleration directly. We first calculate the maximum lateral acceleration at full steering lock for this speed. That is V^2/R where R is the radius of turn. We get the radius of turn from half the STEER2SRV_P. */ float max_g_force = ground_speed * ground_speed / steerController.get_turn_radius(); // constrain to user set TURN_MAX_G max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS); lateral_acceleration = max_g_force * (channel_steer->pwm_to_angle()/4500.0f); calc_nav_steer(); // and throttle gives speed in proportion to cruise speed throttle_nudge = 0; calc_throttle(channel_throttle->pwm_to_angle() * 0.01 * g.speed_cruise); break; } case LEARNING: case MANUAL: /* in both MANUAL and LEARNING we pass through the controls. Setting servo_out here actually doesn't matter, as we set the exact value in set_servos(), but it helps for logging */ channel_throttle->servo_out = channel_throttle->control_in; channel_steer->servo_out = channel_steer->pwm_to_angle(); break; case HOLD: // hold position - stop motors and center steering channel_throttle->servo_out = 0; channel_steer->servo_out = 0; break; case INITIALISING: break; } } static void update_navigation() { switch (control_mode) { case MANUAL: case HOLD: case LEARNING: case STEERING: case INITIALISING: break; case AUTO: verify_commands(); break; case RTL: case GUIDED: // no loitering around the wp with the rover, goes direct to the wp position calc_lateral_acceleration(); calc_nav_steer(); if (verify_RTL()) { channel_throttle->servo_out = g.throttle_min.get(); set_mode(HOLD); } break; } } AP_HAL_MAIN();