mirror of https://github.com/ArduPilot/ardupilot
406 lines
11 KiB
C++
406 lines
11 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This is the APMrover2 firmware. It was originally derived from
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ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
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AP_HAL merge by Andrew Tridgell
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Maintainer: Grant Morphett
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin, Grant Morphett
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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
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APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
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Please contribute your ideas! See http://dev.ardupilot.org for details
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*/
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#include "Rover.h"
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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Rover rover;
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros)
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/*
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scheduler table - all regular tasks should be listed here, along
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with how often they should be called (in 20ms units) and the maximum
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time they are expected to take (in microseconds)
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*/
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const AP_Scheduler::Task Rover::scheduler_tasks[] = {
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// Function name, Hz, us,
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SCHED_TASK(read_radio, 50, 1000),
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SCHED_TASK(ahrs_update, 50, 6400),
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SCHED_TASK(read_rangefinders, 50, 2000),
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SCHED_TASK(update_current_mode, 50, 1500),
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SCHED_TASK(set_servos, 50, 1500),
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SCHED_TASK(update_GPS_50Hz, 50, 2500),
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SCHED_TASK(update_GPS_10Hz, 10, 2500),
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SCHED_TASK(update_alt, 10, 3400),
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SCHED_TASK(update_beacon, 50, 50),
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SCHED_TASK(update_visual_odom, 50, 50),
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SCHED_TASK(update_wheel_encoder, 20, 50),
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SCHED_TASK(update_compass, 10, 2000),
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SCHED_TASK(update_mission, 50, 500),
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SCHED_TASK(update_logging1, 10, 1000),
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SCHED_TASK(update_logging2, 10, 1000),
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SCHED_TASK(gcs_retry_deferred, 50, 1000),
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SCHED_TASK(gcs_update, 50, 1700),
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SCHED_TASK(gcs_data_stream_send, 50, 3000),
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SCHED_TASK(read_control_switch, 7, 1000),
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SCHED_TASK(read_aux_switch, 10, 100),
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SCHED_TASK(read_battery, 10, 1000),
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SCHED_TASK(read_receiver_rssi, 10, 1000),
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SCHED_TASK(update_events, 50, 1000),
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SCHED_TASK(check_usb_mux, 3, 1000),
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SCHED_TASK(mount_update, 50, 600),
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SCHED_TASK(update_trigger, 50, 600),
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SCHED_TASK(gcs_failsafe_check, 10, 600),
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SCHED_TASK(compass_accumulate, 50, 900),
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SCHED_TASK(smart_rtl_update, 3, 100),
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SCHED_TASK(update_notify, 50, 300),
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SCHED_TASK(one_second_loop, 1, 3000),
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SCHED_TASK(compass_cal_update, 50, 100),
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SCHED_TASK(accel_cal_update, 10, 100),
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SCHED_TASK(dataflash_periodic, 50, 300),
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SCHED_TASK(ins_periodic, 50, 50),
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SCHED_TASK(button_update, 5, 100),
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SCHED_TASK(stats_update, 1, 100),
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SCHED_TASK(crash_check, 10, 1000),
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SCHED_TASK(cruise_learn_update, 50, 50),
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#if ADVANCED_FAILSAFE == ENABLED
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SCHED_TASK(afs_fs_check, 10, 100),
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#endif
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};
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/*
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update AP_Stats
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*/
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void Rover::stats_update(void)
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{
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g2.stats.set_flying(motor_active());
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g2.stats.update();
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}
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/*
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setup is called when the sketch starts
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*/
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void Rover::setup()
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{
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// load the default values of variables listed in var_info[]
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AP_Param::setup_sketch_defaults();
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init_ardupilot();
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// initialise the main loop scheduler
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scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
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}
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/*
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loop() is called rapidly while the sketch is running
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*/
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void Rover::loop()
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{
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// wait for an INS sample
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ins.wait_for_sample();
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const uint32_t timer = AP_HAL::micros();
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delta_us_fast_loop = timer - fast_loopTimer_us;
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G_Dt = delta_us_fast_loop * 1.0e-6f;
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fast_loopTimer_us = timer;
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if (delta_us_fast_loop > G_Dt_max) {
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G_Dt_max = delta_us_fast_loop;
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}
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mainLoop_count++;
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// tell the scheduler one tick has passed
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scheduler.tick();
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// run all the tasks that are due to run. Note that we only
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// have to call this once per loop, as the tasks are scheduled
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// in multiples of the main loop tick. So if they don't run on
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// the first call to the scheduler they won't run on a later
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// call until scheduler.tick() is called again
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uint32_t remaining = (timer + 20000) - micros();
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if (remaining > 19500) {
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remaining = 19500;
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}
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scheduler.run(remaining);
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}
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void Rover::update_soft_armed()
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{
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hal.util->set_soft_armed(arming.is_armed() &&
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hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
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DataFlash.set_vehicle_armed(hal.util->get_soft_armed());
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}
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// update AHRS system
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void Rover::ahrs_update()
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{
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update_soft_armed();
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#if HIL_MODE != HIL_MODE_DISABLED
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// update hil before AHRS update
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gcs_update();
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#endif
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// when in reverse we need to tell AHRS not to assume we are a
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// 'fly forward' vehicle, otherwise it will see a large
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// discrepancy between the mag and the GPS heading and will try to
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// correct for it, leading to a large yaw error
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ahrs.set_fly_forward(!in_reverse);
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ahrs.update();
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// update home from EKF if necessary
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update_home_from_EKF();
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// if using the EKF get a speed update now (from accelerometers)
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Vector3f velocity;
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if (ahrs.get_velocity_NED(velocity)) {
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ground_speed = norm(velocity.x, velocity.y);
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} else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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ground_speed = ahrs.groundspeed();
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}
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if (should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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}
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if (should_log(MASK_LOG_IMU)) {
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DataFlash.Log_Write_IMU(ins);
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}
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}
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/*
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update camera mount - 50Hz
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*/
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void Rover::mount_update(void)
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{
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#if MOUNT == ENABLED
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camera_mount.update();
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#endif
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}
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/*
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update camera trigger - 50Hz
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*/
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void Rover::update_trigger(void)
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{
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#if CAMERA == ENABLED
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camera.update_trigger();
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#endif
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}
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void Rover::update_alt()
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{
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barometer.update();
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Baro();
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}
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}
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/*
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check for GCS failsafe - 10Hz
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*/
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void Rover::gcs_failsafe_check(void)
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{
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if (g.fs_gcs_enabled) {
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failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000);
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}
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}
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/*
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check for new compass data - 10Hz
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*/
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void Rover::update_compass(void)
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{
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if (g.compass_enabled && compass.read()) {
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ahrs.set_compass(&compass);
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// update offsets
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compass.learn_offsets();
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if (should_log(MASK_LOG_COMPASS)) {
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DataFlash.Log_Write_Compass(compass);
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}
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}
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}
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/*
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log some key data - 10Hz
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*/
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void Rover::update_logging1(void)
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{
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if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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}
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if (should_log(MASK_LOG_THR)) {
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Log_Write_Throttle();
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Log_Write_Beacon();
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}
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if (should_log(MASK_LOG_NTUN)) {
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Log_Write_Nav_Tuning();
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}
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}
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/*
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log some key data - 10Hz
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*/
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void Rover::update_logging2(void)
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{
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if (should_log(MASK_LOG_STEERING)) {
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Log_Write_Steering();
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}
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if (should_log(MASK_LOG_RC)) {
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Log_Write_RC();
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Log_Write_WheelEncoder();
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}
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if (should_log(MASK_LOG_IMU)) {
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DataFlash.Log_Write_Vibration(ins);
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}
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}
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/*
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update aux servo mappings
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*/
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void Rover::update_aux(void)
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{
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SRV_Channels::enable_aux_servos();
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}
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/*
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once a second events
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*/
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void Rover::one_second_loop(void)
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{
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if (should_log(MASK_LOG_CURRENT)) {
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Log_Write_Current();
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}
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// send a heartbeat
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gcs().send_message(MSG_HEARTBEAT);
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// allow orientation change at runtime to aid config
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ahrs.set_orientation();
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set_control_channels();
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// cope with changes to aux functions
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update_aux();
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// update notify flags
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AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
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AP_Notify::flags.pre_arm_gps_check = true;
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AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
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// cope with changes to mavlink system ID
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mavlink_system.sysid = g.sysid_this_mav;
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static uint8_t counter;
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counter++;
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// write perf data every 20s
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if (counter % 10 == 0) {
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if (scheduler.debug() != 0) {
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hal.console->printf("G_Dt_max=%u\n", G_Dt_max);
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}
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if (should_log(MASK_LOG_PM)) {
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Log_Write_Performance();
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}
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G_Dt_max = 0;
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resetPerfData();
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}
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// save compass offsets once a minute
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if (counter >= 60) {
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if (g.compass_enabled) {
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compass.save_offsets();
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}
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counter = 0;
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}
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// update home position if not soft armed and gps position has
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// changed. Update every 1s at most
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if (!hal.util->get_soft_armed() &&
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gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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update_home();
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}
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// update error mask of sensors and subsystems. The mask uses the
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// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
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// indicates that the sensor or subsystem is present but not
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// functioning correctly
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update_sensor_status_flags();
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}
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void Rover::dataflash_periodic(void)
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{
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DataFlash.periodic_tasks();
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}
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void Rover::ins_periodic()
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{
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ins.periodic();
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}
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void Rover::update_GPS_50Hz(void)
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{
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static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
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gps.update();
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for (uint8_t i=0; i < gps.num_sensors(); i++) {
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if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
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last_gps_reading[i] = gps.last_message_time_ms(i);
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if (should_log(MASK_LOG_GPS)) {
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DataFlash.Log_Write_GPS(gps, i);
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}
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}
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}
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}
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void Rover::update_GPS_10Hz(void)
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{
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have_position = ahrs.get_position(current_loc);
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if (gps.last_message_time_ms() != last_gps_msg_ms) {
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last_gps_msg_ms = gps.last_message_time_ms();
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// set system time if necessary
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set_system_time_from_GPS();
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#if CAMERA == ENABLED
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camera.update();
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#endif
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}
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}
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void Rover::update_current_mode(void)
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{
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control_mode->update();
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}
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AP_HAL_MAIN_CALLBACKS(&rover);
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