mirror of https://github.com/ArduPilot/ardupilot
118 lines
3.8 KiB
C++
118 lines
3.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Rover.h"
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void Rover::init_barometer(void)
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{
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gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
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barometer.calibrate();
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gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
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}
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void Rover::init_sonar(void)
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{
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sonar.init();
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}
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// read_battery - reads battery voltage and current and invokes failsafe
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// should be called at 10hz
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void Rover::read_battery(void)
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{
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battery.read();
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}
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// read the receiver RSSI as an 8 bit number for MAVLink
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// RC_CHANNELS_SCALED message
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void Rover::read_receiver_rssi(void)
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{
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receiver_rssi = rssi.read_receiver_rssi_uint8();
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}
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//Calibrate compass
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void Rover::compass_cal_update() {
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if (!hal.util->get_soft_armed()) {
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compass.compass_cal_update();
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}
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}
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// Accel calibration
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void Rover::accel_cal_update() {
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if (hal.util->get_soft_armed()) {
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return;
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}
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ins.acal_update();
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// check if new trim values, and set them float trim_roll, trim_pitch;
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float trim_roll,trim_pitch;
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if(ins.get_new_trim(trim_roll, trim_pitch)) {
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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}
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// read the sonars
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void Rover::read_sonars(void)
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{
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sonar.update();
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if (sonar.status() == RangeFinder::RangeFinder_NotConnected) {
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// this makes it possible to disable sonar at runtime
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return;
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}
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if (sonar.has_data(1)) {
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// we have two sonars
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obstacle.sonar1_distance_cm = sonar.distance_cm(0);
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obstacle.sonar2_distance_cm = sonar.distance_cm(1);
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if (obstacle.sonar1_distance_cm <= (uint16_t)g.sonar_trigger_cm &&
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obstacle.sonar1_distance_cm <= (uint16_t)obstacle.sonar2_distance_cm) {
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// we have an object on the left
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if (obstacle.detected_count < 127) {
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obstacle.detected_count++;
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}
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if (obstacle.detected_count == g.sonar_debounce) {
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar1 obstacle %u cm",
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(unsigned)obstacle.sonar1_distance_cm);
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}
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obstacle.detected_time_ms = AP_HAL::millis();
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obstacle.turn_angle = g.sonar_turn_angle;
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} else if (obstacle.sonar2_distance_cm <= (uint16_t)g.sonar_trigger_cm) {
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// we have an object on the right
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if (obstacle.detected_count < 127) {
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obstacle.detected_count++;
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}
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if (obstacle.detected_count == g.sonar_debounce) {
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar2 obstacle %u cm",
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(unsigned)obstacle.sonar2_distance_cm);
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}
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obstacle.detected_time_ms = AP_HAL::millis();
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obstacle.turn_angle = -g.sonar_turn_angle;
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}
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} else {
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// we have a single sonar
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obstacle.sonar1_distance_cm = sonar.distance_cm(0);
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obstacle.sonar2_distance_cm = 0;
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if (obstacle.sonar1_distance_cm <= (uint16_t)g.sonar_trigger_cm) {
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// obstacle detected in front
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if (obstacle.detected_count < 127) {
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obstacle.detected_count++;
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}
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if (obstacle.detected_count == g.sonar_debounce) {
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar obstacle %u cm",
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(unsigned)obstacle.sonar1_distance_cm);
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}
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obstacle.detected_time_ms = AP_HAL::millis();
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obstacle.turn_angle = g.sonar_turn_angle;
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}
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}
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Log_Write_Sonar();
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// no object detected - reset after the turn time
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if (obstacle.detected_count >= g.sonar_debounce &&
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AP_HAL::millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) {
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Obstacle passed");
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obstacle.detected_count = 0;
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obstacle.turn_angle = 0;
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}
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}
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