mirror of https://github.com/ArduPilot/ardupilot
261 lines
6.6 KiB
C++
261 lines
6.6 KiB
C++
#include "Tracker.h"
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// mission storage
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static const StorageAccess wp_storage(StorageManager::StorageMission);
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static void mavlink_delay_cb_static()
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{
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tracker.mavlink_delay_cb();
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}
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void Tracker::init_tracker()
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{
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// initialise console serial port
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serial_manager.init_console();
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hal.console->printf("\n\nInit %s\n\nFree RAM: %u\n",
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fwver.fw_string,
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hal.util->available_memory());
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// Check the EEPROM format version before loading any parameters from EEPROM
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load_parameters();
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gcs().set_dataflash(&DataFlash);
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mavlink_system.sysid = g.sysid_this_mav;
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// initialise serial ports
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serial_manager.init();
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// setup first port early to allow BoardConfig to report errors
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gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
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// Register mavlink_delay_cb, which will run anytime you have
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// more than 5ms remaining in your call to hal.scheduler->delay
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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BoardConfig.init();
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#if HAL_WITH_UAVCAN
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BoardConfig_CAN.init();
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#endif
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// initialise notify
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notify.init(false);
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AP_Notify::flags.pre_arm_check = true;
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AP_Notify::flags.pre_arm_gps_check = true;
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AP_Notify::flags.failsafe_battery = false;
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// init baro before we start the GCS, so that the CLI baro test works
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barometer.init();
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// we start by assuming USB connected, as we initialed the serial
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// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
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usb_connected = true;
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check_usb_mux();
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// setup telem slots with serial ports
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gcs().setup_uarts(serial_manager);
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#if LOGGING_ENABLED == ENABLED
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log_init();
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#endif
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if (g.compass_enabled==true) {
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if (!compass.init() || !compass.read()) {
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hal.console->printf("Compass initialisation failed!\n");
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g.compass_enabled = false;
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} else {
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ahrs.set_compass(&compass);
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}
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}
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// GPS Initialization
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gps.set_log_gps_bit(MASK_LOG_GPS);
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gps.init(serial_manager);
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ahrs.init();
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ahrs.set_fly_forward(false);
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ins.init(scheduler.get_loop_rate_hz());
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ahrs.reset();
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init_barometer(true);
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// initialise DataFlash library
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DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));
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// set serial ports non-blocking
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serial_manager.set_blocking_writes_all(false);
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// initialise servos
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init_servos();
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// use given start positions - useful for indoor testing, and
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// while waiting for GPS lock
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// sanity check location
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if (fabsf(g.start_latitude) <= 90.0f && fabsf(g.start_longitude) <= 180.0f) {
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current_loc.lat = g.start_latitude * 1.0e7f;
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current_loc.lng = g.start_longitude * 1.0e7f;
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} else {
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gcs().send_text(MAV_SEVERITY_NOTICE, "Ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
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}
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// see if EEPROM has a default location as well
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if (current_loc.lat == 0 && current_loc.lng == 0) {
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get_home_eeprom(current_loc);
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}
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init_capabilities();
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gcs().send_text(MAV_SEVERITY_INFO,"Ready to track");
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hal.scheduler->delay(1000); // Why????
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set_mode(AUTO, MODE_REASON_STARTUP); // tracking
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if (g.startup_delay > 0) {
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// arm servos with trim value to allow them to start up (required
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// for some servos)
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prepare_servos();
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}
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// disable safety if requested
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BoardConfig.init_safety();
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}
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/*
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fetch HOME from EEPROM
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*/
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bool Tracker::get_home_eeprom(struct Location &loc)
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{
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// Find out proper location in memory by using the start_byte position + the index
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// --------------------------------------------------------------------------------
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if (g.command_total.get() == 0) {
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return false;
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}
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// read WP position
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loc.options = wp_storage.read_byte(0);
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loc.alt = wp_storage.read_uint32(1);
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loc.lat = wp_storage.read_uint32(5);
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loc.lng = wp_storage.read_uint32(9);
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return true;
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}
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void Tracker::set_home_eeprom(struct Location temp)
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{
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wp_storage.write_byte(0, temp.options);
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wp_storage.write_uint32(1, temp.alt);
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wp_storage.write_uint32(5, temp.lat);
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wp_storage.write_uint32(9, temp.lng);
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// Now have a home location in EEPROM
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g.command_total.set_and_save(1); // At most 1 entry for HOME
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}
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void Tracker::set_home(struct Location temp)
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{
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set_home_eeprom(temp);
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current_loc = temp;
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gcs().send_home(temp);
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Location ekf_origin;
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if (ahrs.get_origin(ekf_origin)) {
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gcs().send_ekf_origin(ekf_origin);
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}
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}
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// sets ekf_origin if it has not been set.
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// should only be used when there is no GPS to provide an absolute position
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void Tracker::set_ekf_origin(const Location& loc)
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{
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// check location is valid
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if (!check_latlng(loc)) {
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return;
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}
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// check EKF origin has already been set
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Location ekf_origin;
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if (ahrs.get_origin(ekf_origin)) {
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return;
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}
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if (!ahrs.set_origin(loc)) {
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return;
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}
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// send ekf origin to GCS
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gcs().send_ekf_origin(loc);
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}
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void Tracker::arm_servos()
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{
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hal.util->set_soft_armed(true);
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DataFlash.set_vehicle_armed(true);
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}
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void Tracker::disarm_servos()
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{
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hal.util->set_soft_armed(false);
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DataFlash.set_vehicle_armed(false);
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}
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/*
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setup servos to trim value after initialising
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*/
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void Tracker::prepare_servos()
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{
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start_time_ms = AP_HAL::millis();
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SRV_Channels::set_output_limit(SRV_Channel::k_tracker_yaw, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
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SRV_Channels::set_output_limit(SRV_Channel::k_tracker_pitch, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
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SRV_Channels::calc_pwm();
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SRV_Channels::output_ch_all();
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}
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void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
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{
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if (control_mode == mode) {
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// don't switch modes if we are already in the correct mode.
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return;
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}
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control_mode = mode;
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switch (control_mode) {
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case AUTO:
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case MANUAL:
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case SCAN:
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case SERVO_TEST:
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arm_servos();
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break;
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case STOP:
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case INITIALISING:
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disarm_servos();
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break;
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}
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// log mode change
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DataFlash.Log_Write_Mode(control_mode, reason);
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}
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void Tracker::check_usb_mux(void)
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{
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bool usb_check = hal.gpio->usb_connected();
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if (usb_check == usb_connected) {
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return;
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}
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// the user has switched to/from the telemetry port
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usb_connected = usb_check;
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}
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/*
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should we log a message type now?
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*/
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bool Tracker::should_log(uint32_t mask)
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{
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if (!DataFlash.should_log(mask)) {
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return false;
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}
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return true;
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}
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