mirror of https://github.com/ArduPilot/ardupilot
436 lines
14 KiB
C++
436 lines
14 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 ArduRover 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: Randy Mackay, 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 https://ardupilot.org/dev for details
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*/
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#include "Rover.h"
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#define FORCE_VERSION_H_INCLUDE
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#include "version.h"
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#undef FORCE_VERSION_H_INCLUDE
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#include "AP_Gripper/AP_Gripper.h"
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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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 are listed here, along with how
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often they should be called (in Hz) and the maximum time
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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, 200),
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SCHED_TASK(ahrs_update, 400, 400),
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SCHED_TASK(read_rangefinders, 50, 200),
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SCHED_TASK(update_current_mode, 400, 200),
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SCHED_TASK(set_servos, 400, 200),
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SCHED_TASK_CLASS(AP_GPS, &rover.gps, update, 50, 300),
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SCHED_TASK_CLASS(AP_Baro, &rover.barometer, update, 10, 200),
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SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200),
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#if HAL_PROXIMITY_ENABLED
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SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 200),
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#endif
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SCHED_TASK_CLASS(AP_WindVane, &rover.g2.windvane, update, 20, 100),
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SCHED_TASK_CLASS(AC_Fence, &rover.g2.fence, update, 10, 100),
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SCHED_TASK(update_wheel_encoder, 50, 200),
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SCHED_TASK(update_compass, 10, 200),
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SCHED_TASK(update_mission, 50, 200),
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SCHED_TASK(update_logging1, 10, 200),
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SCHED_TASK(update_logging2, 10, 200),
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SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_receive, 400, 500),
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SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_send, 400, 1000),
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SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_mode_switch, 7, 200),
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SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_aux_all, 10, 200),
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SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 300),
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SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events, 50, 200),
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#if GRIPPER_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Gripper, &rover.g2.gripper, update, 10, 75),
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#endif
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SCHED_TASK(rpm_update, 10, 100),
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#if HAL_MOUNT_ENABLED
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SCHED_TASK_CLASS(AP_Mount, &rover.camera_mount, update, 50, 200),
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#endif
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#if CAMERA == ENABLED
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SCHED_TASK_CLASS(AP_Camera, &rover.camera, update, 50, 200),
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#endif
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SCHED_TASK(gcs_failsafe_check, 10, 200),
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SCHED_TASK(fence_check, 10, 200),
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SCHED_TASK(ekf_check, 10, 100),
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SCHED_TASK_CLASS(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 200),
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SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300),
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SCHED_TASK(one_second_loop, 1, 1500),
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#if HAL_SPRAYER_ENABLED
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SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90),
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#endif
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SCHED_TASK_CLASS(Compass, &rover.compass, cal_update, 50, 200),
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SCHED_TASK(compass_save, 0.1, 200),
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SCHED_TASK(accel_cal_update, 10, 200),
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#if LOGGING_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Logger, &rover.logger, periodic_tasks, 50, 300),
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#endif
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SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 400, 200),
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SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200),
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SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 200),
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#if STATS_ENABLED == ENABLED
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SCHED_TASK(stats_update, 1, 200),
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#endif
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SCHED_TASK(crash_check, 10, 200),
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SCHED_TASK(cruise_learn_update, 50, 200),
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#if ADVANCED_FAILSAFE == ENABLED
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SCHED_TASK(afs_fs_check, 10, 200),
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#endif
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SCHED_TASK(read_airspeed, 10, 100),
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};
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void Rover::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
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uint8_t &task_count,
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uint32_t &log_bit)
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{
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tasks = &scheduler_tasks[0];
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task_count = ARRAY_SIZE(scheduler_tasks);
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log_bit = MASK_LOG_PM;
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}
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constexpr int8_t Rover::_failsafe_priorities[7];
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Rover::Rover(void) :
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AP_Vehicle(),
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param_loader(var_info),
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channel_steer(nullptr),
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channel_throttle(nullptr),
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channel_lateral(nullptr),
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logger{g.log_bitmask},
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modes(&g.mode1),
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control_mode(&mode_initializing)
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{
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}
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// set target location (for use by scripting)
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bool Rover::set_target_location(const Location& target_loc)
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{
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// exit if vehicle is not in Guided mode or Auto-Guided mode
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if (!control_mode->in_guided_mode()) {
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return false;
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}
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return control_mode->set_desired_location(target_loc);
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}
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// set target velocity (for use by scripting)
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bool Rover::set_target_velocity_NED(const Vector3f& vel_ned)
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{
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// exit if vehicle is not in Guided mode or Auto-Guided mode
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if (!control_mode->in_guided_mode()) {
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return false;
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}
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// convert vector length into speed
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const float target_speed_m = safe_sqrt(sq(vel_ned.x) + sq(vel_ned.y));
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// convert vector direction to target yaw
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const float target_yaw_cd = degrees(atan2f(vel_ned.y, vel_ned.x)) * 100.0f;
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// send target heading and speed
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mode_guided.set_desired_heading_and_speed(target_yaw_cd, target_speed_m);
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return true;
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}
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// set steering and throttle (-1 to +1) (for use by scripting)
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bool Rover::set_steering_and_throttle(float steering, float throttle)
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{
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// exit if vehicle is not in Guided mode or Auto-Guided mode
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if (!control_mode->in_guided_mode()) {
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return false;
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}
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// set steering and throttle
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mode_guided.set_steering_and_throttle(steering, throttle);
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return true;
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}
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// get control output (for use in scripting)
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// returns true on success and control_value is set to a value in the range -1 to +1
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bool Rover::get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value)
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{
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switch (control_output) {
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case AP_Vehicle::ControlOutput::Roll:
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control_value = constrain_float(g2.motors.get_roll(), -1.0f, 1.0f);
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return true;
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case AP_Vehicle::ControlOutput::Pitch:
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control_value = constrain_float(g2.motors.get_pitch(), -1.0f, 1.0f);
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return true;
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case AP_Vehicle::ControlOutput::Walking_Height:
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control_value = constrain_float(g2.motors.get_walking_height(), -1.0f, 1.0f);
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return true;
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case AP_Vehicle::ControlOutput::Throttle:
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control_value = constrain_float(g2.motors.get_throttle() / 100.0f, -1.0f, 1.0f);
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return true;
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case AP_Vehicle::ControlOutput::Yaw:
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control_value = constrain_float(g2.motors.get_steering() / 4500.0f, -1.0f, 1.0f);
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return true;
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case AP_Vehicle::ControlOutput::Lateral:
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control_value = constrain_float(g2.motors.get_lateral() / 100.0f, -1.0f, 1.0f);
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return true;
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case AP_Vehicle::ControlOutput::MainSail:
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control_value = constrain_float(g2.motors.get_mainsail() / 100.0f, -1.0f, 1.0f);
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return true;
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case AP_Vehicle::ControlOutput::WingSail:
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control_value = constrain_float(g2.motors.get_wingsail() / 100.0f, -1.0f, 1.0f);
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return true;
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default:
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return false;
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}
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return false;
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}
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#if STATS_ENABLED == ENABLED
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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(g2.motors.active());
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g2.stats.update();
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}
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#endif
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// update AHRS system
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void Rover::ahrs_update()
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{
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arming.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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// AHRS may use movement to calculate heading
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update_ahrs_flyforward();
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ahrs.update();
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// update position
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have_position = ahrs.get_position(current_loc);
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// set home from EKF if necessary and possible
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if (!ahrs.home_is_set()) {
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if (!set_home_to_current_location(false)) {
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// ignore this failure
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}
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}
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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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Log_Write_Sail();
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}
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if (should_log(MASK_LOG_IMU)) {
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AP::ins().Write_IMU();
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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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// gcs failsafe disabled
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return;
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}
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// check for updates from GCS within 2 seconds
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const uint32_t gcs_last_seen_ms = gcs().sysid_myggcs_last_seen_time_ms();
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bool do_failsafe = true;
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if (gcs_last_seen_ms == 0) {
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// we've never seen the GCS, so we never failsafe for not seeing it
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do_failsafe = false;
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} else if (millis() - gcs_last_seen_ms <= 2000) {
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// we've never seen the GCS in the last couple of seconds, so all good
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do_failsafe = false;
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}
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failsafe_trigger(FAILSAFE_EVENT_GCS, "GCS", do_failsafe);
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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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Log_Write_Sail();
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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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logger.Write_Beacon(g2.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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#if HAL_PROXIMITY_ENABLED
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if (should_log(MASK_LOG_RANGEFINDER)) {
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logger.Write_Proximity(g2.proximity);
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}
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#endif
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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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g2.wheel_encoder.Log_Write();
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}
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if (should_log(MASK_LOG_IMU)) {
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AP::ins().Write_Vibration();
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}
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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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// allow orientation change at runtime to aid config
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ahrs.update_orientation();
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set_control_channels();
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// cope with changes to aux functions
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SRV_Channels::enable_aux_servos();
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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();
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AP_Notify::flags.flying = hal.util->get_soft_armed();
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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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// attempt to update home position and baro calibration if not armed:
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if (!hal.util->get_soft_armed()) {
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update_home();
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}
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// need to set "likely flying" when armed to allow for compass
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// learning to run
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set_likely_flying(hal.util->get_soft_armed());
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// send latest param values to wp_nav
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g2.wp_nav.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering());
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}
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void Rover::update_current_mode(void)
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{
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// check for emergency stop
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if (SRV_Channels::get_emergency_stop()) {
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// relax controllers, motor stopping done at output level
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g2.attitude_control.relax_I();
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}
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control_mode->update();
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}
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// update mission including starting or stopping commands. called by scheduler at 10Hz
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void Rover::update_mission(void)
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{
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if (control_mode == &mode_auto) {
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if (ahrs.home_is_set() && mode_auto.mission.num_commands() > 1) {
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mode_auto.mission.update();
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}
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}
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}
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// vehicle specific waypoint info helpers
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bool Rover::get_wp_distance_m(float &distance) const
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{
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// see GCS_MAVLINK_Rover::send_nav_controller_output()
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if (!rover.control_mode->is_autopilot_mode()) {
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return false;
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}
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distance = control_mode->get_distance_to_destination();
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return true;
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}
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// vehicle specific waypoint info helpers
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bool Rover::get_wp_bearing_deg(float &bearing) const
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{
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// see GCS_MAVLINK_Rover::send_nav_controller_output()
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if (!rover.control_mode->is_autopilot_mode()) {
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return false;
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}
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bearing = control_mode->wp_bearing();
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return true;
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}
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// vehicle specific waypoint info helpers
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bool Rover::get_wp_crosstrack_error_m(float &xtrack_error) const
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{
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// see GCS_MAVLINK_Rover::send_nav_controller_output()
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if (!rover.control_mode->is_autopilot_mode()) {
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return false;
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}
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xtrack_error = control_mode->crosstrack_error();
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return true;
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}
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Rover rover;
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AP_Vehicle& vehicle = rover;
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AP_HAL_MAIN_CALLBACKS(&rover);
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