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ardupilot/ArduCopter/Copter.h
Andrew Tridgell 2425c65e74 Copter: implement 'air-mode' for copter 
this implements what betaflight calls 'air-mode'. This gives attitude
control when throttle is at zero, allowing for zero-throttle maneuvers,
plus keeping the copter level on the ground.

This was already implemented if an interlock switch was setup, but it
should also work with an arming switch. If using an arming switch then
throttle should not be considered zero as long as the arming switch
hasn't gone low.
2018-05-29 10:27:14 +09:00

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/*
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 <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
This is the main Copter class
*/
////////////////////////////////////////////////////////////////////////////////
// Header includes
////////////////////////////////////////////////////////////////////////////////
#include <cmath>
#include <stdio.h>
#include <stdarg.h>
#include <AP_HAL/AP_HAL.h>
// Common dependencies
#include <AP_Common/AP_Common.h>
#include <AP_Common/Location.h>
#include <AP_Param/AP_Param.h>
#include <StorageManager/StorageManager.h>
// Application dependencies
#include <GCS_MAVLink/GCS.h>
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
#include <DataFlash/DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_ADC/AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
#include <AP_InertialSensor/AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_AHRS/AP_AHRS.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include <AP_Mission/AP_Mission.h> // Mission command library
#include <AC_PID/AC_P.h> // P library
#include <AC_PID/AC_PID.h> // PID library
#include <AC_PID/AC_PI_2D.h> // PI library (2-axis)
#include <AC_PID/AC_PID_2D.h> // PID library (2-axis)
#include <AC_PID/AC_HELI_PID.h> // Heli specific Rate PID library
#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h> // Attitude control library
#include <AC_AttitudeControl/AC_AttitudeControl_Heli.h> // Attitude control library for traditional helicopter
#include <AC_AttitudeControl/AC_PosControl.h> // Position control library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <AP_Motors/AP_Motors.h> // AP Motors library
#include <AP_Stats/AP_Stats.h> // statistics library
#include <AP_RSSI/AP_RSSI.h> // RSSI Library
#include <Filter/Filter.h> // Filter library
#include <AP_Buffer/AP_Buffer.h> // APM FIFO Buffer
#include <AP_Relay/AP_Relay.h> // APM relay
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Airspeed/AP_Airspeed.h> // needed for AHRS build
#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
#include <AP_InertialNav/AP_InertialNav.h> // ArduPilot Mega inertial navigation library
#include <AC_WPNav/AC_WPNav.h> // ArduCopter waypoint navigation library
#include <AC_WPNav/AC_Loiter.h>
#include <AC_WPNav/AC_Circle.h> // circle navigation library
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
#include <AP_Notify/AP_Notify.h> // Notify library
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
#include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#include <AP_LandingGear/AP_LandingGear.h> // Landing Gear library
#include <AC_InputManager/AC_InputManager.h> // Pilot input handling library
#include <AC_InputManager/AC_InputManager_Heli.h> // Heli specific pilot input handling library
#include <AP_Button/AP_Button.h>
#include <AP_Arming/AP_Arming.h>
#include <AP_SmartRTL/AP_SmartRTL.h>
#include <AP_TempCalibration/AP_TempCalibration.h>
// Configuration
#include "defines.h"
#include "config.h"
#include "GCS_Mavlink.h"
#include "GCS_Copter.h"
#include "AP_Rally.h" // Rally point library
#include "AP_Arming.h"
// libraries which are dependent on #defines in defines.h and/or config.h
#if BEACON_ENABLED == ENABLED
#include <AP_Beacon/AP_Beacon.h>
#endif
#if AC_AVOID_ENABLED == ENABLED
#include <AC_Avoidance/AC_Avoid.h>
#endif
#if SPRAYER == ENABLED
# include <AC_Sprayer/AC_Sprayer.h>
#endif
#if GRIPPER_ENABLED == ENABLED
# include <AP_Gripper/AP_Gripper.h>
#endif
#if PARACHUTE == ENABLED
# include <AP_Parachute/AP_Parachute.h>
#endif
#if PRECISION_LANDING == ENABLED
# include <AC_PrecLand/AC_PrecLand.h>
# include <AP_IRLock/AP_IRLock.h>
#endif
#if FRSKY_TELEM_ENABLED == ENABLED
# include <AP_Frsky_Telem/AP_Frsky_Telem.h>
#endif
#if ADSB_ENABLED == ENABLED
# include <AP_ADSB/AP_ADSB.h>
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
# include <AP_Follow/AP_Follow.h>
#endif
#if AC_FENCE == ENABLED
# include <AC_Fence/AC_Fence.h>
#endif
#if AC_TERRAIN == ENABLED
# include <AP_Terrain/AP_Terrain.h>
#endif
#if OPTFLOW == ENABLED
# include <AP_OpticalFlow/AP_OpticalFlow.h>
#endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED
# include <AP_VisualOdom/AP_VisualOdom.h>
#endif
#if RANGEFINDER_ENABLED == ENABLED
# include <AP_RangeFinder/AP_RangeFinder.h>
#endif
#if PROXIMITY_ENABLED == ENABLED
# include <AP_Proximity/AP_Proximity.h>
#endif
#if MOUNT == ENABLED
#include <AP_Mount/AP_Mount.h>
#endif
#if CAMERA == ENABLED
# include <AP_Camera/AP_Camera.h>
#endif
#if DEVO_TELEM_ENABLED == ENABLED
#include <AP_Devo_Telem/AP_Devo_Telem.h>
#endif
#if ADVANCED_FAILSAFE == ENABLED
# include "afs_copter.h"
#endif
#if TOY_MODE_ENABLED == ENABLED
# include "toy_mode.h"
#endif
#if WINCH_ENABLED == ENABLED
# include <AP_WheelEncoder/AP_WheelEncoder.h>
# include <AP_Winch/AP_Winch.h>
#endif
#if RPM_ENABLED == ENABLED
#include <AP_RPM/AP_RPM.h>
#endif
// Local modules
#include "Parameters.h"
#if ADSB_ENABLED == ENABLED
#include "avoidance_adsb.h"
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
#endif
class Copter : public AP_HAL::HAL::Callbacks {
public:
friend class GCS_MAVLINK_Copter;
friend class GCS_Copter;
friend class AP_Rally_Copter;
friend class Parameters;
friend class ParametersG2;
friend class AP_Avoidance_Copter;
#if ADVANCED_FAILSAFE == ENABLED
friend class AP_AdvancedFailsafe_Copter;
#endif
friend class AP_Arming_Copter;
friend class ToyMode;
Copter(void);
// HAL::Callbacks implementation.
void setup() override;
void loop() override;
private:
static const AP_FWVersion fwver;
// key aircraft parameters passed to multiple libraries
AP_Vehicle::MultiCopter aparm;
// Global parameters are all contained within the 'g' class.
Parameters g;
ParametersG2 g2;
// main loop scheduler
AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&Copter::fast_loop, void)};
// AP_Notify instance
AP_Notify notify;
// used to detect MAVLink acks from GCS to stop compassmot
uint8_t command_ack_counter;
// primary input control channels
RC_Channel *channel_roll;
RC_Channel *channel_pitch;
RC_Channel *channel_throttle;
RC_Channel *channel_yaw;
// Dataflash
DataFlash_Class DataFlash;
AP_GPS gps;
// flight modes convenience array
AP_Int8 *flight_modes;
AP_Baro barometer;
Compass compass;
AP_InertialSensor ins;
RangeFinder rangefinder{serial_manager, ROTATION_PITCH_270};
struct {
bool enabled:1;
bool alt_healthy:1; // true if we can trust the altitude from the rangefinder
int16_t alt_cm; // tilt compensated altitude (in cm) from rangefinder
uint32_t last_healthy_ms;
LowPassFilterFloat alt_cm_filt; // altitude filter
int8_t glitch_count;
} rangefinder_state = { false, false, 0, 0 };
#if RPM_ENABLED == ENABLED
AP_RPM rpm_sensor;
#endif
// Inertial Navigation EKF
NavEKF2 EKF2{&ahrs, rangefinder};
NavEKF3 EKF3{&ahrs, rangefinder};
AP_AHRS_NavEKF ahrs{EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl;
#endif
// Mission library
#if MODE_AUTO_ENABLED == ENABLED
AP_Mission mission{ahrs,
FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)};
bool start_command(const AP_Mission::Mission_Command& cmd) {
return mode_auto.start_command(cmd);
}
bool verify_command_callback(const AP_Mission::Mission_Command& cmd) {
return mode_auto.verify_command_callback(cmd);
}
void exit_mission() {
mode_auto.exit_mission();
}
#endif
// Arming/Disarming mangement class
AP_Arming_Copter arming{ahrs, compass, battery, inertial_nav};
// Optical flow sensor
#if OPTFLOW == ENABLED
OpticalFlow optflow{ahrs};
#endif
// gnd speed limit required to observe optical flow sensor limits
float ekfGndSpdLimit;
// scale factor applied to velocity controller gain to prevent optical flow noise causing excessive angle demand noise
float ekfNavVelGainScaler;
// system time in milliseconds of last recorded yaw reset from ekf
uint32_t ekfYawReset_ms;
int8_t ekf_primary_core;
AP_SerialManager serial_manager;
// GCS selection
GCS_Copter _gcs; // avoid using this; use gcs()
GCS_Copter &gcs() { return _gcs; }
// User variables
#ifdef USERHOOK_VARIABLES
# include USERHOOK_VARIABLES
#endif
// Documentation of GLobals:
typedef union {
struct {
uint8_t unused1 : 1; // 0
uint8_t simple_mode : 2; // 1,2 // This is the state of simple mode : 0 = disabled ; 1 = SIMPLE ; 2 = SUPERSIMPLE
uint8_t pre_arm_rc_check : 1; // 3 // true if rc input pre-arm checks have been completed successfully
uint8_t pre_arm_check : 1; // 4 // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
uint8_t auto_armed : 1; // 5 // stops auto missions from beginning until throttle is raised
uint8_t logging_started : 1; // 6 // true if dataflash logging has started
uint8_t land_complete : 1; // 7 // true if we have detected a landing
uint8_t new_radio_frame : 1; // 8 // Set true if we have new PWM data to act on from the Radio
uint8_t usb_connected : 1; // 9 // true if APM is powered from USB connection
uint8_t rc_receiver_present : 1; // 10 // true if we have an rc receiver present (i.e. if we've ever received an update
uint8_t compass_mot : 1; // 11 // true if we are currently performing compassmot calibration
uint8_t motor_test : 1; // 12 // true if we are currently performing the motors test
uint8_t initialised : 1; // 13 // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
uint8_t land_complete_maybe : 1; // 14 // true if we may have landed (less strict version of land_complete)
uint8_t throttle_zero : 1; // 15 // true if the throttle stick is at zero, debounced, determines if pilot intends shut-down when not using motor interlock
uint8_t system_time_set : 1; // 16 // true if the system time has been set from the GPS
uint8_t gps_glitching : 1; // 17 // true if GPS glitching is affecting navigation accuracy
uint8_t using_interlock : 1; // 20 // aux switch motor interlock function is in use
uint8_t motor_emergency_stop : 1; // 21 // motor estop switch, shuts off motors when enabled
uint8_t land_repo_active : 1; // 22 // true if the pilot is overriding the landing position
uint8_t motor_interlock_switch : 1; // 23 // true if pilot is requesting motor interlock enable
uint8_t in_arming_delay : 1; // 24 // true while we are armed but waiting to spin motors
uint8_t initialised_params : 1; // 25 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
uint8_t compass_init_location : 1; // 26 // true when the compass's initial location has been set
uint8_t rc_override_enable : 1; // 27 // aux switch rc_override is allowed
uint8_t armed_with_switch : 1; // 28 // we armed using a arming switch
};
uint32_t value;
} ap_t;
ap_t ap;
// This is the state of the flight control system
// There are multiple states defined such as STABILIZE, ACRO,
control_mode_t control_mode;
mode_reason_t control_mode_reason = MODE_REASON_UNKNOWN;
control_mode_t prev_control_mode;
mode_reason_t prev_control_mode_reason = MODE_REASON_UNKNOWN;
// Structure used to detect changes in the flight mode control switch
struct {
int8_t debounced_switch_position; // currently used switch position
int8_t last_switch_position; // switch position in previous iteration
uint32_t last_edge_time_ms; // system time that switch position was last changed
} control_switch_state;
// de-bounce counters for switches.cpp
struct debounce {
uint8_t count;
uint8_t ch_flag;
} aux_debounce[(CH_12 - CH_7)+1];
typedef struct {
bool running;
float max_speed;
float alt_delta;
uint32_t start_ms;
} takeoff_state_t;
takeoff_state_t takeoff_state;
// altitude below which we do no navigation in auto takeoff
float auto_takeoff_no_nav_alt_cm;
RCMapper rcmap;
// intertial nav alt when we armed
float arming_altitude_m;
// board specific config
AP_BoardConfig BoardConfig;
#if HAL_WITH_UAVCAN
// board specific config for CAN bus
AP_BoardConfig_CAN BoardConfig_CAN;
#endif
// Failsafe
struct {
uint32_t last_heartbeat_ms; // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
uint32_t terrain_first_failure_ms; // the first time terrain data access failed - used to calculate the duration of the failure
uint32_t terrain_last_failure_ms; // the most recent time terrain data access failed
int8_t radio_counter; // number of iterations with throttle below throttle_fs_value
uint8_t rc_override_active : 1; // true if rc control are overwritten by ground station
uint8_t radio : 1; // A status flag for the radio failsafe
uint8_t gcs : 1; // A status flag for the ground station failsafe
uint8_t ekf : 1; // true if ekf failsafe has occurred
uint8_t terrain : 1; // true if the missing terrain data failsafe has occurred
uint8_t adsb : 1; // true if an adsb related failsafe has occurred
} failsafe;
bool any_failsafe_triggered() const {
return failsafe.radio || battery.has_failsafed() || failsafe.gcs || failsafe.ekf || failsafe.terrain || failsafe.adsb;
}
// sensor health for logging
struct {
uint8_t baro : 1; // true if baro is healthy
uint8_t compass : 1; // true if compass is healthy
uint8_t primary_gps : 2; // primary gps index
} sensor_health;
// Motor Output
#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#else
#define MOTOR_CLASS AP_MotorsMulticopter
#endif
MOTOR_CLASS *motors;
const struct AP_Param::GroupInfo *motors_var_info;
// GPS variables
// Sometimes we need to remove the scaling for distance calcs
float scaleLongDown;
int32_t _home_bearing;
uint32_t _home_distance;
// SIMPLE Mode
// Used to track the orientation of the vehicle for Simple mode. This value is reset at each arming
// or in SuperSimple mode when the vehicle leaves a 20m radius from home.
float simple_cos_yaw;
float simple_sin_yaw;
int32_t super_simple_last_bearing;
float super_simple_cos_yaw;
float super_simple_sin_yaw;
// Stores initial bearing when armed - initial simple bearing is modified in super simple mode so not suitable
int32_t initial_armed_bearing;
// Battery Sensors
AP_BattMonitor battery{MASK_LOG_CURRENT,
FUNCTOR_BIND_MEMBER(&Copter::handle_battery_failsafe, void, const char*, const int8_t),
_failsafe_priorities};
#if FRSKY_TELEM_ENABLED == ENABLED
// FrSky telemetry support
AP_Frsky_Telem frsky_telemetry{ahrs, battery, rangefinder};
#endif
#if DEVO_TELEM_ENABLED == ENABLED
AP_DEVO_Telem devo_telemetry{ahrs};
#endif
// Variables for extended status MAVLink messages
uint32_t control_sensors_present;
uint32_t control_sensors_enabled;
uint32_t control_sensors_health;
// Altitude
// The cm/s we are moving up or down based on filtered data - Positive = UP
int16_t climb_rate;
float target_rangefinder_alt; // desired altitude in cm above the ground
int32_t baro_alt; // barometer altitude in cm above home
float baro_climbrate; // barometer climbrate in cm/s
LowPassFilterVector3f land_accel_ef_filter; // accelerations for land and crash detector tests
// filtered pilot's throttle input used to cancel landing if throttle held high
LowPassFilterFloat rc_throttle_control_in_filter;
// 3D Location vectors
// Current location of the vehicle (altitude is relative to home)
Location_Class current_loc;
// IMU variables
// Integration time (in seconds) for the gyros (DCM algorithm)
// Updated with the fast loop
float G_Dt;
// Inertial Navigation
AP_InertialNav_NavEKF inertial_nav;
// Attitude, Position and Waypoint navigation objects
// To-Do: move inertial nav up or other navigation variables down here
#if FRAME_CONFIG == HELI_FRAME
#define AC_AttitudeControl_t AC_AttitudeControl_Heli
#else
#define AC_AttitudeControl_t AC_AttitudeControl_Multi
#endif
AC_AttitudeControl_t *attitude_control;
AC_PosControl *pos_control;
AC_WPNav *wp_nav;
AC_Loiter *loiter_nav;
#if MODE_CIRCLE_ENABLED == ENABLED
AC_Circle *circle_nav;
#endif
// System Timers
// --------------
// arm_time_ms - Records when vehicle was armed. Will be Zero if we are disarmed.
uint32_t arm_time_ms;
// Used to exit the roll and pitch auto trim function
uint8_t auto_trim_counter;
// Reference to the relay object
AP_Relay relay;
// handle repeated servo and relay events
AP_ServoRelayEvents ServoRelayEvents{relay};
// Camera
#if CAMERA == ENABLED
AP_Camera camera{&relay, MASK_LOG_CAMERA, current_loc, ahrs};
#endif
// Camera/Antenna mount tracking and stabilisation stuff
#if MOUNT == ENABLED
// current_loc uses the baro/gps solution for altitude rather than gps only.
AP_Mount camera_mount{ahrs, current_loc};
#endif
// AC_Fence library to reduce fly-aways
#if AC_FENCE == ENABLED
AC_Fence fence{ahrs};
#endif
#if AC_AVOID_ENABLED == ENABLED
# if BEACON_ENABLED == ENABLED
AC_Avoid avoid{ahrs, fence, g2.proximity, &g2.beacon};
# else
AC_Avoid avoid{ahrs, fence, g2.proximity};
# endif
#endif
// Rally library
#if AC_RALLY == ENABLED
AP_Rally_Copter rally{ahrs};
#endif
// RSSI
AP_RSSI rssi;
// Crop Sprayer
#if SPRAYER == ENABLED
AC_Sprayer sprayer;
#endif
// Parachute release
#if PARACHUTE == ENABLED
AP_Parachute parachute{relay};
#endif
// Landing Gear Controller
AP_LandingGear landinggear;
// terrain handling
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
AP_Terrain terrain{ahrs, mission, rally};
#endif
// Precision Landing
#if PRECISION_LANDING == ENABLED
AC_PrecLand precland{ahrs};
#endif
// Pilot Input Management Library
// Only used for Helicopter for now
#if FRAME_CONFIG == HELI_FRAME
AC_InputManager_Heli input_manager;
#endif
#if ADSB_ENABLED == ENABLED
AP_ADSB adsb;
// avoidance of adsb enabled vehicles (normally manned vehicles)
AP_Avoidance_Copter avoidance_adsb{ahrs, adsb};
#endif
// last valid RC input time
uint32_t last_radio_update_ms;
// last esc calibration notification update
uint32_t esc_calibration_notify_update_ms;
#if VISUAL_ODOMETRY_ENABLED == ENABLED
// last visual odometry update time
uint32_t visual_odom_last_update_ms;
#endif
// Top-level logic
// setup the var_info table
AP_Param param_loader;
#if FRAME_CONFIG == HELI_FRAME
// Mode filter to reject RC Input glitches. Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
// and 1 high glitch. This is because any "off" glitches can be highly problematic for a helicopter running an ESC
// governor. Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
ModeFilterInt16_Size5 rotor_speed_deglitch_filter {4};
// Tradheli flags
typedef struct {
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
uint8_t init_targets_on_arming : 1; // 1 // true if we have been disarmed, and need to reset rate controller targets when we arm
uint8_t inverted_flight : 1; // 2 // true for inverted flight mode
} heli_flags_t;
heli_flags_t heli_flags;
int16_t hover_roll_trim_scalar_slew;
#endif
// ground effect detector
struct {
bool takeoff_expected;
bool touchdown_expected;
uint32_t takeoff_time_ms;
float takeoff_alt_cm;
} gndeffect_state;
// set when we are upgrading parameters from 3.4
bool upgrading_frame_params;
static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[];
enum Failsafe_Action {
Failsafe_Action_None = 0,
Failsafe_Action_Land = 1,
Failsafe_Action_RTL = 2,
Failsafe_Action_SmartRTL = 3,
Failsafe_Action_SmartRTL_Land = 4,
Failsafe_Action_Terminate = 5
};
static constexpr int8_t _failsafe_priorities[] = {
Failsafe_Action_Terminate,
Failsafe_Action_Land,
Failsafe_Action_RTL,
Failsafe_Action_SmartRTL_Land,
Failsafe_Action_SmartRTL,
Failsafe_Action_None,
-1 // the priority list must end with a sentinel of -1
};
#define FAILSAFE_LAND_PRIORITY 1
static_assert(_failsafe_priorities[FAILSAFE_LAND_PRIORITY] == Failsafe_Action_Land,
"FAILSAFE_LAND_PRIORITY must match the entry in _failsafe_priorities");
static_assert(_failsafe_priorities[ARRAY_SIZE(_failsafe_priorities) - 1] == -1,
"_failsafe_priorities is missing the sentinel");
// AP_State.cpp
void set_auto_armed(bool b);
void set_simple_mode(uint8_t b);
void set_failsafe_radio(bool b);
void set_failsafe_gcs(bool b);
void update_using_interlock();
void set_motor_emergency_stop(bool b);
// ArduCopter.cpp
void fast_loop();
void rc_loop();
void throttle_loop();
void update_batt_compass(void);
void fourhundred_hz_logging();
void ten_hz_logging_loop();
void twentyfive_hz_logging();
void three_hz_loop();
void one_hz_loop();
void update_GPS(void);
void init_simple_bearing();
void update_simple_mode(void);
void update_super_simple_bearing(bool force_update);
void read_AHRS(void);
void update_altitude();
// Attitude.cpp
float get_pilot_desired_yaw_rate(int16_t stick_angle);
void update_throttle_hover();
void set_throttle_takeoff();
float get_pilot_desired_throttle(int16_t throttle_control, float thr_mid = 0.0f);
float get_pilot_desired_climb_rate(float throttle_control);
float get_non_takeoff_throttle();
float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
float get_avoidance_adjusted_climbrate(float target_rate);
void set_accel_throttle_I_from_pilot_throttle();
void rotate_body_frame_to_NE(float &x, float &y);
uint16_t get_pilot_speed_dn();
#if ADSB_ENABLED == ENABLED
// avoidance_adsb.cpp
void avoidance_adsb_update(void);
#endif
// baro_ground_effect.cpp
void update_ground_effect_detector(void);
// capabilities.cpp
void init_capabilities(void);
// commands.cpp
void update_home_from_EKF();
void set_home_to_current_location_inflight();
bool set_home_to_current_location(bool lock);
bool set_home(const Location& loc, bool lock);
bool far_from_EKF_origin(const Location& loc);
void set_system_time_from_GPS();
// compassmot.cpp
MAV_RESULT mavlink_compassmot(mavlink_channel_t chan);
// compat.cpp
void delay(uint32_t ms);
// crash_check.cpp
void crash_check();
void parachute_check();
void parachute_release();
void parachute_manual_release();
// ekf_check.cpp
void ekf_check();
bool ekf_over_threshold();
void failsafe_ekf_event();
void failsafe_ekf_off_event(void);
void check_ekf_reset();
// esc_calibration.cpp
void esc_calibration_startup_check();
void esc_calibration_passthrough();
void esc_calibration_auto();
void esc_calibration_notify();
// events.cpp
void failsafe_radio_on_event();
void failsafe_radio_off_event();
void handle_battery_failsafe(const char* type_str, const int8_t action);
void failsafe_gcs_check();
void failsafe_gcs_off_event(void);
void failsafe_terrain_check();
void failsafe_terrain_set_status(bool data_ok);
void failsafe_terrain_on_event();
void gpsglitch_check();
void set_mode_RTL_or_land_with_pause(mode_reason_t reason);
void set_mode_SmartRTL_or_RTL(mode_reason_t reason);
void set_mode_SmartRTL_or_land_with_pause(mode_reason_t reason);
bool should_disarm_on_failsafe();
void update_events();
// failsafe.cpp
void failsafe_enable();
void failsafe_disable();
#if ADVANCED_FAILSAFE == ENABLED
void afs_fs_check(void);
#endif
// fence.cpp
void fence_check();
void fence_send_mavlink_status(mavlink_channel_t chan);
// GCS_Mavlink.cpp
void gcs_send_heartbeat(void);
void gcs_send_deferred(void);
void send_fence_status(mavlink_channel_t chan);
void send_extended_status1(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);
void send_rpm(mavlink_channel_t chan);
void send_pid_tuning(mavlink_channel_t chan);
void gcs_data_stream_send(void);
void gcs_check_input(void);
// heli.cpp
void heli_init();
void check_dynamic_flight(void);
void update_heli_control_dynamics(void);
void heli_update_landing_swash();
void heli_update_rotor_speed_targets();
// inertia.cpp
void read_inertia();
// landing_detector.cpp
void update_land_and_crash_detectors();
void update_land_detector();
void set_land_complete(bool b);
void set_land_complete_maybe(bool b);
void update_throttle_thr_mix();
// landing_gear.cpp
void landinggear_update();
// Log.cpp
void Log_Write_Optflow();
void Log_Write_Control_Tuning();
void Log_Write_Performance();
void Log_Write_Attitude();
void Log_Write_EKF_POS();
void Log_Write_MotBatt();
void Log_Write_Event(uint8_t id);
void Log_Write_Data(uint8_t id, int32_t value);
void Log_Write_Data(uint8_t id, uint32_t value);
void Log_Write_Data(uint8_t id, int16_t value);
void Log_Write_Data(uint8_t id, uint16_t value);
void Log_Write_Data(uint8_t id, float value);
void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high);
void Log_Sensor_Health();
#if FRAME_CONFIG == HELI_FRAME
void Log_Write_Heli(void);
#endif
void Log_Write_Precland();
void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
void Log_Write_Vehicle_Startup_Messages();
void log_init(void);
// mode.cpp
bool set_mode(control_mode_t mode, mode_reason_t reason);
void update_flight_mode();
void notify_flight_mode();
// mode_land.cpp
void set_mode_land_with_pause(mode_reason_t reason);
bool landing_with_GPS();
// motor_test.cpp
void motor_test_output();
bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc);
MAV_RESULT mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec, uint8_t motor_count);
void motor_test_stop();
// motors.cpp
void arm_motors_check();
void auto_disarm_check();
bool init_arm_motors(bool arming_from_gcs);
void init_disarm_motors();
void motors_output();
void lost_vehicle_check();
// navigation.cpp
void run_nav_updates(void);
int32_t home_bearing();
uint32_t home_distance();
// Parameters.cpp
void load_parameters(void);
void convert_pid_parameters(void);
// position_vector.cpp
Vector3f pv_location_to_vector(const Location& loc);
float pv_alt_above_origin(float alt_above_home_cm);
float pv_alt_above_home(float alt_above_origin_cm);
float pv_distance_to_home_cm(const Vector3f &destination);
// precision_landing.cpp
void init_precland();
void update_precland();
// radio.cpp
void default_dead_zones();
void init_rc_in();
void init_rc_out();
void enable_motor_output();
void read_radio();
void set_throttle_and_failsafe(uint16_t throttle_pwm);
void set_throttle_zero_flag(int16_t throttle_control);
void radio_passthrough_to_motors();
int16_t get_throttle_mid(void);
// sensors.cpp
void read_barometer(void);
void init_rangefinder(void);
void read_rangefinder(void);
bool rangefinder_alt_ok();
void rpm_update();
void init_compass();
void compass_accumulate(void);
void init_optflow();
void update_optical_flow(void);
void compass_cal_update(void);
void accel_cal_update(void);
void init_proximity();
void update_proximity();
void update_sensor_status_flags(void);
void init_visual_odom();
void update_visual_odom();
void winch_init();
void winch_update();
// setup.cpp
void report_compass();
void print_blanks(int16_t num);
void print_divider(void);
void print_enabled(bool b);
void report_version();
// switches.cpp
void read_control_switch();
bool check_if_auxsw_mode_used(uint8_t auxsw_mode_check);
bool check_duplicate_auxsw(void);
void reset_control_switch();
uint8_t read_3pos_switch(uint8_t chan);
void read_aux_switches();
void init_aux_switches();
void init_aux_switch_function(int8_t ch_option, uint8_t ch_flag);
void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag);
bool debounce_aux_switch(uint8_t chan, uint8_t ch_flag);
void save_trim();
void auto_trim();
// system.cpp
void init_ardupilot();
void startup_INS_ground();
bool position_ok();
bool ekf_position_ok();
bool optflow_position_ok();
void update_auto_armed();
void check_usb_mux(void);
bool should_log(uint32_t mask);
void set_default_frame_class();
MAV_TYPE get_frame_mav_type();
const char* get_frame_string();
void allocate_motors(void);
// takeoff.cpp
bool current_mode_has_user_takeoff(bool must_navigate);
bool do_user_takeoff(float takeoff_alt_cm, bool must_navigate);
void takeoff_timer_start(float alt_cm);
void takeoff_stop();
void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate);
void auto_takeoff_set_start_alt(void);
void auto_takeoff_attitude_run(float target_yaw_rate);
// terrain.cpp
void terrain_update();
void terrain_logging();
bool terrain_use();
// tuning.cpp
void tuning();
// UserCode.cpp
void userhook_init();
void userhook_FastLoop();
void userhook_50Hz();
void userhook_MediumLoop();
void userhook_SlowLoop();
void userhook_SuperSlowLoop();
#include "mode.h"
Mode *flightmode;
#if MODE_ACRO_ENABLED == ENABLED
#if FRAME_CONFIG == HELI_FRAME
ModeAcro_Heli mode_acro;
#else
ModeAcro mode_acro;
#endif
#endif
ModeAltHold mode_althold;
#if MODE_AUTO_ENABLED == ENABLED
ModeAuto mode_auto;
#endif
#if AUTOTUNE_ENABLED == ENABLED
ModeAutoTune mode_autotune;
#endif
#if MODE_BRAKE_ENABLED == ENABLED
ModeBrake mode_brake;
#endif
#if MODE_CIRCLE_ENABLED == ENABLED
ModeCircle mode_circle;
#endif
#if MODE_DRIFT_ENABLED == ENABLED
ModeDrift mode_drift;
#endif
ModeFlip mode_flip;
#if MODE_FOLLOW_ENABLED == ENABLED
ModeFollow mode_follow;
#endif
#if MODE_GUIDED_ENABLED == ENABLED
ModeGuided mode_guided;
#endif
ModeLand mode_land;
#if MODE_LOITER_ENABLED == ENABLED
ModeLoiter mode_loiter;
#endif
#if MODE_POSHOLD_ENABLED == ENABLED
ModePosHold mode_poshold;
#endif
#if MODE_RTL_ENABLED == ENABLED
ModeRTL mode_rtl;
#endif
#if FRAME_CONFIG == HELI_FRAME
ModeStabilize_Heli mode_stabilize;
#else
ModeStabilize mode_stabilize;
#endif
#if MODE_SPORT_ENABLED == ENABLED
ModeSport mode_sport;
#endif
#if ADSB_ENABLED == ENABLED
ModeAvoidADSB mode_avoid_adsb;
#endif
#if MODE_THROW_ENABLED == ENABLED
ModeThrow mode_throw;
#endif
#if MODE_GUIDED_NOGPS_ENABLED == ENABLED
ModeGuidedNoGPS mode_guided_nogps;
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED
ModeSmartRTL mode_smartrtl;
#endif
#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
ModeFlowHold mode_flowhold;
#endif
// mode.cpp
Mode *mode_from_mode_num(const uint8_t mode);
void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
public:
void mavlink_delay_cb(); // GCS_Mavlink.cpp
void failsafe_check(); // failsafe.cpp
};
extern const AP_HAL::HAL& hal;
extern Copter copter;
using AP_HAL::millis;
using AP_HAL::micros;
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