mirror of https://github.com/ArduPilot/ardupilot
126 lines
3.6 KiB
C++
126 lines
3.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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Lead developers: Matthew Ridley and Andrew Tridgell
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Please contribute your ideas! See http://dev.ardupilot.com for details
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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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#include "Tracker.h"
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
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.function = FUNCTOR_BIND(&tracker, &Tracker::func, void),\
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AP_SCHEDULER_NAME_INITIALIZER(func)\
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.interval_ticks = _interval_ticks,\
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.max_time_micros = _max_time_micros,\
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}
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/*
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scheduler table - all regular tasks apart from the fast_loop()
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should be listed here, along with how often they should be called
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(in 20ms units) and the maximum time they are expected to take (in
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microseconds)
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*/
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const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
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SCHED_TASK(update_ahrs, 1, 1000),
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SCHED_TASK(read_radio, 1, 200),
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SCHED_TASK(update_tracking, 1, 1000),
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SCHED_TASK(update_GPS, 5, 4000),
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SCHED_TASK(update_compass, 5, 1500),
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SCHED_TASK(update_barometer, 5, 1500),
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SCHED_TASK(gcs_update, 1, 1700),
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SCHED_TASK(gcs_data_stream_send, 1, 3000),
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SCHED_TASK(compass_accumulate, 1, 1500),
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SCHED_TASK(barometer_accumulate, 1, 900),
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SCHED_TASK(update_notify, 1, 100),
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SCHED_TASK(check_usb_mux, 5, 300),
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SCHED_TASK(gcs_retry_deferred, 1, 1000),
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SCHED_TASK(one_second_loop, 50, 3900),
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SCHED_TASK(compass_cal_update, 1, 100),
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};
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/**
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setup the sketch - called once on startup
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*/
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void Tracker::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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// initialise notify
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notify.init(false);
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// antenna tracker does not use pre-arm checks or battery failsafe
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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_tracker();
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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 continuously
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*/
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void Tracker::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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// tell the scheduler one tick has passed
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scheduler.tick();
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scheduler.run(19900UL);
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}
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void Tracker::one_second_loop()
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{
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// send a heartbeat
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gcs_send_message(MSG_HEARTBEAT);
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// make it possible to change orientation at runtime
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ahrs.set_orientation();
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// sync MAVLink system ID
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mavlink_system.sysid = g.sysid_this_mav;
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// updated armed/disarmed status LEDs
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update_armed_disarmed();
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one_second_counter++;
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if (one_second_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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one_second_counter = 0;
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}
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}
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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Tracker::Tracker(void)
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{
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memset(¤t_loc, 0, sizeof(current_loc));
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memset(&vehicle, 0, sizeof(vehicle));
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}
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Tracker tracker;
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AP_HAL_MAIN_CALLBACKS(&tracker);
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