mirror of https://github.com/ArduPilot/ardupilot
98 lines
3.2 KiB
C++
98 lines
3.2 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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#include "Sub.h"
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#include "version.h"
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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/*
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constructor for main Sub class
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*/
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Sub::Sub(void) :
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DataFlash {FIRMWARE_STRING, g.log_bitmask},
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mission(ahrs,
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FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)),
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control_mode(MANUAL),
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motors(MAIN_LOOP_RATE),
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scaleLongDown(1),
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auto_mode(Auto_WP),
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guided_mode(Guided_WP),
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circle_pilot_yaw_override(false),
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initial_armed_bearing(0),
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desired_climb_rate(0),
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loiter_time_max(0),
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loiter_time(0),
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climb_rate(0),
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target_rangefinder_alt(0.0f),
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auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
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yaw_look_at_WP_bearing(0.0f),
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yaw_look_at_heading(0),
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yaw_look_at_heading_slew(0),
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yaw_look_ahead_bearing(0.0f),
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condition_value(0),
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condition_start(0),
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G_Dt(MAIN_LOOP_SECONDS),
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inertial_nav(ahrs),
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ahrs_view(ahrs, ROTATION_NONE),
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attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS),
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pos_control(ahrs_view, inertial_nav, motors, attitude_control,
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g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
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g.p_pos_xy, g.pi_vel_xy),
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#if AVOIDANCE_ENABLED == ENABLED
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avoid(ahrs, inertial_nav, fence, g2.proximity),
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#endif
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wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
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circle_nav(inertial_nav, ahrs_view, pos_control),
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pmTest1(0),
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fast_loopTimer(0),
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mainLoop_count(0),
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ServoRelayEvents(relay),
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#if CAMERA == ENABLED
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camera(&relay),
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#endif
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#if MOUNT == ENABLED
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camera_mount(ahrs, current_loc),
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#endif
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#if AC_FENCE == ENABLED
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fence(ahrs, inertial_nav),
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#endif
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#if AC_RALLY == ENABLED
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rally(ahrs),
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#endif
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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terrain(ahrs, mission, rally),
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#endif
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in_mavlink_delay(false),
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gcs_out_of_time(false),
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param_loader(var_info),
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last_pilot_yaw_input_ms(0)
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{
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memset(¤t_loc, 0, sizeof(current_loc));
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// init sensor error logging flags
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sensor_health.baro = true;
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sensor_health.compass = true;
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failsafe.last_heartbeat_ms = 0;
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#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
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failsafe.pilot_input = true;
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#endif
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}
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Sub sub;
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