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ardupilot/ArduSub/Sub.h

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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 Sub 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>
#include <GCS_MAVLink/GCS.h>
#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
// Application dependencies
#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_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
#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_PID.h> // PID library
#include <AC_PID/AC_PI_2D.h> // PID library (2-axis)
#include <AC_PID/AC_P.h> // P library
#include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
#include <AC_AttitudeControl/AC_PosControl_Sub.h> // Position control library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <AP_Motors/AP_Motors.h> // AP Motors library
#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
#include <Filter/Filter.h> // Filter library
#include <AP_Relay/AP_Relay.h> // APM relay
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Mount/AP_Mount.h> // Camera/Antenna mount
#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> // Waypoint navigation library
#include <AC_WPNav/AC_Circle.h> // circle navigation library
#include <AC_Fence/AC_Fence.h> // Fence library
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#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_Terrain/AP_Terrain.h>
#include <AP_JSButton/AP_JSButton.h> // Joystick/gamepad button function assignment
#include <AP_LeakDetector/AP_LeakDetector.h> // Leak detector
#include <AP_TemperatureSensor/TSYS01.h>
// Local modules
#include "defines.h"
#include "config.h"
#include "GCS_Mavlink.h"
#include "Parameters.h"
#include "AP_Arming_Sub.h"
#include "GCS_Sub.h"
// libraries which are dependent on #defines in defines.h and/or config.h
#if OPTFLOW == ENABLED
#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
#endif
#if RCMAP_ENABLED == ENABLED
#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
#endif
#if RPM_ENABLED == ENABLED
#include <AP_RPM/AP_RPM.h>
#endif
#if GRIPPER_ENABLED == ENABLED
#include <AP_Gripper/AP_Gripper.h> // gripper stuff
#endif
#if PROXIMITY_ENABLED == ENABLED
#include <AP_Proximity/AP_Proximity.h>
#endif
#if AVOIDANCE_ENABLED == ENABLED
#include <AC_Avoidance/AC_Avoid.h> // Stop at fence library
#endif
#if AC_RALLY == ENABLED
#include <AP_Rally/AP_Rally.h> // Rally point library
#endif
#if CAMERA == ENABLED
#include <AP_Camera/AP_Camera.h> // Photo or video camera
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
#endif
class Sub : public AP_HAL::HAL::Callbacks {
public:
friend class GCS_MAVLINK_Sub;
friend class GCS_Sub;
friend class Parameters;
friend class ParametersG2;
friend class AP_Arming_Sub;
Sub(void);
// HAL::Callbacks implementation.
void setup() override;
void loop() override;
private:
// 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;
// AP_Notify instance
AP_Notify notify;
// primary input control channels
RC_Channel *channel_roll;
RC_Channel *channel_pitch;
RC_Channel *channel_throttle;
RC_Channel *channel_yaw;
RC_Channel *channel_forward;
RC_Channel *channel_lateral;
// Dataflash
DataFlash_Class DataFlash;
AP_GPS gps;
AP_LeakDetector leak_detector;
TSYS01 celsius;
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
} rangefinder_state = { false, false, 0, 0 };
#if RPM_ENABLED == ENABLED
AP_RPM rpm_sensor;
#endif
// Inertial Navigation EKF
NavEKF2 EKF2 {&ahrs, barometer, rangefinder};
NavEKF3 EKF3 {&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl;
#endif
// Mission library
AP_Mission mission;
// 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 = 0;
// GCS selection
AP_SerialManager serial_manager;
GCS_Sub _gcs; // avoid using this; use gcs()
GCS_Sub &gcs() { return _gcs; }
// User variables
#ifdef USERHOOK_VARIABLES
# include USERHOOK_VARIABLES
#endif
// Documentation of Globals:
union {
struct {
uint8_t pre_arm_check : 1; // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
uint8_t logging_started : 1; // true if dataflash logging has started
uint8_t compass_mot : 1; // true if we are currently performing compassmot calibration
uint8_t motor_test : 1; // true if we are currently performing the motors test
uint8_t initialised : 1; // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
uint8_t system_time_set : 1; // true if the system time has been set from the GPS
uint8_t gps_base_pos_set : 1; // true when the gps base position has been set (used for RTK gps only)
enum HomeState home_state : 2; // home status (unset, set, locked)
uint8_t at_bottom : 1; // true if we are at the bottom
uint8_t at_surface : 1; // true if we are at the surface
uint8_t depth_sensor_present: 1; // true if there is a depth sensor detected at boot
uint8_t compass_init_location:1; // true when the compass's initial location has been set
};
uint32_t value;
} 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;
#if RCMAP_ENABLED == ENABLED
RCMapper rcmap;
#endif
// board specific config
AP_BoardConfig BoardConfig;
#if HAL_WITH_UAVCAN
// board specific config for CAN bus
AP_BoardConfig_CAN BoardConfig_CAN;
#endif
// Failsafe
struct {
uint8_t pilot_input : 1; // true if pilot input failsafe is active, handles things like joystick being disconnected during operation
uint8_t battery : 1; // 2 // A status flag for the battery failsafe
uint8_t gcs : 1; // 4 // A status flag for the ground station failsafe
uint8_t ekf : 1; // 5 // true if ekf failsafe has occurred
uint8_t terrain : 1; // 6 // true if the missing terrain data failsafe has occurred
uint8_t leak : 1; // true if leak recently detected
uint8_t internal_pressure : 1; // true if internal pressure is over threshold
uint8_t internal_temperature : 1; // true if temperature is over threshold
uint8_t crash : 1; // true if we are crashed
uint8_t sensor_health : 1; // true if at least one sensor has triggered a failsafe (currently only used for depth in depth enabled modes)
uint32_t last_leak_warn_ms; // last time a leak warning was sent to gcs
uint32_t last_gcs_warn_ms;
uint32_t last_heartbeat_ms; // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
uint32_t last_pilot_input_ms; // last time we received pilot input in the form of MANUAL_CONTROL or RC_CHANNELS_OVERRIDE messages
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
uint32_t last_battery_warn_ms; // last time a battery failsafe warning was sent to gcs
uint32_t last_crash_warn_ms; // last time a crash warning was sent to gcs
uint32_t last_ekf_warn_ms; // last time an ekf warning was sent to gcs
} failsafe;
// sensor health for logging
struct {
uint8_t baro : 1; // true if any single baro is healthy
uint8_t depth : 1; // true if depth sensor is healthy
uint8_t compass : 1; // true if compass is healthy
} sensor_health;
// Baro sensor instance index of the external water pressure sensor
uint8_t depth_sensor_idx;
AP_Motors6DOF motors;
// GPS variables
// Sometimes we need to remove the scaling for distance calcs
float scaleLongDown;
// Auto
AutoMode auto_mode; // controls which auto controller is run
// Guided
GuidedMode guided_mode; // controls which controller is run (pos or vel)
// Circle
bool circle_pilot_yaw_override; // true if pilot is overriding yaw
// Stores initial bearing when armed
int32_t initial_armed_bearing;
// Throttle variables
int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
// Loiter control
uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
uint32_t loiter_time; // How long have we been loitering - The start time in millis
// Delay the next navigation command
int32_t nav_delay_time_max; // used for delaying the navigation commands
uint32_t nav_delay_time_start;
// Battery Sensors
AP_BattMonitor battery;
AP_Arming_Sub arming {ahrs, barometer, compass, battery};
// 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
// Turn counter
int32_t quarter_turn_count;
uint8_t last_turn_state;
// 3D Location vectors
// Current location of the Sub (altitude is relative to home)
Location_Class current_loc;
// Navigation Yaw control
// auto flight mode's yaw mode
uint8_t auto_yaw_mode;
// Yaw will point at this location if auto_yaw_mode is set to AUTO_YAW_ROI
Vector3f roi_WP;
// bearing from current location to the yaw_look_at_WP
float yaw_look_at_WP_bearing;
float yaw_xtrack_correct_heading;
// yaw used for YAW_LOOK_AT_HEADING yaw_mode
int32_t yaw_look_at_heading;
// Deg/s we should turn
int16_t yaw_look_at_heading_slew;
// heading when in yaw_look_ahead_bearing
float yaw_look_ahead_bearing;
// Delay Mission Scripting Command
int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
uint32_t condition_start;
// 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;
AP_AHRS_View ahrs_view;
// Attitude, Position and Waypoint navigation objects
// To-Do: move inertial nav up or other navigation variables down here
AC_AttitudeControl_Sub attitude_control;
AC_PosControl_Sub pos_control;
#if AVOIDANCE_ENABLED == ENABLED
AC_Avoid avoid;
#endif
AC_WPNav wp_nav;
AC_Circle circle_nav;
// Performance monitoring
int16_t pmTest1;
// System Timers
// --------------
// Time in microseconds of main control loop
uint32_t fast_loopTimer;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
uint16_t mainLoop_count;
// Reference to the relay object
AP_Relay relay;
// handle repeated servo and relay events
AP_ServoRelayEvents ServoRelayEvents;
// Reference to the camera object (it uses the relay object inside it)
#if CAMERA == ENABLED
AP_Camera camera;
#endif
// Camera/Antenna mount tracking and stabilisation stuff
#if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
AP_Mount camera_mount;
#endif
// AC_Fence library to reduce fly-aways
#if AC_FENCE == ENABLED
AC_Fence fence;
#endif
// Rally library
#if AC_RALLY == ENABLED
AP_Rally rally;
#endif
// terrain handling
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
AP_Terrain terrain;
#endif
// use this to prevent recursion during sensor init
bool in_mavlink_delay;
// true if we are out of time in our event timeslice
bool gcs_out_of_time;
// Top-level logic
// setup the var_info table
AP_Param param_loader;
uint32_t last_pilot_heading;
uint32_t last_pilot_yaw_input_ms;
uint32_t fs_terrain_recover_start_ms = 0;
static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[];
void compass_accumulate(void);
void compass_cal_update(void);
void barometer_accumulate(void);
void perf_update(void);
void fast_loop();
void fifty_hz_loop();
void update_mount();
void update_batt_compass(void);
void ten_hz_logging_loop();
void twentyfive_hz_logging();
void three_hz_loop();
void one_hz_loop();
void update_GPS(void);
void update_turn_counter();
void read_AHRS(void);
void update_altitude();
void set_home_state(enum HomeState new_home_state);
bool home_is_set();
float get_smoothing_gain();
void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
float get_pilot_desired_yaw_rate(int16_t stick_angle);
void check_ekf_yaw_reset();
float get_roi_yaw();
float get_look_ahead_yaw();
float get_pilot_desired_climb_rate(float throttle_control);
float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
void update_poscon_alt_max();
void rotate_body_frame_to_NE(float &x, float &y);
void gcs_send_heartbeat(void);
void gcs_send_deferred(void);
void send_heartbeat(mavlink_channel_t chan);
void send_attitude(mavlink_channel_t chan);
void send_limits_status(mavlink_channel_t chan);
void send_extended_status1(mavlink_channel_t chan);
void send_location(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan);
void send_simstate(mavlink_channel_t chan);
void send_hwstatus(mavlink_channel_t chan);
void send_radio_out(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);
void send_current_waypoint(mavlink_channel_t chan);
#if RPM_ENABLED == ENABLED
void send_rpm(mavlink_channel_t chan);
void rpm_update();
#endif
void send_temperature(mavlink_channel_t chan);
void send_pid_tuning(mavlink_channel_t chan);
void gcs_send_message(enum ap_message id);
void gcs_send_mission_item_reached_message(uint16_t mission_index);
void gcs_data_stream_send(void);
void gcs_check_input(void);
void do_erase_logs(void);
void Log_Write_Current();
void Log_Write_Optflow();
void Log_Write_Nav_Tuning();
void Log_Write_Control_Tuning();
void Log_Write_Performance();
void Log_Write_Attitude();
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_Baro(void);
void Log_Write_Home_And_Origin();
void Log_Sensor_Health();
void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
void Log_Write_Vehicle_Startup_Messages();
void start_logging() ;
void load_parameters(void);
void userhook_init();
void userhook_FastLoop();
void userhook_50Hz();
void userhook_MediumLoop();
void userhook_SlowLoop();
void userhook_SuperSlowLoop();
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();
void exit_mission();
bool verify_loiter_unlimited();
bool verify_loiter_time();
bool verify_wait_delay();
bool verify_within_distance();
bool verify_yaw();
bool acro_init(void);
void acro_run();
void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out);
bool althold_init(void);
void althold_run();
bool auto_init(void);
void auto_run();
void auto_wp_start(const Vector3f& destination);
void auto_wp_start(const Location_Class& dest_loc);
void auto_wp_run();
void auto_spline_run();
void auto_circle_movetoedge_start(const Location_Class &circle_center, float radius_m);
void auto_circle_start();
void auto_circle_run();
void auto_nav_guided_start();
void auto_nav_guided_run();
bool auto_loiter_start();
void auto_loiter_run();
uint8_t get_default_auto_yaw_mode(bool rtl);
void set_auto_yaw_mode(uint8_t yaw_mode);
void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle);
void set_auto_yaw_roi(const Location &roi_location);
float get_auto_heading(void);
bool circle_init(void);
void circle_run();
bool guided_init(bool ignore_checks = false);
void guided_pos_control_start();
void guided_vel_control_start();
void guided_posvel_control_start();
void guided_angle_control_start();
bool guided_set_destination(const Vector3f& destination);
bool guided_set_destination(const Location_Class& dest_loc);
void guided_set_velocity(const Vector3f& velocity);
void guided_set_destination_posvel(const Vector3f& destination, const Vector3f& velocity);
void guided_set_angle(const Quaternion &q, float climb_rate_cms);
void guided_run();
void guided_pos_control_run();
void guided_vel_control_run();
void guided_posvel_control_run();
void guided_angle_control_run();
void guided_limit_clear();
void guided_limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm);
void guided_limit_init_time_and_pos();
bool guided_limit_check();
bool poshold_init(void);
void poshold_run();
bool stabilize_init(void);
void stabilize_run();
bool manual_init(void);
void manual_run();
void failsafe_sensors_check(void);
void failsafe_crash_check();
void failsafe_ekf_check(void);
void failsafe_battery_check(void);
void failsafe_gcs_check();
void failsafe_pilot_input_check(void);
void set_neutral_controls(void);
void failsafe_terrain_check();
void failsafe_terrain_set_status(bool data_ok);
void failsafe_terrain_on_event();
void mainloop_failsafe_enable();
void mainloop_failsafe_disable();
void fence_check();
void fence_send_mavlink_status(mavlink_channel_t chan);
bool set_mode(control_mode_t mode, mode_reason_t reason);
bool gcs_set_mode(uint8_t mode) {
return set_mode((control_mode_t)mode, MODE_REASON_GCS_COMMAND);
}
void update_flight_mode();
void exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode);
bool mode_requires_GPS(control_mode_t mode);
bool mode_has_manual_throttle(control_mode_t mode);
bool mode_allows_arming(control_mode_t mode, bool arming_from_gcs);
void notify_flight_mode(control_mode_t mode);
void read_inertia();
void update_surface_and_bottom_detector();
void set_surfaced(bool at_surface);
void set_bottomed(bool at_bottom);
void update_notify();
bool init_arm_motors(bool arming_from_gcs);
void init_disarm_motors();
void motors_output();
void perf_info_reset();
void perf_ignore_this_loop();
void perf_info_check_loop_time(uint32_t time_in_micros);
uint16_t perf_info_get_num_loops();
uint32_t perf_info_get_max_time();
uint32_t perf_info_get_min_time();
uint16_t perf_info_get_num_long_running();
uint32_t perf_info_get_num_dropped();
Vector3f pv_location_to_vector(const Location& loc);
float pv_alt_above_origin(float alt_above_home_cm);
float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination);
float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination);
void init_rc_in();
void init_rc_out();
void enable_motor_output();
void init_joystick();
void transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons);
void handle_jsbutton_press(uint8_t button,bool shift=false,bool held=false);
JSButton* get_button(uint8_t index);
void default_js_buttons(void);
void init_barometer(bool save);
void read_barometer(void);
void init_rangefinder(void);
void read_rangefinder(void);
bool rangefinder_alt_ok(void);
void init_compass();
#if OPTFLOW == ENABLED
void init_optflow();
void update_optical_flow(void);
#endif
void read_battery(void);
#if GRIPPER_ENABLED == ENABLED
void gripper_update();
#endif
void terrain_update();
void terrain_logging();
bool terrain_use();
void init_ardupilot();
void startup_INS_ground();
bool calibrate_gyros();
bool position_ok();
bool ekf_position_ok();
bool optflow_position_ok();
bool should_log(uint32_t mask);
bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd);
bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
bool do_guided(const AP_Mission::Mission_Command& cmd);
void do_nav_wp(const AP_Mission::Mission_Command& cmd);
void do_surface(const AP_Mission::Mission_Command& cmd);
void do_RTL(void);
void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
void do_circle(const AP_Mission::Mission_Command& cmd);
void do_loiter_time(const AP_Mission::Mission_Command& cmd);
void do_spline_wp(const AP_Mission::Mission_Command& cmd);
#if NAV_GUIDED == ENABLED
void do_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
void do_guided_limits(const AP_Mission::Mission_Command& cmd);
#endif
void do_nav_delay(const AP_Mission::Mission_Command& cmd);
void do_wait_delay(const AP_Mission::Mission_Command& cmd);
void do_within_distance(const AP_Mission::Mission_Command& cmd);
void do_yaw(const AP_Mission::Mission_Command& cmd);
void do_change_speed(const AP_Mission::Mission_Command& cmd);
void do_set_home(const AP_Mission::Mission_Command& cmd);
void do_roi(const AP_Mission::Mission_Command& cmd);
void do_mount_control(const AP_Mission::Mission_Command& cmd);
#if CAMERA == ENABLED
void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
void do_digicam_control(const AP_Mission::Mission_Command& cmd);
void do_take_picture();
void log_picture();
void update_trigger();
#endif
#if GRIPPER_ENABLED == ENABLED
void do_gripper(const AP_Mission::Mission_Command& cmd);
#endif
bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
bool verify_surface(const AP_Mission::Mission_Command& cmd);
bool verify_RTL(void);
bool verify_circle(const AP_Mission::Mission_Command& cmd);
bool verify_spline_wp(const AP_Mission::Mission_Command& cmd);
#if NAV_GUIDED == ENABLED
bool verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
#endif
bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
void auto_spline_start(const Location_Class& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location_Class& next_destination);
void log_init(void);
void init_capabilities(void);
void dataflash_periodic(void);
void accel_cal_update(void);
void failsafe_leak_check();
void failsafe_internal_pressure_check();
void failsafe_internal_temperature_check();
void failsafe_terrain_act(void);
bool auto_terrain_recover_start(void);
void auto_terrain_recover_run(void);
void translate_wpnav_rp(float &lateral_out, float &forward_out);
void translate_circle_nav_rp(float &lateral_out, float &forward_out);
void translate_pos_control_rp(float &lateral_out, float &forward_out);
bool surface_init(void);
void surface_run();
void convert_old_parameters(void);
public:
void mavlink_delay_cb();
void mainloop_failsafe_check();
};
extern const AP_HAL::HAL& hal;
extern Sub sub;
using AP_HAL::millis;
using AP_HAL::micros;
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