mirror of https://github.com/ArduPilot/ardupilot
233 lines
8.8 KiB
C++
233 lines
8.8 KiB
C++
/*
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Lead developers: Matthew Ridley and Andrew Tridgell
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Please contribute your ideas! See https://ardupilot.org/dev 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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#pragma once
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////////////////////////////////////////////////////////////////////////////////
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// Header includes
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////////////////////////////////////////////////////////////////////////////////
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#include <cmath>
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#include <stdarg.h>
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#include <stdio.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_AHRS/AP_AHRS.h> // ArduPilot Mega DCM Library
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#include <Filter/Filter.h> // Filter library
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#include <AP_Logger/AP_Logger.h>
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#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
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#include <AP_NavEKF2/AP_NavEKF2.h>
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#include <AP_NavEKF3/AP_NavEKF3.h>
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#include <SRV_Channel/SRV_Channel.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
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// Configuration
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#include "config.h"
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#include "defines.h"
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#include "RC_Channel.h"
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#include "Parameters.h"
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#include "GCS_Mavlink.h"
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#include "GCS_Tracker.h"
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#include "AP_Arming.h"
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#include "mode.h"
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class Tracker : public AP_Vehicle {
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public:
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friend class GCS_MAVLINK_Tracker;
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friend class GCS_Tracker;
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friend class Parameters;
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friend class ModeAuto;
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friend class ModeGuided;
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friend class Mode;
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void arm_servos();
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void disarm_servos();
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private:
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Parameters g;
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uint32_t start_time_ms = 0;
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/**
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antenna control channels
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*/
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RC_Channels_Tracker rc_channels;
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SRV_Channels servo_channels;
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LowPassFilterFloat yaw_servo_out_filt;
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LowPassFilterFloat pitch_servo_out_filt;
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bool yaw_servo_out_filt_init = false;
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bool pitch_servo_out_filt_init = false;
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GCS_Tracker _gcs; // avoid using this; use gcs()
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GCS_Tracker &gcs() { return _gcs; }
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// Battery Sensors
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AP_BattMonitor battery{MASK_LOG_CURRENT,
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FUNCTOR_BIND_MEMBER(&Tracker::handle_battery_failsafe, void, const char*, const int8_t),
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nullptr};
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Location current_loc;
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Mode *mode_from_mode_num(enum Mode::Number num);
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Mode *mode = &mode_initialising;
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ModeAuto mode_auto;
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ModeInitialising mode_initialising;
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ModeManual mode_manual;
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ModeGuided mode_guided;
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ModeScan mode_scan;
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ModeServoTest mode_servotest;
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ModeStop mode_stop;
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// Vehicle state
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struct {
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bool location_valid; // true if we have a valid location for the vehicle
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Location location; // lat, long in degrees * 10^7; alt in meters * 100
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Location location_estimate; // lat, long in degrees * 10^7; alt in meters * 100
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uint32_t last_update_us; // last position update in microseconds
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uint32_t last_update_ms; // last position update in milliseconds
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Vector3f vel; // the vehicle's velocity in m/s
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int32_t relative_alt; // the vehicle's relative altitude in meters * 100
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} vehicle;
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// Navigation controller state
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struct NavStatus {
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float bearing; // bearing to vehicle in centi-degrees
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float distance; // distance to vehicle in meters
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float pitch; // pitch to vehicle in degrees (positive means vehicle is above tracker, negative means below)
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float angle_error_pitch; // angle error between target and current pitch in centi-degrees
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float angle_error_yaw; // angle error between target and current yaw in centi-degrees
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float alt_difference_baro; // altitude difference between tracker and vehicle in meters according to the barometer. positive value means vehicle is above tracker
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float alt_difference_gps; // altitude difference between tracker and vehicle in meters according to the gps. positive value means vehicle is above tracker
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float altitude_offset; // offset in meters which is added to tracker altitude to align altitude measurements with vehicle's barometer
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bool manual_control_yaw : 1;// true if tracker yaw is under manual control
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bool manual_control_pitch : 1;// true if tracker pitch is manually controlled
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bool need_altitude_calibration : 1;// true if tracker altitude has not been determined (true after startup)
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bool scan_reverse_pitch : 1;// controls direction of pitch movement in SCAN mode
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bool scan_reverse_yaw : 1;// controls direction of yaw movement in SCAN mode
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} nav_status;
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// setup the var_info table
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AP_Param param_loader{var_info};
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bool target_set = false;
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bool stationary = true; // are we using the start lat and log?
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static const AP_Scheduler::Task scheduler_tasks[];
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static const AP_Param::Info var_info[];
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static const struct LogStructure log_structure[];
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// Tracker.cpp
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void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
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uint8_t &task_count,
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uint32_t &log_bit) override;
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void one_second_loop();
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void ten_hz_logging_loop();
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void stats_update();
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// GCS_Mavlink.cpp
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void send_nav_controller_output(mavlink_channel_t chan);
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#if HAL_LOGGING_ENABLED
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// methods for AP_Vehicle:
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const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
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const struct LogStructure *get_log_structures() const override {
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return log_structure;
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}
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uint8_t get_num_log_structures() const override;
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// Log.cpp
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void Log_Write_Attitude();
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void Log_Write_Vehicle_Baro(float pressure, float altitude);
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void Log_Write_Vehicle_Pos(int32_t lat,int32_t lng,int32_t alt, const Vector3f& vel);
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void Log_Write_Vehicle_Startup_Messages();
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#endif
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// Parameters.cpp
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void load_parameters(void) override;
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// radio.cpp
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void read_radio();
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// sensors.cpp
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void update_ahrs();
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void compass_save();
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void update_compass(void);
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void update_GPS(void);
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void handle_battery_failsafe(const char* type_str, const int8_t action);
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// servos.cpp
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void init_servos();
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void update_pitch_servo(float pitch);
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void update_pitch_position_servo(void);
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void update_pitch_onoff_servo(float pitch) const;
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void update_pitch_cr_servo(float pitch);
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void update_yaw_servo(float yaw);
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void update_yaw_position_servo(void);
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void update_yaw_onoff_servo(float yaw) const;
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void update_yaw_cr_servo(float yaw);
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// system.cpp
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void init_ardupilot() override;
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bool get_home_eeprom(Location &loc) const;
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bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
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bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
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bool set_home(const Location &temp, bool lock) override WARN_IF_UNUSED;
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void prepare_servos();
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void set_mode(Mode &newmode, ModeReason reason);
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bool set_mode(uint8_t new_mode, ModeReason reason) override;
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uint8_t get_mode() const override { return (uint8_t)mode->number(); }
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bool should_log(uint32_t mask);
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bool start_command_callback(const AP_Mission::Mission_Command& cmd) { return false; }
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void exit_mission_callback() { return; }
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bool verify_command_callback(const AP_Mission::Mission_Command& cmd) { return false; }
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// tracking.cpp
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void update_vehicle_pos_estimate();
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void update_tracker_position();
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void update_bearing_and_distance();
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void update_tracking(void);
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void tracking_update_position(const mavlink_global_position_int_t &msg);
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void tracking_update_pressure(const mavlink_scaled_pressure_t &msg);
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void tracking_manual_control(const mavlink_manual_control_t &msg);
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void update_armed_disarmed() const;
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bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const override;
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// Arming/Disarming management class
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AP_Arming_Tracker arming;
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// Mission library
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AP_Mission mission{
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FUNCTOR_BIND_MEMBER(&Tracker::start_command_callback, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Tracker::verify_command_callback, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Tracker::exit_mission_callback, void)};
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};
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extern Tracker tracker;
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