ardupilot/AntennaTracker/AntennaTracker.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "AntennaTracker V0.2"
/*
Lead developers: Matthew Ridley and Andrew Tridgell
Please contribute your ideas! See http://dev.ardupilot.com for details
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/>.
*/
////////////////////////////////////////////////////////////////////////////////
// Header includes
////////////////////////////////////////////////////////////////////////////////
#include <math.h>
#include <stdarg.h>
#include <stdio.h>
#include <AP_Common.h>
#include <AP_Progmem.h>
#include <AP_HAL.h>
#include <AP_Param.h>
#include <StorageManager.h>
#include <AP_GPS.h> // ArduPilot GPS library
#include <AP_Baro.h> // ArduPilot barometer library
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h>
#include <AP_InertialSensor.h> // Inertial Sensor Library
#include <AP_AHRS.h> // ArduPilot Mega DCM Library
#include <Filter.h> // Filter library
#include <AP_Buffer.h> // APM FIFO Buffer
#include <memcheck.h>
#include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <DataFlash.h>
#include <SITL.h>
#include <PID.h>
#include <AP_Scheduler.h> // main loop scheduler
#include <AP_NavEKF.h>
#include <AP_Vehicle.h>
#include <AP_Mission.h>
#include <AP_Terrain.h>
#include <AP_Rally.h>
#include <AP_Notify.h> // Notify library
#include <AP_BattMonitor.h> // Battery monitor library
#include <AP_Airspeed.h>
#include <RC_Channel.h>
#include <AP_BoardConfig.h>
#include <AP_OpticalFlow.h>
// Configuration
#include "config.h"
// Local modules
#include "defines.h"
#include "Parameters.h"
#include "GCS.h"
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_PX4.h>
#include <AP_HAL_FLYMAPLE.h>
#include <AP_HAL_Linux.h>
#include <AP_HAL_Empty.h>
AP_HAL::BetterStream* cliSerial;
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
////////////////////////////////////////////////////////////////////////////////
// the rate we run the main loop at
////////////////////////////////////////////////////////////////////////////////
static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
////////////////////////////////////////////////////////////////////////////////
// Parameters
////////////////////////////////////////////////////////////////////////////////
//
// Global parameters are all contained within the 'g' class.
//
static Parameters g;
// main loop scheduler
static AP_Scheduler scheduler;
// notification object for LEDs, buzzers etc
static AP_Notify notify;
static uint32_t start_time_ms;
static bool usb_connected;
////////////////////////////////////////////////////////////////////////////////
// prototypes
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
////////////////////////////////////////////////////////////////////////////////
// Sensors
////////////////////////////////////////////////////////////////////////////////
static AP_GPS gps;
#if CONFIG_BARO == HAL_BARO_BMP085
static AP_Baro_BMP085 barometer;
#elif CONFIG_BARO == HAL_BARO_PX4
static AP_Baro_PX4 barometer;
#elif CONFIG_BARO == HAL_BARO_VRBRAIN
static AP_Baro_VRBRAIN barometer;
#elif CONFIG_BARO == HAL_BARO_HIL
static AP_Baro_HIL barometer;
#elif CONFIG_BARO == HAL_BARO_MS5611
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
#else
#error Unrecognized CONFIG_BARO setting
#endif
#if CONFIG_COMPASS == HAL_COMPASS_PX4
static AP_Compass_PX4 compass;
#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
static AP_Compass_VRBRAIN compass;
#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
static AP_Compass_HMC5843 compass;
#elif CONFIG_COMPASS == HAL_COMPASS_HIL
static AP_Compass_HIL compass;
#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
static AP_Compass_AK8963_MPU9250 compass;
#else
#error Unrecognized CONFIG_COMPASS setting
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 apm1_adc;
#endif
AP_InertialSensor ins;
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs(ins, barometer, gps);
#else
AP_AHRS_DCM ahrs(ins, barometer, gps);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
SITL sitl;
#endif
/**
antenna control channels
*/
static RC_Channel channel_yaw(CH_YAW);
static RC_Channel channel_pitch(CH_PITCH);
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
// board specific config
static AP_BoardConfig BoardConfig;
////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors
// Location structure defined in AP_Common
////////////////////////////////////////////////////////////////////////////////
static struct Location current_loc;
// This is the state of the antenna control system
// There are multiple states defined such as MANUAL, FBW-A, AUTO
static enum ControlMode control_mode = INITIALISING;
////////////////////////////////////////////////////////////////////////////////
// Vehicle state
////////////////////////////////////////////////////////////////////////////////
static struct {
bool location_valid; // true if we have a valid location for the vehicle
Location location; // lat, long in degrees * 10^7; alt in meters * 100
Location location_estimate; // lat, long in degrees * 10^7; alt in meters * 100
uint32_t last_update_us; // last position update in micxroseconds
uint32_t last_update_ms; // last position update in milliseconds
float heading; // last known direction vehicle is moving
float ground_speed; // vehicle's last known ground speed in m/s
} vehicle;
////////////////////////////////////////////////////////////////////////////////
// Navigation controller state
////////////////////////////////////////////////////////////////////////////////
static struct {
float bearing; // bearing to vehicle in centi-degrees
float distance; // distance to vehicle in meters
float pitch; // pitch to vehicle in degrees (positive means vehicle is above tracker, negative means below)
float altitude_difference; // altitude difference between tracker and vehicle in meters. positive value means vehicle is above tracker
float altitude_offset; // offset in meters which is added to tracker altitude to align altitude measurements with vehicle's barometer
bool manual_control_yaw : 1;// true if tracker yaw is under manual control
bool manual_control_pitch : 1;// true if tracker pitch is manually controlled
bool need_altitude_calibration : 1;// true if tracker altitude has not been determined (true after startup)
bool scan_reverse_pitch : 1;// controls direction of pitch movement in SCAN mode
bool scan_reverse_yaw : 1;// controls direction of yaw movement in SCAN mode
} nav_status;
////////////////////////////////////////////////////////////////////////////////
// Servo state
////////////////////////////////////////////////////////////////////////////////
static struct {
bool yaw_lower : 1; // true if yaw servo has been limited from moving to a lower position (i.e. position or rate limited)
bool yaw_upper : 1; // true if yaw servo has been limited from moving to a higher position (i.e. position or rate limited)
bool pitch_lower : 1; // true if pitch servo has been limited from moving to a lower position (i.e. position or rate limited)
bool pitch_upper : 1; // true if pitch servo has been limited from moving to a higher position (i.e. position or rate limited)
} servo_limit;
/*
scheduler table - all regular tasks apart from the fast_loop()
should be listed here, along with how often they should be called
(in 20ms units) and the maximum time they are expected to take (in
microseconds)
*/
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ update_ahrs, 1, 1000 },
{ read_radio, 1, 200 },
{ update_tracking, 1, 1000 },
{ update_GPS, 5, 4000 },
{ update_compass, 5, 1500 },
{ update_barometer, 5, 1500 },
{ gcs_update, 1, 1700 },
{ gcs_data_stream_send, 1, 3000 },
{ compass_accumulate, 1, 1500 },
{ barometer_accumulate, 1, 900 },
{ update_notify, 1, 100 },
{ check_usb_mux, 5, 300 },
{ gcs_retry_deferred, 1, 1000 },
{ one_second_loop, 50, 3900 }
};
// setup the var_info table
AP_Param param_loader(var_info);
/**
setup the sketch - called once on startup
*/
void setup()
{
cliSerial = hal.console;
// load the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults();
// antenna tracker does not use pre-arm checks or battery failsafe
AP_Notify::flags.pre_arm_check = true;
AP_Notify::flags.pre_arm_gps_check = true;
AP_Notify::flags.failsafe_battery = false;
notify.init(false);
init_tracker();
// initialise the main loop scheduler
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
}
/**
loop() is called continuously
*/
void loop()
{
// wait for an INS sample
ins.wait_for_sample();
// tell the scheduler one tick has passed
scheduler.tick();
scheduler.run(19900UL);
}
static void one_second_loop()
{
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
// make it possible to change orientation at runtime
ahrs.set_orientation();
// sync MAVLink system ID
mavlink_system.sysid = g.sysid_this_mav;
// updated armed/disarmed status LEDs
update_armed_disarmed();
static uint8_t counter;
counter++;
if (counter >= 60) {
if(g.compass_enabled) {
compass.save_offsets();
}
counter = 0;
}
}
AP_HAL_MAIN();