mirror of https://github.com/ArduPilot/ardupilot
900 lines
28 KiB
Plaintext
900 lines
28 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#define THISFIRMWARE "ArduRover v2.49"
|
|
/*
|
|
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/>.
|
|
*/
|
|
|
|
/*
|
|
This is the APMrover2 firmware. It was originally derived from
|
|
ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
|
|
AP_HAL merge by Andrew Tridgell
|
|
|
|
Maintainer: Andrew Tridgell
|
|
|
|
Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin
|
|
|
|
Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier
|
|
|
|
APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
|
|
|
|
Please contribute your ideas! See http://dev.ardupilot.com for details
|
|
*/
|
|
|
|
// Radio setup:
|
|
// APM INPUT (Rec = receiver)
|
|
// Rec ch1: Steering
|
|
// Rec ch2: not used
|
|
// Rec ch3: Throttle
|
|
// Rec ch4: not used
|
|
// Rec ch5: not used
|
|
// Rec ch6: not used
|
|
// Rec ch7: Option channel to 2 position switch
|
|
// Rec ch8: Mode channel to 6 position switch
|
|
// APM OUTPUT
|
|
// Ch1: Wheel servo (direction)
|
|
// Ch2: not used
|
|
// Ch3: to the motor ESC
|
|
// Ch4: not used
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Header includes
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#include <math.h>
|
|
#include <stdarg.h>
|
|
#include <stdio.h>
|
|
|
|
// Libraries
|
|
#include <AP_Common.h>
|
|
#include <AP_Progmem.h>
|
|
#include <AP_HAL.h>
|
|
#include <AP_Menu.h>
|
|
#include <AP_Param.h>
|
|
#include <StorageManager.h>
|
|
#include <AP_GPS.h> // ArduPilot GPS library
|
|
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
|
|
#include <AP_ADC_AnalogSource.h>
|
|
#include <AP_Baro.h>
|
|
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
|
|
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
|
#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
|
|
#include <AP_AHRS.h> // ArduPilot Mega DCM Library
|
|
#include <AP_NavEKF.h>
|
|
#include <AP_Mission.h> // Mission command library
|
|
#include <AP_Rally.h>
|
|
#include <AP_Terrain.h>
|
|
#include <PID.h> // PID library
|
|
#include <RC_Channel.h> // RC Channel Library
|
|
#include <AP_RangeFinder.h> // Range finder library
|
|
#include <Filter.h> // Filter library
|
|
#include <Butter.h> // Filter library - butterworth filter
|
|
#include <AP_Buffer.h> // FIFO buffer library
|
|
#include <ModeFilter.h> // Mode Filter from Filter library
|
|
#include <AverageFilter.h> // Mode Filter from Filter library
|
|
#include <AP_Relay.h> // APM relay
|
|
#include <AP_ServoRelayEvents.h>
|
|
#include <AP_Mount.h> // Camera/Antenna mount
|
|
#include <AP_Camera.h> // Camera triggering
|
|
#include <GCS_MAVLink.h> // MAVLink GCS definitions
|
|
#include <AP_SerialManager.h> // Serial manager library
|
|
#include <AP_Airspeed.h> // needed for AHRS build
|
|
#include <AP_Vehicle.h> // needed for AHRS build
|
|
#include <DataFlash.h>
|
|
#include <AP_RCMapper.h> // RC input mapping library
|
|
#include <SITL.h>
|
|
#include <AP_Scheduler.h> // main loop scheduler
|
|
#include <stdarg.h>
|
|
#include <AP_Navigation.h>
|
|
#include <APM_Control.h>
|
|
#include <AP_L1_Control.h>
|
|
#include <AP_BoardConfig.h>
|
|
#include <AP_Frsky_Telem.h>
|
|
|
|
#include <AP_HAL_AVR.h>
|
|
#include <AP_HAL_SITL.h>
|
|
#include <AP_HAL_PX4.h>
|
|
#include <AP_HAL_VRBRAIN.h>
|
|
#include <AP_HAL_FLYMAPLE.h>
|
|
#include <AP_HAL_Linux.h>
|
|
#include <AP_HAL_Empty.h>
|
|
#include "compat.h"
|
|
|
|
#include <AP_Notify.h> // Notify library
|
|
#include <AP_BattMonitor.h> // Battery monitor library
|
|
#include <AP_OpticalFlow.h> // Optical Flow library
|
|
|
|
// Configuration
|
|
#include "config.h"
|
|
|
|
// Local modules
|
|
#include "defines.h"
|
|
#include "Parameters.h"
|
|
#include "GCS.h"
|
|
|
|
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
|
|
|
|
AP_HAL::BetterStream* cliSerial;
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
|
|
|
|
// this sets up the parameter table, and sets the default values. This
|
|
// must be the first AP_Param variable declared to ensure its
|
|
// constructor runs before the constructors of the other AP_Param
|
|
// variables
|
|
AP_Param param_loader(var_info);
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// 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;
|
|
|
|
// mapping between input channels
|
|
static RCMapper rcmap;
|
|
|
|
// board specific config
|
|
static AP_BoardConfig BoardConfig;
|
|
|
|
// primary control channels
|
|
static RC_Channel *channel_steer;
|
|
static RC_Channel *channel_throttle;
|
|
static RC_Channel *channel_learn;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// prototypes
|
|
static void update_events(void);
|
|
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
|
|
static void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// DataFlash
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
|
|
static DataFlash_APM1 DataFlash;
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
|
|
static DataFlash_APM2 DataFlash;
|
|
#elif defined(HAL_BOARD_LOG_DIRECTORY)
|
|
static DataFlash_File DataFlash(HAL_BOARD_LOG_DIRECTORY);
|
|
#else
|
|
DataFlash_Empty DataFlash;
|
|
#endif
|
|
|
|
static bool in_log_download;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Sensors
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// There are three basic options related to flight sensor selection.
|
|
//
|
|
// - Normal driving mode. Real sensors are used.
|
|
// - HIL Attitude mode. Most sensors are disabled, as the HIL
|
|
// protocol supplies attitude information directly.
|
|
// - HIL Sensors mode. Synthetic sensors are configured that
|
|
// supply data from the simulation.
|
|
//
|
|
|
|
// GPS driver
|
|
static AP_GPS gps;
|
|
|
|
// flight modes convenience array
|
|
static AP_Int8 *modes = &g.mode1;
|
|
|
|
static AP_Baro barometer;
|
|
|
|
Compass compass;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
|
|
AP_ADC_ADS7844 apm1_adc;
|
|
#endif
|
|
|
|
AP_InertialSensor ins;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// SONAR
|
|
static RangeFinder sonar;
|
|
|
|
// Inertial Navigation EKF
|
|
#if AP_AHRS_NAVEKF_AVAILABLE
|
|
AP_AHRS_NavEKF ahrs(ins, barometer, gps, sonar);
|
|
#else
|
|
AP_AHRS_DCM ahrs(ins, barometer, gps);
|
|
#endif
|
|
|
|
static AP_L1_Control L1_controller(ahrs);
|
|
|
|
// selected navigation controller
|
|
static AP_Navigation *nav_controller = &L1_controller;
|
|
|
|
// steering controller
|
|
static AP_SteerController steerController(ahrs);
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Mission library
|
|
// forward declaration to avoid compiler errors
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
static bool start_command(const AP_Mission::Mission_Command& cmd);
|
|
static bool verify_command(const AP_Mission::Mission_Command& cmd);
|
|
static void exit_mission();
|
|
AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
|
|
|
|
static OpticalFlow optflow;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
SITL sitl;
|
|
#endif
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// GCS selection
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
static AP_SerialManager serial_manager;
|
|
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
|
|
static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
|
|
|
|
// a pin for reading the receiver RSSI voltage. The scaling by 0.25
|
|
// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
|
|
AP_HAL::AnalogSource *rssi_analog_source;
|
|
|
|
// relay support
|
|
AP_Relay relay;
|
|
|
|
AP_ServoRelayEvents ServoRelayEvents(relay);
|
|
|
|
// Camera
|
|
#if CAMERA == ENABLED
|
|
static AP_Camera camera(&relay);
|
|
#endif
|
|
|
|
// The rover's current location
|
|
static struct Location current_loc;
|
|
|
|
|
|
// 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(ahrs, current_loc);
|
|
#endif
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Global variables
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
// if USB is connected
|
|
static bool usb_connected;
|
|
|
|
/* Radio values
|
|
Channel assignments
|
|
1 Steering
|
|
2 ---
|
|
3 Throttle
|
|
4 ---
|
|
5 Aux5
|
|
6 Aux6
|
|
7 Aux7/learn
|
|
8 Aux8/Mode
|
|
Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
|
|
See libraries/RC_Channel/RC_Channel_aux.h for more information
|
|
*/
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Radio
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// This is the state of the flight control system
|
|
// There are multiple states defined such as MANUAL, FBW-A, AUTO
|
|
enum mode control_mode = INITIALISING;
|
|
// Used to maintain the state of the previous control switch position
|
|
// This is set to -1 when we need to re-read the switch
|
|
uint8_t oldSwitchPosition;
|
|
// These are values received from the GCS if the user is using GCS joystick
|
|
// control and are substituted for the values coming from the RC radio
|
|
static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
|
|
// A flag if GCS joystick control is in use
|
|
static bool rc_override_active = false;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Failsafe
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// A tracking variable for type of failsafe active
|
|
// Used for failsafe based on loss of RC signal or GCS signal. See
|
|
// FAILSAFE_EVENT_*
|
|
static struct {
|
|
uint8_t bits;
|
|
uint32_t rc_override_timer;
|
|
uint32_t start_time;
|
|
uint8_t triggered;
|
|
uint32_t last_valid_rc_ms;
|
|
} failsafe;
|
|
|
|
// notification object for LEDs, buzzers etc (parameter set to false disables external leds)
|
|
static AP_Notify notify;
|
|
|
|
// A counter used to count down valid gps fixes to allow the gps estimate to settle
|
|
// before recording our home position (and executing a ground start if we booted with an air start)
|
|
static uint8_t ground_start_count = 20;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Location & Navigation
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Constants
|
|
const float radius_of_earth = 6378100; // meters
|
|
|
|
|
|
// true if we have a position estimate from AHRS
|
|
static bool have_position;
|
|
|
|
static bool rtl_complete = false;
|
|
|
|
|
|
// angle of our next navigation waypoint
|
|
static int32_t next_navigation_leg_cd;
|
|
|
|
// ground speed error in m/s
|
|
static float groundspeed_error;
|
|
// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
|
|
static int16_t throttle_nudge = 0;
|
|
|
|
// receiver RSSI
|
|
static uint8_t receiver_rssi;
|
|
|
|
// the time when the last HEARTBEAT message arrived from a GCS
|
|
static uint32_t last_heartbeat_ms;
|
|
|
|
// obstacle detection information
|
|
static struct {
|
|
// have we detected an obstacle?
|
|
uint8_t detected_count;
|
|
float turn_angle;
|
|
uint16_t sonar1_distance_cm;
|
|
uint16_t sonar2_distance_cm;
|
|
|
|
// time when we last detected an obstacle, in milliseconds
|
|
uint32_t detected_time_ms;
|
|
} obstacle;
|
|
|
|
// this is set to true when auto has been triggered to start
|
|
static bool auto_triggered;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Ground speed
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The amount current ground speed is below min ground speed. meters per second
|
|
static float ground_speed = 0;
|
|
static int16_t throttle_last = 0, throttle = 500;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// CH7 control
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
// Used to track the CH7 toggle state.
|
|
// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true
|
|
// This allows advanced functionality to know when to execute
|
|
static bool ch7_flag;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Battery Sensors
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
static AP_BattMonitor battery;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Battery Sensors
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
#if FRSKY_TELEM_ENABLED == ENABLED
|
|
static AP_Frsky_Telem frsky_telemetry(ahrs, battery);
|
|
#endif
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Navigation control variables
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The instantaneous desired lateral acceleration in m/s/s
|
|
static float lateral_acceleration;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Waypoint distances
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Distance between rover and next waypoint. Meters
|
|
static float wp_distance;
|
|
// Distance between previous and next waypoint. Meters
|
|
static int32_t wp_totalDistance;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Conditional command
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// A value used in condition commands (eg delay, change alt, etc.)
|
|
// For example in a change altitude command, it is the altitude to change to.
|
|
static int32_t condition_value;
|
|
// A starting value used to check the status of a conditional command.
|
|
// For example in a delay command the condition_start records that start time for the delay
|
|
static int32_t condition_start;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// 3D Location vectors
|
|
// Location structure defined in AP_Common
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The home location used for RTL. The location is set when we first get stable GPS lock
|
|
static const struct Location &home = ahrs.get_home();
|
|
// Flag for if we have gps lock and have set the home location
|
|
static bool home_is_set;
|
|
// The location of the previous waypoint. Used for track following and altitude ramp calculations
|
|
static struct Location prev_WP;
|
|
// The location of the current/active waypoint. Used for track following
|
|
static struct Location next_WP;
|
|
// The location of the active waypoint in Guided mode.
|
|
static struct Location guided_WP;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// IMU variables
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The main loop execution time. Seconds
|
|
//This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
|
|
static float G_Dt = 0.02;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Performance monitoring
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Timer used to accrue data and trigger recording of the performanc monitoring log message
|
|
static int32_t perf_mon_timer;
|
|
// The maximum main loop execution time recorded in the current performance monitoring interval
|
|
static uint32_t G_Dt_max;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// System Timers
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Time in microseconds of start of main control loop.
|
|
static uint32_t fast_loopTimer_us;
|
|
// Number of milliseconds used in last main loop cycle
|
|
static uint32_t delta_us_fast_loop;
|
|
// Counter of main loop executions. Used for performance monitoring and failsafe processing
|
|
static uint16_t mainLoop_count;
|
|
|
|
// set if we are driving backwards
|
|
static bool in_reverse;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Top-level logic
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
/*
|
|
scheduler table - all regular tasks 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 = {
|
|
{ read_radio, 1, 1000 },
|
|
{ ahrs_update, 1, 6400 },
|
|
{ read_sonars, 1, 2000 },
|
|
{ update_current_mode, 1, 1500 },
|
|
{ set_servos, 1, 1500 },
|
|
{ update_GPS_50Hz, 1, 2500 },
|
|
{ update_GPS_10Hz, 5, 2500 },
|
|
{ update_alt, 5, 3400 },
|
|
{ navigate, 5, 1600 },
|
|
{ update_compass, 5, 2000 },
|
|
{ update_commands, 5, 1000 },
|
|
{ update_logging1, 5, 1000 },
|
|
{ update_logging2, 5, 1000 },
|
|
{ gcs_retry_deferred, 1, 1000 },
|
|
{ gcs_update, 1, 1700 },
|
|
{ gcs_data_stream_send, 1, 3000 },
|
|
{ read_control_switch, 15, 1000 },
|
|
{ read_trim_switch, 5, 1000 },
|
|
{ read_battery, 5, 1000 },
|
|
{ read_receiver_rssi, 5, 1000 },
|
|
{ update_events, 1, 1000 },
|
|
{ check_usb_mux, 15, 1000 },
|
|
{ mount_update, 1, 600 },
|
|
{ gcs_failsafe_check, 5, 600 },
|
|
{ compass_accumulate, 1, 900 },
|
|
{ update_notify, 1, 300 },
|
|
{ one_second_loop, 50, 3000 },
|
|
#if FRSKY_TELEM_ENABLED == ENABLED
|
|
{ frsky_telemetry_send, 10, 100 }
|
|
#endif
|
|
};
|
|
|
|
|
|
/*
|
|
setup is called when the sketch starts
|
|
*/
|
|
void setup() {
|
|
cliSerial = hal.console;
|
|
|
|
// load the default values of variables listed in var_info[]
|
|
AP_Param::setup_sketch_defaults();
|
|
|
|
notify.init(false);
|
|
|
|
// rover does not use arming nor pre-arm checks
|
|
AP_Notify::flags.armed = true;
|
|
AP_Notify::flags.pre_arm_check = true;
|
|
AP_Notify::flags.pre_arm_gps_check = true;
|
|
AP_Notify::flags.failsafe_battery = false;
|
|
|
|
rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
|
|
|
|
init_ardupilot();
|
|
|
|
// initialise the main loop scheduler
|
|
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
|
|
}
|
|
|
|
/*
|
|
loop() is called rapidly while the sketch is running
|
|
*/
|
|
void loop()
|
|
{
|
|
// wait for an INS sample
|
|
ins.wait_for_sample();
|
|
|
|
uint32_t timer = hal.scheduler->micros();
|
|
|
|
delta_us_fast_loop = timer - fast_loopTimer_us;
|
|
G_Dt = delta_us_fast_loop * 1.0e-6f;
|
|
fast_loopTimer_us = timer;
|
|
|
|
if (delta_us_fast_loop > G_Dt_max)
|
|
G_Dt_max = delta_us_fast_loop;
|
|
|
|
mainLoop_count++;
|
|
|
|
// tell the scheduler one tick has passed
|
|
scheduler.tick();
|
|
|
|
scheduler.run(19500U);
|
|
}
|
|
|
|
// update AHRS system
|
|
static void ahrs_update()
|
|
{
|
|
hal.util->set_soft_armed(hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
// update hil before AHRS update
|
|
gcs_update();
|
|
#endif
|
|
|
|
// when in reverse we need to tell AHRS not to assume we are a
|
|
// 'fly forward' vehicle, otherwise it will see a large
|
|
// discrepancy between the mag and the GPS heading and will try to
|
|
// correct for it, leading to a large yaw error
|
|
ahrs.set_fly_forward(!in_reverse);
|
|
|
|
ahrs.update();
|
|
|
|
// if using the EKF get a speed update now (from accelerometers)
|
|
Vector3f velocity;
|
|
if (ahrs.get_velocity_NED(velocity)) {
|
|
ground_speed = pythagorous2(velocity.x, velocity.y);
|
|
}
|
|
|
|
if (should_log(MASK_LOG_ATTITUDE_FAST))
|
|
Log_Write_Attitude();
|
|
|
|
if (should_log(MASK_LOG_IMU))
|
|
DataFlash.Log_Write_IMU(ins);
|
|
}
|
|
|
|
/*
|
|
update camera mount - 50Hz
|
|
*/
|
|
static void mount_update(void)
|
|
{
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update();
|
|
#endif
|
|
#if CAMERA == ENABLED
|
|
camera.trigger_pic_cleanup();
|
|
#endif
|
|
}
|
|
|
|
static void update_alt()
|
|
{
|
|
barometer.update();
|
|
if (should_log(MASK_LOG_IMU)) {
|
|
Log_Write_Baro();
|
|
}
|
|
}
|
|
|
|
/*
|
|
check for GCS failsafe - 10Hz
|
|
*/
|
|
static void gcs_failsafe_check(void)
|
|
{
|
|
if (g.fs_gcs_enabled) {
|
|
failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000);
|
|
}
|
|
}
|
|
|
|
/*
|
|
if the compass is enabled then try to accumulate a reading
|
|
*/
|
|
static void compass_accumulate(void)
|
|
{
|
|
if (g.compass_enabled) {
|
|
compass.accumulate();
|
|
}
|
|
}
|
|
|
|
/*
|
|
check for new compass data - 10Hz
|
|
*/
|
|
static void update_compass(void)
|
|
{
|
|
if (g.compass_enabled && compass.read()) {
|
|
ahrs.set_compass(&compass);
|
|
// update offsets
|
|
compass.learn_offsets();
|
|
if (should_log(MASK_LOG_COMPASS)) {
|
|
DataFlash.Log_Write_Compass(compass);
|
|
}
|
|
} else {
|
|
ahrs.set_compass(NULL);
|
|
}
|
|
}
|
|
|
|
/*
|
|
log some key data - 10Hz
|
|
*/
|
|
static void update_logging1(void)
|
|
{
|
|
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST))
|
|
Log_Write_Attitude();
|
|
|
|
if (should_log(MASK_LOG_CTUN))
|
|
Log_Write_Control_Tuning();
|
|
|
|
if (should_log(MASK_LOG_NTUN))
|
|
Log_Write_Nav_Tuning();
|
|
}
|
|
|
|
/*
|
|
log some key data - 10Hz
|
|
*/
|
|
static void update_logging2(void)
|
|
{
|
|
if (should_log(MASK_LOG_STEERING)) {
|
|
if (control_mode == STEERING || control_mode == AUTO || control_mode == RTL || control_mode == GUIDED) {
|
|
Log_Write_Steering();
|
|
}
|
|
}
|
|
|
|
if (should_log(MASK_LOG_RC))
|
|
Log_Write_RC();
|
|
}
|
|
|
|
|
|
/*
|
|
update aux servo mappings
|
|
*/
|
|
static void update_aux(void)
|
|
{
|
|
RC_Channel_aux::enable_aux_servos();
|
|
}
|
|
|
|
/*
|
|
once a second events
|
|
*/
|
|
static void one_second_loop(void)
|
|
{
|
|
if (should_log(MASK_LOG_CURRENT))
|
|
Log_Write_Current();
|
|
// send a heartbeat
|
|
gcs_send_message(MSG_HEARTBEAT);
|
|
|
|
// allow orientation change at runtime to aid config
|
|
ahrs.set_orientation();
|
|
|
|
set_control_channels();
|
|
|
|
// cope with changes to aux functions
|
|
update_aux();
|
|
|
|
// cope with changes to mavlink system ID
|
|
mavlink_system.sysid = g.sysid_this_mav;
|
|
|
|
static uint8_t counter;
|
|
|
|
counter++;
|
|
|
|
// write perf data every 20s
|
|
if (counter % 10 == 0) {
|
|
if (scheduler.debug() != 0) {
|
|
hal.console->printf_P(PSTR("G_Dt_max=%lu\n"), (unsigned long)G_Dt_max);
|
|
}
|
|
if (should_log(MASK_LOG_PM))
|
|
Log_Write_Performance();
|
|
G_Dt_max = 0;
|
|
resetPerfData();
|
|
}
|
|
|
|
// save compass offsets once a minute
|
|
if (counter >= 60) {
|
|
if (g.compass_enabled) {
|
|
compass.save_offsets();
|
|
}
|
|
counter = 0;
|
|
}
|
|
|
|
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
|
|
}
|
|
|
|
static void update_GPS_50Hz(void)
|
|
{
|
|
static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
|
|
gps.update();
|
|
|
|
for (uint8_t i=0; i<gps.num_sensors(); i++) {
|
|
if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
|
|
last_gps_reading[i] = gps.last_message_time_ms(i);
|
|
if (should_log(MASK_LOG_GPS)) {
|
|
DataFlash.Log_Write_GPS(gps, i, current_loc.alt);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
static void update_GPS_10Hz(void)
|
|
{
|
|
have_position = ahrs.get_position(current_loc);
|
|
|
|
if (have_position && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
|
|
|
|
if (ground_start_count > 1){
|
|
ground_start_count--;
|
|
|
|
} else if (ground_start_count == 1) {
|
|
// We countdown N number of good GPS fixes
|
|
// so that the altitude is more accurate
|
|
// -------------------------------------
|
|
if (current_loc.lat == 0) {
|
|
ground_start_count = 20;
|
|
} else {
|
|
init_home();
|
|
|
|
// set system clock for log timestamps
|
|
hal.util->set_system_clock(gps.time_epoch_usec());
|
|
|
|
if (g.compass_enabled) {
|
|
// Set compass declination automatically
|
|
compass.set_initial_location(gps.location().lat, gps.location().lng);
|
|
}
|
|
ground_start_count = 0;
|
|
}
|
|
}
|
|
Vector3f velocity;
|
|
if (ahrs.get_velocity_NED(velocity)) {
|
|
ground_speed = pythagorous2(velocity.x, velocity.y);
|
|
} else {
|
|
ground_speed = gps.ground_speed();
|
|
}
|
|
|
|
#if CAMERA == ENABLED
|
|
if (camera.update_location(current_loc) == true) {
|
|
do_take_picture();
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
static void update_current_mode(void)
|
|
{
|
|
switch (control_mode){
|
|
case AUTO:
|
|
case RTL:
|
|
case GUIDED:
|
|
set_reverse(false);
|
|
calc_lateral_acceleration();
|
|
calc_nav_steer();
|
|
calc_throttle(g.speed_cruise);
|
|
break;
|
|
|
|
case STEERING: {
|
|
/*
|
|
in steering mode we control lateral acceleration
|
|
directly. We first calculate the maximum lateral
|
|
acceleration at full steering lock for this speed. That is
|
|
V^2/R where R is the radius of turn. We get the radius of
|
|
turn from half the STEER2SRV_P.
|
|
*/
|
|
float max_g_force = ground_speed * ground_speed / steerController.get_turn_radius();
|
|
|
|
// constrain to user set TURN_MAX_G
|
|
max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);
|
|
|
|
lateral_acceleration = max_g_force * (channel_steer->pwm_to_angle()/4500.0f);
|
|
calc_nav_steer();
|
|
|
|
// and throttle gives speed in proportion to cruise speed, up
|
|
// to 50% throttle, then uses nudging above that.
|
|
float target_speed = channel_throttle->pwm_to_angle() * 0.01f * 2 * g.speed_cruise;
|
|
set_reverse(target_speed < 0);
|
|
if (in_reverse) {
|
|
target_speed = constrain_float(target_speed, -g.speed_cruise, 0);
|
|
} else {
|
|
target_speed = constrain_float(target_speed, 0, g.speed_cruise);
|
|
}
|
|
calc_throttle(target_speed);
|
|
break;
|
|
}
|
|
|
|
case LEARNING:
|
|
case MANUAL:
|
|
/*
|
|
in both MANUAL and LEARNING we pass through the
|
|
controls. Setting servo_out here actually doesn't matter, as
|
|
we set the exact value in set_servos(), but it helps for
|
|
logging
|
|
*/
|
|
channel_throttle->servo_out = channel_throttle->control_in;
|
|
channel_steer->servo_out = channel_steer->pwm_to_angle();
|
|
|
|
// mark us as in_reverse when using a negative throttle to
|
|
// stop AHRS getting off
|
|
set_reverse(channel_throttle->servo_out < 0);
|
|
break;
|
|
|
|
case HOLD:
|
|
// hold position - stop motors and center steering
|
|
channel_throttle->servo_out = 0;
|
|
channel_steer->servo_out = 0;
|
|
set_reverse(false);
|
|
break;
|
|
|
|
case INITIALISING:
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void update_navigation()
|
|
{
|
|
switch (control_mode) {
|
|
case MANUAL:
|
|
case HOLD:
|
|
case LEARNING:
|
|
case STEERING:
|
|
case INITIALISING:
|
|
break;
|
|
|
|
case AUTO:
|
|
mission.update();
|
|
break;
|
|
|
|
case RTL:
|
|
case GUIDED:
|
|
// no loitering around the wp with the rover, goes direct to the wp position
|
|
calc_lateral_acceleration();
|
|
calc_nav_steer();
|
|
if (verify_RTL()) {
|
|
channel_throttle->servo_out = g.throttle_min.get();
|
|
set_mode(HOLD);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
AP_HAL_MAIN();
|