mirror of https://github.com/ArduPilot/ardupilot
1334 lines
35 KiB
Plaintext
1334 lines
35 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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ArduCopter Version 2.0 Beta
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Authors: Jason Short
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Based on code and ideas from the Arducopter team: Jose Julio, Randy Mackay, Jani Hirvinen
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Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier
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This firmware is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Header includes
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////////////////////////////////////////////////////////////////////////////////
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// AVR runtime
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#include <avr/io.h>
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#include <avr/eeprom.h>
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#include <avr/pgmspace.h>
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#include <math.h>
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// Libraries
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <Wire.h> // Arduino I2C lib
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_IMU.h> // ArduPilot Mega IMU Library
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#include <AP_DCM.h> // ArduPilot Mega DCM Library
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#include <PID.h> // PID library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_RangeFinder.h> // Range finder library
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#define MAVLINK_COMM_NUM_BUFFERS 2
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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// Configuration
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#include "config.h"
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// Local modules
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#include "defines.h"
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#include "Parameters.h"
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#include "GCS.h"
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#include "HIL.h"
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////////////////////////////////////////////////////////////////////////////////
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// Serial ports
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////////////////////////////////////////////////////////////////////////////////
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//
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// Note that FastSerial port buffers are allocated at ::begin time,
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// so there is not much of a penalty to defining ports that we don't
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// use.
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//
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FastSerialPort0(Serial); // FTDI/console
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FastSerialPort1(Serial1); // GPS port
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FastSerialPort3(Serial3); // Telemetry port
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////////////////////////////////////////////////////////////////////////////////
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// Parameters
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////////////////////////////////////////////////////////////////////////////////
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//
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// Global parameters are all contained within the 'g' class.
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//
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Parameters g;
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////////////////////////////////////////////////////////////////////////////////
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// prototypes
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void update_events(void);
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////////////////////////////////////////////////////////////////////////////////
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// Sensors
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////////////////////////////////////////////////////////////////////////////////
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//
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// There are three basic options related to flight sensor selection.
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//
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// - Normal flight mode. Real sensors are used.
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// - HIL Attitude mode. Most sensors are disabled, as the HIL
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// protocol supplies attitude information directly.
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// - HIL Sensors mode. Synthetic sensors are configured that
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// supply data from the simulation.
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//
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// All GPS access should be through this pointer.
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GPS *g_gps;
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#if HIL_MODE == HIL_MODE_DISABLED
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// real sensors
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AP_ADC_ADS7844 adc;
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APM_BMP085_Class barometer;
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AP_Compass_HMC5843 compass(Parameters::k_param_compass);
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// real GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
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AP_GPS_MTK16 g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None g_gps_driver(NULL);
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#else
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#error Unrecognised GPS_PROTOCOL setting.
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#endif // GPS PROTOCOL
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#elif HIL_MODE == HIL_MODE_SENSORS
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// sensor emulators
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AP_ADC_HIL adc;
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APM_BMP085_HIL_Class barometer;
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AP_Compass_HIL compass;
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AP_GPS_HIL g_gps_driver(NULL);
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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AP_DCM_HIL dcm;
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AP_GPS_HIL g_gps_driver(NULL);
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AP_Compass_HIL compass; // never used
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AP_IMU_Shim imu; // never used
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#else
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#error Unrecognised HIL_MODE setting.
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#endif // HIL MODE
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#if HIL_MODE != HIL_MODE_DISABLED
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#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK
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GCS_MAVLINK hil(Parameters::k_param_streamrates_port0);
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#elif HIL_PROTOCOL == HIL_PROTOCOL_XPLANE
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HIL_XPLANE hil;
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#endif // HIL PROTOCOL
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#endif // HIL_MODE
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// We may have a hil object instantiated just for mission planning
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#if HIL_MODE == HIL_MODE_DISABLED && HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_PORT == 0
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GCS_MAVLINK hil(Parameters::k_param_streamrates_port0);
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#endif
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_SENSORS
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// Normal
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AP_IMU_Oilpan imu(&adc, Parameters::k_param_IMU_calibration);
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#else
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// hil imu
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AP_IMU_Shim imu;
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#endif
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// normal dcm
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AP_DCM dcm(&imu, g_gps);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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////////////////////////////////////////////////////////////////////////////////
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//
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#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
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GCS_MAVLINK gcs(Parameters::k_param_streamrates_port3);
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#else
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// If we are not using a GCS, we need a stub that does nothing.
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GCS_Class gcs;
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#endif
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//#include <GCS_SIMPLE.h>
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//GCS_SIMPLE gcs_simple(&Serial);
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AP_RangeFinder_MaxsonarXL sonar;
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////////////////////////////////////////////////////////////////////////////////
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// Global variables
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////////////////////////////////////////////////////////////////////////////////
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byte control_mode = STABILIZE;
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byte oldSwitchPosition; // for remembering the control mode switch
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const char *comma = ",";
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const char* flight_mode_strings[] = {
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"STABILIZE",
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"ACRO",
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"ALT_HOLD",
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"SIMPLE",
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"AUTO",
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"GCS_AUTO",
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"LOITER",
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"RTL"};
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/* Radio values
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Channel assignments
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1 Ailerons (rudder if no ailerons)
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2 Elevator
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3 Throttle
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4 Rudder (if we have ailerons)
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5 Mode - 3 position switch
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6 User assignable
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7 trainer switch - sets throttle nominal (toggle switch), sets accels to Level (hold > 1 second)
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8 TBD
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*/
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// Radio
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// -----
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int motor_out[8];
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Vector3f omega;
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// Failsafe
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// --------
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boolean failsafe; // did our throttle dip below the failsafe value?
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boolean ch3_failsafe;
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boolean motor_armed;
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boolean motor_auto_armed; // if true,
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// PIDs
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// ----
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int max_stabilize_dampener; //
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int max_yaw_dampener; //
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boolean rate_yaw_flag; // used to transition yaw control from Rate control to Yaw hold
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byte yaw_debug;
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bool did_clear_yaw_control;
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// LED output
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// ----------
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boolean motor_light; // status of the Motor safety
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boolean GPS_light; // status of the GPS light
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boolean timer_light; // status of the Motor safety
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// GPS variables
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// -------------
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const float t7 = 10000000.0; // used to scale GPS values for EEPROM storage
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float scaleLongUp = 1; // used to reverse longtitude scaling
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float scaleLongDown = 1; // used to reverse longtitude scaling
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byte ground_start_count = 10; // have we achieved first lock and set Home?
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// Location & Navigation
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// ---------------------
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const float radius_of_earth = 6378100; // meters
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const float gravity = 9.81; // meters/ sec^2
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long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
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long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target
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long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
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int climb_rate; // m/s * 100 - For future implementation of controlled ascent/descent by rate
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float nav_gain_scaler = 1; // Gain scaling for headwind/tailwind TODO: why does this variable need to be initialized to 1?
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int last_ground_speed; // used to dampen navigation
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byte wp_control; // used to control - navgation or loiter
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byte command_must_index; // current command memory location
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byte command_may_index; // current command memory location
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byte command_must_ID; // current command ID
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byte command_may_ID; // current command ID
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byte wp_verify_byte; // used for tracking state of navigating waypoints
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float cos_roll_x = 1;
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float cos_pitch_x = 1;
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float cos_yaw_x = 1;
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float sin_pitch_y, sin_yaw_y, sin_roll_y;
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float sin_nav_y, cos_nav_x; // used in calc_waypoint_nav
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bool simple_bearing_is_set = false;
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long initial_simple_bearing; // used for Simple mode
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float Y6_scaling = Y6_MOTOR_SCALER;
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// Airspeed
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// --------
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int airspeed; // m/s * 100
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// Location Errors
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// ---------------
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long bearing_error; // deg * 100 : 0 to 36000
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long altitude_error; // meters * 100 we are off in altitude
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float crosstrack_error; // meters we are off trackline
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long distance_error; // distance to the WP
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long yaw_error; // how off are we pointed
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long long_error, lat_error; // temp for debugging
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// Battery Sensors
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// ---------------
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float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter
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float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery Voltage of cell 1, initialized above threshold for filter
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float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2, initialized above threshold for filter
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float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3, initialized above threshold for filter
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float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter
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float current_amps;
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float current_total;
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// Airspeed Sensors
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// ----------------
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// Barometer Sensor variables
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// --------------------------
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unsigned long abs_pressure;
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unsigned long ground_pressure;
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int ground_temperature;
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// Altitude Sensor variables
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// ----------------------
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int sonar_alt;
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int baro_alt;
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int baro_alt_offset;
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byte altitude_sensor = BARO; // used to know which sensor is active, BARO or SONAR
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// flight mode specific
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// --------------------
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boolean takeoff_complete; // Flag for using take-off controls
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boolean land_complete;
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//int takeoff_altitude;
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int landing_distance; // meters;
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long old_alt; // used for managing altitude rates
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int velocity_land;
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byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target
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// Loiter management
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// -----------------
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long saved_target_bearing; // deg * 100
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long loiter_time; // millis : when we started LOITER mode
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long loiter_time_max; // millis : how long to stay in LOITER mode
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// these are the values for navigation control functions
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// ----------------------------------------------------
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long nav_roll; // deg * 100 : target roll angle
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long nav_pitch; // deg * 100 : target pitch angle
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long nav_yaw; // deg * 100 : target yaw angle
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long nav_lat; // for error calcs
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long nav_lon; // for error calcs
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int nav_throttle; // 0-1000 for throttle control
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int nav_throttle_old; // for filtering
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long throttle_integrator; // used to control when we calculate nav_throttle
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bool invalid_throttle; // used to control when we calculate nav_throttle
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bool invalid_nav; // used to control when we calculate nav_throttle
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bool set_throttle_cruise_flag = false; // used to track the throttle crouse value
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long command_yaw_start; // what angle were we to begin with
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long command_yaw_start_time; // when did we start turning
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int command_yaw_time; // how long we are turning
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long command_yaw_end; // what angle are we trying to be
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long command_yaw_delta; // how many degrees will we turn
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int command_yaw_speed; // how fast to turn
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byte command_yaw_dir;
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byte command_yaw_relative;
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// Waypoints
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// ---------
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long wp_distance; // meters - distance between plane and next waypoint
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long wp_totalDistance; // meters - distance between old and next waypoint
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byte next_wp_index; // Current active command index
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// repeating event control
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// -----------------------
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byte event_id; // what to do - see defines
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long event_timer; // when the event was asked for in ms
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int event_delay; // how long to delay the next firing of event in millis
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int event_repeat; // how many times to fire : 0 = forever, 1 = do once, 2 = do twice
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int event_value; // per command value, such as PWM for servos
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int event_undo_value; // the value used to undo commands
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byte repeat_forever;
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byte undo_event; // counter for timing the undo
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// delay command
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// --------------
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long condition_value; // used in condition commands (eg delay, change alt, etc.)
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long condition_start;
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int condition_rate;
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// land command
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// ------------
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long land_start; // when we intiated command in millis()
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long original_alt; // altitide reference for start of command
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// 3D Location vectors
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// -------------------
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struct Location home; // home location
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struct Location prev_WP; // last waypoint
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struct Location current_loc; // current location
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struct Location next_WP; // next waypoint
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struct Location target_WP; // where do we want to you towards?
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struct Location simple_WP; // command for telemetry
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struct Location next_command; // command preloaded
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long target_altitude; // used for
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boolean home_is_set; // Flag for if we have g_gps lock and have set the home location
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// IMU variables
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// -------------
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float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm)
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// Performance monitoring
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// ----------------------
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long perf_mon_timer;
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float imu_health; // Metric based on accel gain deweighting
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int G_Dt_max; // Max main loop cycle time in milliseconds
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int gps_fix_count;
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byte gcs_messages_sent;
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// GCS
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// ---
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char GCS_buffer[53];
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char display_PID = -1; // Flag used by DebugTerminal to indicate that the next PID calculation with this index should be displayed
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// System Timers
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// --------------
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unsigned long fast_loopTimer; // Time in miliseconds of main control loop
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unsigned long fast_loopTimeStamp; // Time Stamp when fast loop was complete
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uint8_t delta_ms_fast_loop; // Delta Time in miliseconds
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int mainLoop_count;
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unsigned long medium_loopTimer; // Time in miliseconds of navigation control loop
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byte medium_loopCounter; // Counters for branching from main control loop to slower loops
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uint8_t delta_ms_medium_loop;
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unsigned long fiftyhz_loopTimer;
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uint8_t delta_ms_fiftyhz;
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byte slow_loopCounter;
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int superslow_loopCounter;
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byte flight_timer; // for limiting the execution of flight mode thingys
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//unsigned long nav_loopTimer; // used to track the elapsed ime for GPS nav
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unsigned long nav2_loopTimer; // used to track the elapsed ime for GPS nav
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//unsigned long dTnav; // Delta Time in milliseconds for navigation computations
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unsigned long dTnav2; // Delta Time in milliseconds for navigation computations
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unsigned long elapsedTime; // for doing custom events
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float load; // % MCU cycles used
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byte counter_one_herz;
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bool GPS_enabled = false;
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////////////////////////////////////////////////////////////////////////////////
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// Top-level logic
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////////////////////////////////////////////////////////////////////////////////
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void setup() {
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init_ardupilot();
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}
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void loop()
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{
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// We want this to execute fast
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// ----------------------------
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if (millis() - fast_loopTimer >= 5) {
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delta_ms_fast_loop = millis() - fast_loopTimer;
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fast_loopTimer = millis();
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load = float(fast_loopTimeStamp - fast_loopTimer) / delta_ms_fast_loop;
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G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
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mainLoop_count++;
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/*
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if(delta_ms_fast_loop > 11){
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update_timer_light(true);
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//Serial.println(delta_ms_fast_loop,DEC);
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}else{
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update_timer_light(false);
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}*/
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// Execute the fast loop
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// ---------------------
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fast_loop();
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fast_loopTimeStamp = millis();
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}
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if (millis() - fiftyhz_loopTimer > 19) {
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delta_ms_fiftyhz = millis() - fiftyhz_loopTimer;
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fiftyhz_loopTimer = millis();
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medium_loop();
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fifty_hz_loop();
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counter_one_herz++;
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if(counter_one_herz == 50){
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super_slow_loop();
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counter_one_herz = 0;
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}
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if (millis() - perf_mon_timer > 20000) {
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if (mainLoop_count != 0) {
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gcs.send_message(MSG_PERF_REPORT);
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if (g.log_bitmask & MASK_LOG_PM)
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Log_Write_Performance();
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resetPerfData();
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}
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}
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}
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}
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// Main loop 160Hz
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|
void fast_loop()
|
|
{
|
|
// IMU DCM Algorithm
|
|
read_AHRS();
|
|
|
|
// This is the fast loop - we want it to execute at >= 100Hz
|
|
// ---------------------------------------------------------
|
|
if (delta_ms_fast_loop > G_Dt_max)
|
|
G_Dt_max = delta_ms_fast_loop;
|
|
|
|
// custom code/exceptions for flight modes
|
|
// ---------------------------------------
|
|
update_current_flight_mode();
|
|
|
|
// write out the servo PWM values
|
|
// ------------------------------
|
|
set_servos_4();
|
|
|
|
// record throttle output
|
|
// ------------------------------
|
|
//throttle_integrator += g.rc_3.servo_out;
|
|
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE != HIL_MODE_DISABLED
|
|
// HIL for a copter needs very fast update of the servo values
|
|
hil.send_message(MSG_RADIO_OUT);
|
|
#endif
|
|
}
|
|
|
|
void medium_loop()
|
|
{
|
|
// Read radio
|
|
// ----------
|
|
read_radio(); // read the radio first
|
|
|
|
// reads all of the necessary trig functions for cameras, throttle, etc.
|
|
update_trig();
|
|
|
|
// This is the start of the medium (10 Hz) loop pieces
|
|
// -----------------------------------------
|
|
switch(medium_loopCounter) {
|
|
|
|
// This case deals with the GPS and Compass
|
|
//-----------------------------------------
|
|
case 0:
|
|
medium_loopCounter++;
|
|
|
|
if(GPS_enabled){
|
|
update_GPS();
|
|
}
|
|
|
|
//readCommands();
|
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
if(g.compass_enabled){
|
|
compass.read(); // Read magnetometer
|
|
compass.calculate(dcm.get_dcm_matrix()); // Calculate heading
|
|
//compass.calculate(dcm.roll, dcm.pitch); // Calculate heading
|
|
compass.null_offsets(dcm.get_dcm_matrix());
|
|
}
|
|
#endif
|
|
break;
|
|
|
|
// This case performs some navigation computations
|
|
//------------------------------------------------
|
|
case 1:
|
|
medium_loopCounter++;
|
|
|
|
// calc pitch and roll to target
|
|
// -----------------------------
|
|
dTnav2 = millis() - nav2_loopTimer;
|
|
nav2_loopTimer = millis();
|
|
|
|
// hack to stop navigation in Simple mode
|
|
if (control_mode == SIMPLE)
|
|
break;
|
|
|
|
// Auto control modes:
|
|
if(g_gps->new_data){
|
|
g_gps->new_data = false;
|
|
|
|
// we are not tracking I term on navigation, so this isn't needed
|
|
//dTnav = millis() - nav_loopTimer;
|
|
//nav_loopTimer = millis();
|
|
|
|
// calculate the copter's desired bearing and WP distance
|
|
// ------------------------------------------------------
|
|
navigate();
|
|
|
|
// control mode specific updates to nav_bearing
|
|
// --------------------------------------------
|
|
update_navigation();
|
|
}
|
|
|
|
break;
|
|
|
|
// command processing
|
|
//-------------------
|
|
case 2:
|
|
medium_loopCounter++;
|
|
|
|
// Read altitude from sensors
|
|
// --------------------------
|
|
update_alt();
|
|
|
|
// altitude smoothing
|
|
// ------------------
|
|
//calc_altitude_smoothing_error();
|
|
|
|
calc_altitude_error();
|
|
|
|
// invalidate the throttle hold value
|
|
// ----------------------------------
|
|
invalid_throttle = true;
|
|
|
|
// perform next command
|
|
// --------------------
|
|
if(control_mode == AUTO){
|
|
//if(home_is_set){
|
|
update_commands();
|
|
//}
|
|
}
|
|
break;
|
|
|
|
// This case deals with sending high rate telemetry
|
|
//-------------------------------------------------
|
|
case 3:
|
|
medium_loopCounter++;
|
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
|
|
Log_Write_Attitude();
|
|
|
|
if (g.log_bitmask & MASK_LOG_CTUN)
|
|
Log_Write_Control_Tuning();
|
|
#endif
|
|
|
|
if (g.log_bitmask & MASK_LOG_NTUN)
|
|
Log_Write_Nav_Tuning();
|
|
|
|
if (g.log_bitmask & MASK_LOG_GPS){
|
|
Log_Write_GPS();
|
|
}
|
|
|
|
// XXX this should be a "GCS medium loop" interface
|
|
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
|
|
gcs.data_stream_send(5,45);
|
|
// send all requested output streams with rates requested
|
|
// between 5 and 45 Hz
|
|
#else
|
|
gcs.send_message(MSG_ATTITUDE); // Sends attitude data
|
|
#endif
|
|
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
|
|
hil.data_stream_send(5,45);
|
|
#endif
|
|
break;
|
|
|
|
// This case controls the slow loop
|
|
//---------------------------------
|
|
case 4:
|
|
medium_loopCounter = 0;
|
|
delta_ms_medium_loop = millis() - medium_loopTimer;
|
|
medium_loopTimer = millis();
|
|
|
|
if (g.battery_monitoring != 0){
|
|
read_battery();
|
|
}
|
|
|
|
// Accel trims = hold > 2 seconds
|
|
// Throttle cruise = switch less than 1 second
|
|
// --------------------------------------------
|
|
read_trim_switch();
|
|
|
|
// Check for engine arming
|
|
// -----------------------
|
|
arm_motors();
|
|
|
|
slow_loop();
|
|
break;
|
|
|
|
default:
|
|
// this is just a catch all
|
|
// ------------------------
|
|
medium_loopCounter = 0;
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
// stuff that happens at 50 hz
|
|
// ---------------------------
|
|
void fifty_hz_loop()
|
|
{
|
|
// use Yaw to find our bearing error
|
|
calc_bearing_error();
|
|
|
|
// guess how close we are - fixed observer calc
|
|
//calc_distance_error();
|
|
|
|
# if HIL_MODE == HIL_MODE_DISABLED
|
|
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
|
|
Log_Write_Attitude();
|
|
|
|
if (g.log_bitmask & MASK_LOG_RAW)
|
|
Log_Write_Raw();
|
|
#endif
|
|
|
|
//#if ENABLE_CAM
|
|
camera_stabilization();
|
|
//#endif
|
|
|
|
|
|
// XXX is it appropriate to be doing the comms below on the fast loop?
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED && HIL_PORT != GCS_PORT
|
|
// kick the HIL to process incoming sensor packets
|
|
hil.update();
|
|
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK
|
|
hil.data_stream_send(45,1000);
|
|
#else
|
|
hil.send_message(MSG_SERVO_OUT);
|
|
#endif
|
|
#elif HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE == HIL_MODE_DISABLED && HIL_PORT == 0
|
|
// Case for hil object on port 0 just for mission planning
|
|
hil.update();
|
|
hil.data_stream_send(45,1000);
|
|
#endif
|
|
|
|
// kick the GCS to process uplink data
|
|
gcs.update();
|
|
|
|
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
|
|
gcs.data_stream_send(45,1000);
|
|
#endif
|
|
// XXX this should be absorbed into the above,
|
|
// or be a "GCS fast loop" interface
|
|
|
|
#if FRAME_CONFIG == TRI_FRAME
|
|
// Hack - had to move to 50hz loop to test a theory
|
|
// servo Yaw
|
|
APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
|
|
#endif
|
|
}
|
|
|
|
|
|
void slow_loop()
|
|
{
|
|
// This is the slow (3 1/3 Hz) loop pieces
|
|
//----------------------------------------
|
|
switch (slow_loopCounter){
|
|
case 0:
|
|
slow_loopCounter++;
|
|
superslow_loopCounter++;
|
|
|
|
if(superslow_loopCounter > 1400){ // every 7 minutes
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
if(g.rc_3.control_in == 0 && g.compass_enabled){
|
|
compass.save_offsets();
|
|
superslow_loopCounter = 0;
|
|
}
|
|
#endif
|
|
}
|
|
break;
|
|
|
|
case 1:
|
|
slow_loopCounter++;
|
|
|
|
// Read 3-position switch on radio
|
|
// -------------------------------
|
|
read_control_switch();
|
|
|
|
// Read main battery voltage if hooked up - does not read the 5v from radio
|
|
// ------------------------------------------------------------------------
|
|
#if BATTERY_EVENT == 1
|
|
read_battery();
|
|
#endif
|
|
|
|
break;
|
|
|
|
case 2:
|
|
slow_loopCounter = 0;
|
|
update_events();
|
|
|
|
// blink if we are armed
|
|
update_motor_light();
|
|
|
|
// XXX this should be a "GCS slow loop" interface
|
|
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
|
|
gcs.data_stream_send(1,5);
|
|
// send all requested output streams with rates requested
|
|
// between 1 and 5 Hz
|
|
#else
|
|
gcs.send_message(MSG_LOCATION);
|
|
gcs.send_message(MSG_CPU_LOAD, load*100);
|
|
#endif
|
|
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
|
|
hil.data_stream_send(1,5);
|
|
#endif
|
|
|
|
#if CHANNEL_6_TUNING != CH6_NONE
|
|
tuning();
|
|
#endif
|
|
|
|
|
|
// filter out the baro offset.
|
|
if(baro_alt_offset > 0) baro_alt_offset--;
|
|
if(baro_alt_offset < 0) baro_alt_offset++;
|
|
|
|
break;
|
|
|
|
default:
|
|
slow_loopCounter = 0;
|
|
break;
|
|
|
|
}
|
|
}
|
|
|
|
// 1Hz loop
|
|
void super_slow_loop()
|
|
{
|
|
if (g.log_bitmask & MASK_LOG_CURRENT)
|
|
Log_Write_Current();
|
|
|
|
gcs.send_message(MSG_HEARTBEAT); // XXX This is running at 3 1/3 Hz instead of 1 Hz
|
|
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
|
|
hil.send_message(MSG_HEARTBEAT);
|
|
#endif
|
|
|
|
//if(gcs_simple.read()){
|
|
// Serial.print("!");
|
|
/*
|
|
Location temp;
|
|
temp.id = gcs_simple.id;
|
|
temp.p1 = gcs_simple.p1;
|
|
temp.alt = gcs_simple.altitude;
|
|
temp.lat = gcs_simple.latitude;
|
|
temp.lng = gcs_simple.longitude;
|
|
set_command_with_index(temp, gcs_simple.index);
|
|
gcs_simple.ack();
|
|
*/
|
|
//}
|
|
}
|
|
|
|
void update_GPS(void)
|
|
{
|
|
g_gps->update();
|
|
update_GPS_light();
|
|
|
|
//current_loc.lng = 377697000; // Lon * 10 * *7
|
|
//current_loc.lat = -1224318000; // Lat * 10 * *7
|
|
//current_loc.alt = 100; // alt * 10 * *7
|
|
//return;
|
|
|
|
if (g_gps->new_data && g_gps->fix) {
|
|
|
|
// XXX We should be sending GPS data off one of the regular loops so that we send
|
|
// no-GPS-fix data too
|
|
#if GCS_PROTOCOL != GCS_PROTOCOL_MAVLINK
|
|
gcs.send_message(MSG_LOCATION);
|
|
#endif
|
|
|
|
// for performance
|
|
// ---------------
|
|
gps_fix_count++;
|
|
|
|
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) {
|
|
SendDebugln("!! bad loc");
|
|
ground_start_count = 5;
|
|
|
|
}else{
|
|
//Serial.printf("init Home!");
|
|
|
|
// reset our nav loop timer
|
|
//nav_loopTimer = millis();
|
|
init_home();
|
|
|
|
// init altitude
|
|
current_loc.alt = home.alt;
|
|
ground_start_count = 0;
|
|
}
|
|
}
|
|
|
|
current_loc.lng = g_gps->longitude; // Lon * 10 * *7
|
|
current_loc.lat = g_gps->latitude; // Lat * 10 * *7
|
|
}
|
|
}
|
|
|
|
void update_current_flight_mode(void)
|
|
{
|
|
if(control_mode == AUTO){
|
|
|
|
// this is a hack to prevent run up of the throttle I term for alt hold
|
|
if(command_must_ID == MAV_CMD_NAV_TAKEOFF){
|
|
invalid_throttle = (g.rc_3.control_in != 0);
|
|
// make invalid_throttle false if we are waiting to take off.
|
|
}
|
|
|
|
switch(command_must_ID){
|
|
//case MAV_CMD_NAV_TAKEOFF:
|
|
// break;
|
|
|
|
//case MAV_CMD_NAV_LAND:
|
|
// break;
|
|
|
|
default:
|
|
// Output Pitch, Roll, Yaw and Throttle
|
|
// ------------------------------------
|
|
auto_yaw();
|
|
|
|
//if(invalid_nav)
|
|
//calc_waypoint_nav();
|
|
|
|
// mix in user control
|
|
control_nav_mixer();
|
|
|
|
// perform stabilzation
|
|
output_stabilize_roll();
|
|
output_stabilize_pitch();
|
|
|
|
if(invalid_throttle)
|
|
calc_nav_throttle();
|
|
|
|
// apply throttle control
|
|
output_auto_throttle();
|
|
break;
|
|
}
|
|
|
|
}else{
|
|
|
|
switch(control_mode){
|
|
case ACRO:
|
|
// clear any AP naviagtion values
|
|
nav_pitch = 0;
|
|
nav_roll = 0;
|
|
|
|
// Yaw control
|
|
output_manual_yaw();
|
|
|
|
// apply throttle control
|
|
output_manual_throttle();
|
|
|
|
// mix in user control
|
|
control_nav_mixer();
|
|
|
|
// perform rate or stabilzation
|
|
// ----------------------------
|
|
|
|
// Roll control
|
|
if(abs(g.rc_1.control_in) >= ACRO_RATE_TRIGGER){
|
|
output_rate_roll(); // rate control yaw
|
|
}else{
|
|
output_stabilize_roll(); // hold yaw
|
|
}
|
|
|
|
// Roll control
|
|
if(abs(g.rc_2.control_in) >= ACRO_RATE_TRIGGER){
|
|
output_rate_pitch(); // rate control yaw
|
|
}else{
|
|
output_stabilize_pitch(); // hold yaw
|
|
}
|
|
break;
|
|
|
|
case STABILIZE:
|
|
// clear any AP naviagtion values
|
|
nav_pitch = 0;
|
|
nav_roll = 0;
|
|
|
|
// Output Pitch, Roll, Yaw and Throttle
|
|
// ------------------------------------
|
|
|
|
// Yaw control
|
|
output_manual_yaw();
|
|
|
|
// apply throttle control
|
|
output_manual_throttle();
|
|
|
|
// mix in user control
|
|
control_nav_mixer();
|
|
|
|
// perform stabilzation
|
|
output_stabilize_roll();
|
|
output_stabilize_pitch();
|
|
break;
|
|
|
|
case SIMPLE:
|
|
flight_timer++;
|
|
// 25 hz
|
|
if(flight_timer > 4){
|
|
flight_timer = 0;
|
|
|
|
simple_WP.lat = 0;
|
|
simple_WP.lng = 0;
|
|
|
|
next_WP.lng = (float)g.rc_1.control_in *.4; // X: 4500 / 2 = 2250 = 25 meteres
|
|
next_WP.lat = -((float)g.rc_2.control_in *.4); // Y: 4500 / 2 = 2250 = 25 meteres
|
|
|
|
// calc a new bearing
|
|
nav_bearing = get_bearing(&simple_WP, &next_WP) + initial_simple_bearing;
|
|
nav_bearing = wrap_360(nav_bearing);
|
|
wp_distance = get_distance(&simple_WP, &next_WP);
|
|
calc_bearing_error();
|
|
/*
|
|
Serial.printf("lat: %ld lon:%ld, bear:%ld, dist:%ld, init:%ld, err:%ld ",
|
|
next_WP.lat,
|
|
next_WP.lng,
|
|
nav_bearing,
|
|
wp_distance,
|
|
initial_simple_bearing,
|
|
bearing_error);
|
|
*/
|
|
// get nav_pitch and nav_roll
|
|
calc_simple_nav();
|
|
calc_nav_output();
|
|
limit_nav_pitch_roll(4500);
|
|
}
|
|
|
|
// Output Pitch, Roll, Yaw and Throttle
|
|
// ------------------------------------
|
|
// Yaw control
|
|
output_manual_yaw();
|
|
|
|
// apply throttle control
|
|
output_manual_throttle();
|
|
|
|
// apply nav_pitch and nav_roll to output
|
|
simple_mixer();
|
|
|
|
// perform stabilzation
|
|
output_stabilize_roll();
|
|
output_stabilize_pitch();
|
|
break;
|
|
|
|
case ALT_HOLD:
|
|
// clear any AP naviagtion values
|
|
nav_pitch = 0;
|
|
nav_roll = 0;
|
|
|
|
adjust_altitude();
|
|
|
|
// Yaw control
|
|
// -----------
|
|
output_manual_yaw();
|
|
|
|
// Output Pitch, Roll, Yaw and Throttle
|
|
// ------------------------------------
|
|
|
|
if(invalid_throttle)
|
|
calc_nav_throttle();
|
|
|
|
// apply throttle control
|
|
output_auto_throttle();
|
|
|
|
// mix in user control
|
|
control_nav_mixer();
|
|
|
|
// perform stabilzation
|
|
output_stabilize_roll();
|
|
output_stabilize_pitch();
|
|
break;
|
|
|
|
case RTL:
|
|
// Output Pitch, Roll, Yaw and Throttle
|
|
// ------------------------------------
|
|
auto_yaw();
|
|
|
|
if(invalid_throttle)
|
|
calc_nav_throttle();
|
|
|
|
// apply throttle control
|
|
output_auto_throttle();
|
|
|
|
// mix in user control with Nav control
|
|
control_nav_mixer();
|
|
|
|
// perform stabilzation
|
|
output_stabilize_roll();
|
|
output_stabilize_pitch();
|
|
break;
|
|
|
|
case LOITER:
|
|
|
|
adjust_altitude();
|
|
|
|
// Output Pitch, Roll, Yaw and Throttle
|
|
// ------------------------------------
|
|
|
|
// Yaw control
|
|
// -----------
|
|
output_manual_yaw();
|
|
|
|
if(invalid_throttle)
|
|
calc_nav_throttle();
|
|
|
|
// apply throttle control
|
|
output_auto_throttle();
|
|
|
|
// mix in user control with Nav control
|
|
control_nav_mixer();
|
|
|
|
// perform stabilzation
|
|
output_stabilize_roll();
|
|
output_stabilize_pitch();
|
|
break;
|
|
|
|
default:
|
|
//Serial.print("$");
|
|
break;
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
// called after a GPS read
|
|
void update_navigation()
|
|
{
|
|
// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS
|
|
// ------------------------------------------------------------------------
|
|
|
|
// distance and bearing calcs only
|
|
if(control_mode == AUTO){
|
|
verify_commands();
|
|
|
|
if(wp_control == LOITER_MODE){
|
|
// calc a pitch to the target
|
|
calc_loiter_nav();
|
|
|
|
} else {
|
|
|
|
update_crosstrack();
|
|
|
|
// calc a rate dampened pitch to the target
|
|
calc_rate_nav();
|
|
|
|
// rotate that pitch to the copter frame of reference
|
|
calc_nav_output();
|
|
}
|
|
|
|
//limit our copter pitch - this will change if we go to a fully rate limited approach.
|
|
limit_nav_pitch_roll(g.pitch_max.get());
|
|
|
|
// this tracks a location so the copter is always pointing towards it.
|
|
if(yaw_tracking == MAV_ROI_LOCATION){
|
|
nav_yaw = get_bearing(¤t_loc, &target_WP);
|
|
|
|
}else if(yaw_tracking == MAV_ROI_WPNEXT){
|
|
nav_yaw = target_bearing;
|
|
}
|
|
|
|
}else{
|
|
|
|
switch(control_mode){
|
|
case LOITER:
|
|
// calc a pitch to the target
|
|
calc_loiter_nav();
|
|
|
|
// limit tilt
|
|
limit_nav_pitch_roll(g.pitch_max.get());
|
|
break;
|
|
|
|
case RTL:
|
|
// calc a pitch to the target
|
|
calc_loiter_nav();
|
|
|
|
// limit tilt
|
|
limit_nav_pitch_roll(g.pitch_max.get());
|
|
update_crosstrack();
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void read_AHRS(void)
|
|
{
|
|
// Perform IMU calculations and get attitude info
|
|
//-----------------------------------------------
|
|
#if HIL_MODE == HIL_MODE_SENSORS
|
|
// update hil before dcm update
|
|
hil.update();
|
|
#endif
|
|
|
|
dcm.update_DCM(G_Dt);
|
|
omega = dcm.get_gyro();
|
|
}
|
|
|
|
void update_trig(void){
|
|
Vector2f yawvector;
|
|
Matrix3f temp = dcm.get_dcm_matrix();
|
|
|
|
yawvector.x = temp.a.x; // sin
|
|
yawvector.y = temp.b.x; // cos
|
|
yawvector.normalize();
|
|
|
|
cos_yaw_x = yawvector.y; // 0 x = north
|
|
sin_yaw_y = yawvector.x; // 1 y
|
|
|
|
sin_pitch_y = -temp.c.x;
|
|
cos_pitch_x = sqrt(1 - (temp.c.x * temp.c.x));
|
|
|
|
cos_roll_x = temp.c.z / cos_pitch_x;
|
|
sin_roll_y = temp.c.y / cos_pitch_x;
|
|
}
|
|
|
|
|
|
void update_alt()
|
|
{
|
|
altitude_sensor = BARO;
|
|
|
|
#if HIL_MODE == HIL_MODE_ATTITUDE
|
|
current_loc.alt = g_gps->altitude;
|
|
#else
|
|
if(g.sonar_enabled){
|
|
// filter out offset
|
|
|
|
// read barometer
|
|
baro_alt = read_barometer();
|
|
|
|
// XXX temp removed fr debugging
|
|
//filter out bad sonar reads
|
|
int temp_sonar = sonar.read();
|
|
|
|
if(abs(temp_sonar - sonar_alt) < 300){
|
|
sonar_alt = temp_sonar;
|
|
}
|
|
|
|
//sonar_alt = sonar.read();
|
|
|
|
// decide if we're using sonar
|
|
if ((baro_alt < 1200) || sonar_alt < 300){
|
|
|
|
// correct alt for angle of the sonar
|
|
float temp = cos_pitch_x * cos_roll_x;
|
|
temp = max(temp, 0.707);
|
|
|
|
sonar_alt = (float)sonar_alt * temp;
|
|
|
|
if(sonar_alt < 400){
|
|
altitude_sensor = SONAR;
|
|
baro_alt_offset = sonar_alt - baro_alt;
|
|
}
|
|
}
|
|
|
|
// calculate our altitude
|
|
if(altitude_sensor == BARO){
|
|
current_loc.alt = baro_alt + baro_alt_offset + home.alt;
|
|
}else{
|
|
current_loc.alt = sonar_alt + home.alt;
|
|
}
|
|
|
|
}else{
|
|
baro_alt = read_barometer();
|
|
// no sonar altitude
|
|
current_loc.alt = baro_alt + home.alt;
|
|
}
|
|
|
|
//Serial.printf("b_alt: %ld, home: %ld ", baro_alt, home.alt);
|
|
#endif
|
|
}
|
|
|
|
void
|
|
adjust_altitude()
|
|
{
|
|
flight_timer++;
|
|
if(flight_timer >= 2){
|
|
flight_timer = 0;
|
|
|
|
if(g.rc_3.control_in <= 200){
|
|
next_WP.alt -= 3; // 1 meter per second
|
|
next_WP.alt = max(next_WP.alt, 100); // no lower than 1 meter?
|
|
next_WP.alt = max((current_loc.alt - 400), next_WP.alt); // don't go more than 4 meters below current location
|
|
}else if (g.rc_3.control_in > 700){
|
|
next_WP.alt += 3; // 1 meter per second
|
|
//next_WP.alt = min((current_loc.alt + 400), next_WP.alt); // don't go more than 4 meters below current location
|
|
if(next_WP.alt > (current_loc.alt + 400)){
|
|
next_WP.alt = current_loc.alt + 400;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void tuning(){
|
|
|
|
#if CHANNEL_6_TUNING == CH6_STABLIZE_KP
|
|
g.pid_stabilize_roll.kP((float)g.rc_6.control_in / 1000.0);
|
|
g.pid_stabilize_pitch.kP((float)g.rc_6.control_in / 1000.0);
|
|
|
|
#elif CHANNEL_6_TUNING == CH6_STABLIZE_KD
|
|
// uncomment me out to try in flight dampening, 0 = unflyable, .2 = unfun, .13 worked for me.
|
|
// use test,radio to get the value to use in your config.
|
|
g.stabilize_dampener.set((float)g.rc_6.control_in / 1000.0);
|
|
|
|
#elif CHANNEL_6_TUNING == CH6_BARO_KP
|
|
g.pid_baro_throttle.kP((float)g.rc_6.control_in / 1000.0);
|
|
|
|
#elif CHANNEL_6_TUNING == CH6_BARO_KD
|
|
g.pid_baro_throttle.kD((float)g.rc_6.control_in / 1000.0); // 0 to 1
|
|
|
|
#elif CHANNEL_6_TUNING == CH6_SONAR_KP
|
|
g.pid_sonar_throttle.kP((float)g.rc_6.control_in / 1000.0);
|
|
|
|
#elif CHANNEL_6_TUNING == CH6_SONAR_KD
|
|
g.pid_sonar_throttle.kD((float)g.rc_6.control_in / 1000.0); // 0 to 1
|
|
|
|
#elif CHANNEL_6_TUNING == CH6_Y6_SCALING
|
|
Y6_scaling = (float)g.rc_6.control_in / 1000.0;
|
|
|
|
#elif CHANNEL_6_TUNING == CH6_PMAX
|
|
g.pitch_max.set(g.rc_6.control_in * 2); // 0 to 2000
|
|
|
|
#endif
|
|
}
|
|
|