mirror of https://github.com/ArduPilot/ardupilot
548 lines
13 KiB
C++
548 lines
13 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*****************************************************************************
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The init_ardupilot function processes everything we need for an in - air restart
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We will determine later if we are actually on the ground and process a
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ground start in that case.
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*****************************************************************************/
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#include "Rover.h"
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#if CLI_ENABLED == ENABLED
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// This is the help function
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int8_t Rover::main_menu_help(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf("Commands:\n"
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" logs log readback/setup mode\n"
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" setup setup mode\n"
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" test test mode\n"
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"\n"
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"Move the slide switch and reset to FLY.\n"
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"\n");
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return(0);
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}
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// Command/function table for the top-level menu.
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static const struct Menu::command main_menu_commands[] = {
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// command function called
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// ======= ===============
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{"logs", MENU_FUNC(process_logs)},
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{"setup", MENU_FUNC(setup_mode)},
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{"test", MENU_FUNC(test_mode)},
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{"reboot", MENU_FUNC(reboot_board)},
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{"help", MENU_FUNC(main_menu_help)}
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};
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// Create the top-level menu object.
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MENU(main_menu, THISFIRMWARE, main_menu_commands);
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int8_t Rover::reboot_board(uint8_t argc, const Menu::arg *argv)
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{
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hal.scheduler->reboot(false);
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return 0;
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}
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// the user wants the CLI. It never exits
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void Rover::run_cli(AP_HAL::UARTDriver *port)
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{
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// disable the failsafe code in the CLI
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hal.scheduler->register_timer_failsafe(NULL,1);
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// disable the mavlink delay callback
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hal.scheduler->register_delay_callback(NULL, 5);
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cliSerial = port;
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Menu::set_port(port);
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port->set_blocking_writes(true);
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while (1) {
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main_menu.run();
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}
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}
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#endif // CLI_ENABLED
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static void mavlink_delay_cb_static()
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{
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rover.mavlink_delay_cb();
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}
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static void failsafe_check_static()
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{
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rover.failsafe_check();
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}
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void Rover::init_ardupilot()
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{
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// initialise console serial port
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serial_manager.init_console();
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cliSerial->printf("\n\nInit " FIRMWARE_STRING
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"\n\nFree RAM: %u\n",
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hal.util->available_memory());
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//
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// Check the EEPROM format version before loading any parameters from EEPROM.
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//
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load_parameters();
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BoardConfig.init();
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// initialise serial ports
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serial_manager.init();
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ServoRelayEvents.set_channel_mask(0xFFF0);
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set_control_channels();
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battery.init();
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// keep a record of how many resets have happened. This can be
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// used to detect in-flight resets
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g.num_resets.set_and_save(g.num_resets+1);
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// init baro before we start the GCS, so that the CLI baro test works
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barometer.init();
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// init the GCS
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gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
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// we start by assuming USB connected, as we initialed the serial
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// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
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usb_connected = true;
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check_usb_mux();
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// setup serial port for telem1
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gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
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// setup serial port for telem2
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gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
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// setup serial port for fourth telemetry port (not used by default)
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gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
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// setup frsky telemetry
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#if FRSKY_TELEM_ENABLED == ENABLED
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frsky_telemetry.init(serial_manager);
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#endif
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mavlink_system.sysid = g.sysid_this_mav;
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#if LOGGING_ENABLED == ENABLED
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log_init();
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#endif
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GCS_MAVLINK::set_dataflash(&DataFlash);
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// Register mavlink_delay_cb, which will run anytime you have
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// more than 5ms remaining in your call to hal.scheduler->delay
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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if (g.compass_enabled==true) {
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if (!compass.init()|| !compass.read()) {
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cliSerial->println("Compass initialisation failed!");
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g.compass_enabled = false;
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} else {
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ahrs.set_compass(&compass);
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//compass.get_offsets(); // load offsets to account for airframe magnetic interference
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}
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}
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// initialise sonar
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init_sonar();
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// and baro for EKF
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init_barometer();
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// Do GPS init
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gps.init(&DataFlash, serial_manager);
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rc_override_active = hal.rcin->set_overrides(rc_override, 8);
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init_rc_in(); // sets up rc channels from radio
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init_rc_out(); // sets up the timer libs
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relay.init();
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#if MOUNT == ENABLED
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// initialise camera mount
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camera_mount.init(&DataFlash, serial_manager);
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#endif
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/*
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setup the 'main loop is dead' check. Note that this relies on
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the RC library being initialised.
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*/
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hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
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#if CLI_ENABLED == ENABLED
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// If the switch is in 'menu' mode, run the main menu.
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//
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// Since we can't be sure that the setup or test mode won't leave
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// the system in an odd state, we don't let the user exit the top
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// menu; they must reset in order to fly.
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//
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if (g.cli_enabled == 1) {
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const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
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cliSerial->println(msg);
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if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
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gcs[1].get_uart()->println(msg);
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}
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if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
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gcs[2].get_uart()->println(msg);
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}
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}
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#endif
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init_capabilities();
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startup_ground();
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set_mode((enum mode)g.initial_mode.get());
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// set the correct flight mode
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// ---------------------------
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reset_control_switch();
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}
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//********************************************************************************
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//This function does all the calibrations, etc. that we need during a ground start
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//********************************************************************************
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void Rover::startup_ground(void)
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{
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set_mode(INITIALISING);
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gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
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#if(GROUND_START_DELAY > 0)
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gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
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delay(GROUND_START_DELAY * 1000);
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#endif
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//IMU ground start
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//------------------------
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//
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startup_INS_ground();
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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// initialise mission library
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mission.init();
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// we don't want writes to the serial port to cause us to pause
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// so set serial ports non-blocking once we are ready to drive
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serial_manager.set_blocking_writes_all(false);
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ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
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ins.set_dataflash(&DataFlash);
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gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive");
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}
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/*
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set the in_reverse flag
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reset the throttle integrator if this changes in_reverse
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*/
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void Rover::set_reverse(bool reverse)
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{
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if (in_reverse == reverse) {
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return;
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}
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g.pidSpeedThrottle.reset_I();
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in_reverse = reverse;
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}
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void Rover::set_mode(enum mode mode)
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{
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if(control_mode == mode){
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// don't switch modes if we are already in the correct mode.
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return;
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}
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// If we are changing out of AUTO mode reset the loiter timer
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if (control_mode == AUTO)
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loiter_time = 0;
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control_mode = mode;
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throttle_last = 0;
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throttle = 500;
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set_reverse(false);
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g.pidSpeedThrottle.reset_I();
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if (control_mode != AUTO) {
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auto_triggered = false;
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}
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switch(control_mode)
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{
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case MANUAL:
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case HOLD:
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case LEARNING:
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case STEERING:
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auto_throttle_mode = false;
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break;
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case AUTO:
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auto_throttle_mode = true;
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rtl_complete = false;
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restart_nav();
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break;
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case RTL:
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auto_throttle_mode = true;
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do_RTL();
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break;
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case GUIDED:
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auto_throttle_mode = true;
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rtl_complete = false;
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/*
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when entering guided mode we set the target as the current
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location. This matches the behaviour of the copter code.
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*/
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guided_WP = current_loc;
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set_guided_WP();
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break;
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default:
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auto_throttle_mode = true;
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do_RTL();
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break;
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}
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if (should_log(MASK_LOG_MODE)) {
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DataFlash.Log_Write_Mode(control_mode);
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}
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}
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/*
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set_mode() wrapper for MAVLink SET_MODE
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*/
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bool Rover::mavlink_set_mode(uint8_t mode)
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{
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switch (mode) {
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case MANUAL:
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case HOLD:
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case LEARNING:
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case STEERING:
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case GUIDED:
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case AUTO:
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case RTL:
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set_mode((enum mode)mode);
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return true;
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}
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return false;
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}
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/*
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called to set/unset a failsafe event.
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*/
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void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
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{
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uint8_t old_bits = failsafe.bits;
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if (on) {
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failsafe.bits |= failsafe_type;
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} else {
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failsafe.bits &= ~failsafe_type;
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}
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if (old_bits == 0 && failsafe.bits != 0) {
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// a failsafe event has started
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failsafe.start_time = millis();
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}
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if (failsafe.triggered != 0 && failsafe.bits == 0) {
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// a failsafe event has ended
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Failsafe ended");
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}
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failsafe.triggered &= failsafe.bits;
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if (failsafe.triggered == 0 &&
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failsafe.bits != 0 &&
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millis() - failsafe.start_time > g.fs_timeout*1000 &&
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control_mode != RTL &&
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control_mode != HOLD) {
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failsafe.triggered = failsafe.bits;
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gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", (unsigned)failsafe.triggered);
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switch (g.fs_action) {
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case 0:
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break;
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case 1:
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set_mode(RTL);
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break;
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case 2:
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set_mode(HOLD);
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break;
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}
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}
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}
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void Rover::startup_INS_ground(void)
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{
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gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC");
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mavlink_delay(500);
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// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
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// -----------------------
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gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
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mavlink_delay(1000);
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ahrs.init();
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ahrs.set_fly_forward(true);
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ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
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ins.init(scheduler.get_loop_rate_hz());
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ahrs.reset();
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}
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// updates the notify state
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// should be called at 50hz
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void Rover::update_notify()
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{
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notify.update();
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}
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void Rover::resetPerfData(void) {
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mainLoop_count = 0;
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G_Dt_max = 0;
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perf_mon_timer = millis();
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}
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void Rover::check_usb_mux(void)
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{
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bool usb_check = hal.gpio->usb_connected();
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if (usb_check == usb_connected) {
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return;
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}
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// the user has switched to/from the telemetry port
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usb_connected = usb_check;
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}
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void Rover::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
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{
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switch (mode) {
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case MANUAL:
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port->print("Manual");
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break;
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case HOLD:
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port->print("HOLD");
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break;
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case LEARNING:
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port->print("Learning");
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break;
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case STEERING:
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port->print("Steering");
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break;
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case AUTO:
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port->print("AUTO");
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break;
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case RTL:
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port->print("RTL");
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break;
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default:
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port->printf("Mode(%u)", (unsigned)mode);
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break;
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}
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}
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/*
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check a digitial pin for high,low (1/0)
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*/
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uint8_t Rover::check_digital_pin(uint8_t pin)
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{
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int8_t dpin = hal.gpio->analogPinToDigitalPin(pin);
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if (dpin == -1) {
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return 0;
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}
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// ensure we are in input mode
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hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
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// enable pullup
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hal.gpio->write(dpin, 1);
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return hal.gpio->read(dpin);
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}
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/*
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should we log a message type now?
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*/
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bool Rover::should_log(uint32_t mask)
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{
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if (!(mask & g.log_bitmask) || in_mavlink_delay) {
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return false;
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}
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bool ret = hal.util->get_soft_armed() || (g.log_bitmask & MASK_LOG_WHEN_DISARMED) != 0;
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if (ret && !DataFlash.logging_started() && !in_log_download) {
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start_logging();
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}
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return ret;
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}
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/*
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send FrSky telemetry. Should be called at 5Hz by scheduler
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*/
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#if FRSKY_TELEM_ENABLED == ENABLED
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void Rover::frsky_telemetry_send(void)
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{
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frsky_telemetry.send_frames((uint8_t)control_mode);
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}
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#endif
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/*
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update AHRS soft arm state and log as needed
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*/
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void Rover::change_arm_state(void)
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{
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Log_Arm_Disarm();
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hal.util->set_soft_armed(arming.is_armed() &&
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hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
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}
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/*
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arm motors
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*/
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bool Rover::arm_motors(AP_Arming::ArmingMethod method)
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{
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if (!arming.arm(method)) {
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return false;
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}
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// only log if arming was successful
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channel_throttle->enable_out();
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change_arm_state();
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return true;
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}
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/*
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disarm motors
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*/
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bool Rover::disarm_motors(void)
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{
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if (!arming.disarm()) {
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return false;
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}
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if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
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channel_throttle->disable_out();
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}
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if (control_mode != AUTO) {
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// reset the mission on disarm if we are not in auto
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mission.reset();
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}
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//only log if disarming was successful
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change_arm_state();
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return true;
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}
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