mirror of https://github.com/ArduPilot/ardupilot
274 lines
10 KiB
C++
274 lines
10 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#define THISFIRMWARE "AntennaTracker V0.7.6"
|
|
#define FIRMWARE_VERSION 0,7,6,FIRMWARE_VERSION_TYPE_DEV
|
|
|
|
/*
|
|
Lead developers: Matthew Ridley and Andrew Tridgell
|
|
|
|
Please contribute your ideas! See http://dev.ardupilot.org for details
|
|
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Header includes
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#include <cmath>
|
|
#include <stdarg.h>
|
|
#include <stdio.h>
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <StorageManager/StorageManager.h>
|
|
#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
|
|
#include <AP_Baro/AP_Baro.h> // ArduPilot barometer library
|
|
#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
|
|
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
|
#include <AP_ADC/AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
|
|
#include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor Library
|
|
#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
|
|
#include <AP_AHRS/AP_AHRS.h> // ArduPilot Mega DCM Library
|
|
#include <Filter/Filter.h> // Filter library
|
|
#include <AP_Buffer/AP_Buffer.h> // APM FIFO Buffer
|
|
|
|
#include <GCS_MAVLink/GCS_MAVLink.h> // MAVLink GCS definitions
|
|
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
|
|
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
|
|
#include <DataFlash/DataFlash.h>
|
|
#include <PID/PID.h>
|
|
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
|
|
#include <AP_NavEKF/AP_NavEKF.h>
|
|
#include <AP_NavEKF2/AP_NavEKF2.h>
|
|
|
|
#include <AP_Vehicle/AP_Vehicle.h>
|
|
#include <AP_Mission/AP_Mission.h>
|
|
#include <AP_Terrain/AP_Terrain.h>
|
|
#include <AP_Rally/AP_Rally.h>
|
|
#include <AP_Notify/AP_Notify.h> // Notify library
|
|
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
|
|
#include <AP_Airspeed/AP_Airspeed.h>
|
|
#include <RC_Channel/RC_Channel.h>
|
|
#include <AP_BoardConfig/AP_BoardConfig.h>
|
|
#include <AP_OpticalFlow/AP_OpticalFlow.h>
|
|
#include <AP_RangeFinder/AP_RangeFinder.h>
|
|
|
|
// Configuration
|
|
#include "config.h"
|
|
#include "defines.h"
|
|
|
|
#include "Parameters.h"
|
|
#include <GCS_MAVLink/GCS.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
#include <SITL/SITL.h>
|
|
#endif
|
|
|
|
class Tracker : public AP_HAL::HAL::Callbacks {
|
|
public:
|
|
friend class GCS_MAVLINK;
|
|
friend class Parameters;
|
|
|
|
Tracker(void);
|
|
|
|
// HAL::Callbacks implementation.
|
|
void setup() override;
|
|
void loop() override;
|
|
|
|
private:
|
|
Parameters g;
|
|
|
|
// main loop scheduler
|
|
AP_Scheduler scheduler;
|
|
|
|
// notification object for LEDs, buzzers etc
|
|
AP_Notify notify;
|
|
|
|
uint32_t start_time_ms = 0;
|
|
|
|
bool usb_connected = false;
|
|
|
|
// has a log download started?
|
|
bool in_log_download = false;
|
|
bool logging_started = false;
|
|
DataFlash_Class DataFlash{FIRMWARE_STRING};
|
|
|
|
AP_GPS gps;
|
|
|
|
AP_Baro barometer;
|
|
|
|
Compass compass;
|
|
|
|
AP_InertialSensor ins;
|
|
|
|
RangeFinder rng {serial_manager};
|
|
|
|
// Inertial Navigation EKF
|
|
#if AP_AHRS_NAVEKF_AVAILABLE
|
|
NavEKF EKF{&ahrs, barometer, rng};
|
|
NavEKF2 EKF2{&ahrs, barometer, rng};
|
|
AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF, EKF2};
|
|
#else
|
|
AP_AHRS_DCM ahrs{ins, barometer, gps};
|
|
#endif
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
SITL::SITL sitl;
|
|
#endif
|
|
|
|
/**
|
|
antenna control channels
|
|
*/
|
|
RC_Channel channel_yaw{CH_YAW};
|
|
RC_Channel channel_pitch{CH_PITCH};
|
|
|
|
AP_SerialManager serial_manager;
|
|
const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
|
|
GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
|
|
|
|
AP_BoardConfig BoardConfig;
|
|
|
|
struct Location current_loc;
|
|
|
|
enum ControlMode control_mode = INITIALISING;
|
|
|
|
// Vehicle state
|
|
struct {
|
|
bool location_valid; // true if we have a valid location for the vehicle
|
|
Location location; // lat, long in degrees * 10^7; alt in meters * 100
|
|
Location location_estimate; // lat, long in degrees * 10^7; alt in meters * 100
|
|
uint32_t last_update_us; // last position update in micxroseconds
|
|
uint32_t last_update_ms; // last position update in milliseconds
|
|
float heading; // last known direction vehicle is moving
|
|
float ground_speed; // vehicle's last known ground speed in m/s
|
|
} vehicle;
|
|
|
|
// Navigation controller state
|
|
struct {
|
|
float bearing; // bearing to vehicle in centi-degrees
|
|
float distance; // distance to vehicle in meters
|
|
float pitch; // pitch to vehicle in degrees (positive means vehicle is above tracker, negative means below)
|
|
float altitude_difference; // altitude difference between tracker and vehicle in meters. positive value means vehicle is above tracker
|
|
float altitude_offset; // offset in meters which is added to tracker altitude to align altitude measurements with vehicle's barometer
|
|
bool manual_control_yaw : 1;// true if tracker yaw is under manual control
|
|
bool manual_control_pitch : 1;// true if tracker pitch is manually controlled
|
|
bool need_altitude_calibration : 1;// true if tracker altitude has not been determined (true after startup)
|
|
bool scan_reverse_pitch : 1;// controls direction of pitch movement in SCAN mode
|
|
bool scan_reverse_yaw : 1;// controls direction of yaw movement in SCAN mode
|
|
} nav_status = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, false, false, true, false, false};
|
|
|
|
// Servo state
|
|
struct {
|
|
bool yaw_lower : 1; // true if yaw servo has been limited from moving to a lower position (i.e. position or rate limited)
|
|
bool yaw_upper : 1; // true if yaw servo has been limited from moving to a higher position (i.e. position or rate limited)
|
|
bool pitch_lower : 1; // true if pitch servo has been limited from moving to a lower position (i.e. position or rate limited)
|
|
bool pitch_upper : 1; // true if pitch servo has been limited from moving to a higher position (i.e. position or rate limited)
|
|
} servo_limit = {true, true, true, true};
|
|
|
|
// setup the var_info table
|
|
AP_Param param_loader{var_info};
|
|
|
|
uint8_t one_second_counter = 0;
|
|
bool target_set = false;
|
|
int8_t slew_dir = 0;
|
|
uint32_t slew_start_ms = 0;
|
|
|
|
// use this to prevent recursion during sensor init
|
|
bool in_mavlink_delay = false;
|
|
|
|
static const AP_Scheduler::Task scheduler_tasks[];
|
|
static const AP_Param::Info var_info[];
|
|
static const struct LogStructure log_structure[];
|
|
|
|
void dataflash_periodic(void);
|
|
void one_second_loop();
|
|
void ten_hz_logging_loop();
|
|
void send_heartbeat(mavlink_channel_t chan);
|
|
void send_attitude(mavlink_channel_t chan);
|
|
void send_location(mavlink_channel_t chan);
|
|
void send_radio_out(mavlink_channel_t chan);
|
|
void send_hwstatus(mavlink_channel_t chan);
|
|
void send_waypoint_request(mavlink_channel_t chan);
|
|
void send_nav_controller_output(mavlink_channel_t chan);
|
|
void send_simstate(mavlink_channel_t chan);
|
|
void mavlink_check_target(const mavlink_message_t* msg);
|
|
void gcs_send_message(enum ap_message id);
|
|
void gcs_data_stream_send(void);
|
|
void gcs_update(void);
|
|
void gcs_send_text(MAV_SEVERITY severity, const char *str);
|
|
void gcs_retry_deferred(void);
|
|
void load_parameters(void);
|
|
void update_auto(void);
|
|
void update_manual(void);
|
|
void update_scan(void);
|
|
bool servo_test_set_servo(uint8_t servo_num, uint16_t pwm);
|
|
void read_radio();
|
|
void init_barometer(void);
|
|
void update_barometer(void);
|
|
void update_ahrs();
|
|
void update_compass(void);
|
|
void compass_accumulate(void);
|
|
void accel_cal_update(void);
|
|
void barometer_accumulate(void);
|
|
void update_GPS(void);
|
|
void init_servos();
|
|
void update_pitch_servo(float pitch);
|
|
void update_pitch_position_servo(float pitch);
|
|
void update_pitch_cr_servo(float pitch);
|
|
void update_pitch_onoff_servo(float pitch);
|
|
void update_yaw_servo(float yaw);
|
|
void update_yaw_position_servo(float yaw);
|
|
void update_yaw_cr_servo(float yaw);
|
|
void update_yaw_onoff_servo(float yaw);
|
|
void init_tracker();
|
|
void update_notify();
|
|
bool get_home_eeprom(struct Location &loc);
|
|
void set_home_eeprom(struct Location temp);
|
|
void set_home(struct Location temp);
|
|
void arm_servos();
|
|
void disarm_servos();
|
|
void prepare_servos();
|
|
void set_mode(enum ControlMode mode);
|
|
bool mavlink_set_mode(uint8_t mode);
|
|
void check_usb_mux(void);
|
|
void update_vehicle_pos_estimate();
|
|
void update_tracker_position();
|
|
void update_bearing_and_distance();
|
|
void update_tracking(void);
|
|
void tracking_update_position(const mavlink_global_position_int_t &msg);
|
|
void tracking_update_pressure(const mavlink_scaled_pressure_t &msg);
|
|
void tracking_manual_control(const mavlink_manual_control_t &msg);
|
|
void update_armed_disarmed();
|
|
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
|
|
void init_capabilities(void);
|
|
void compass_cal_update();
|
|
void Log_Write_Attitude();
|
|
void Log_Write_Baro(void);
|
|
void Log_Write_Vehicle_Startup_Messages();
|
|
void start_logging();
|
|
void log_init(void);
|
|
bool should_log(uint32_t mask);
|
|
|
|
public:
|
|
void mavlink_snoop(const mavlink_message_t* msg);
|
|
void mavlink_delay_cb();
|
|
};
|
|
|
|
#define MENU_FUNC(func) FUNCTOR_BIND(&tracker, &Tracker::func, int8_t, uint8_t, const Menu::arg *)
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
extern Tracker tracker;
|