mirror of https://github.com/ArduPilot/ardupilot
992 lines
30 KiB
Plaintext
992 lines
30 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduPlane V2.27"
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/*
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler
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Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier
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Please contribute your ideas!
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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 <Arduino_Mega_ISR_Registry.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 <SPI.h> // Arduino SPI 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 <AP_AnalogSource.h>// ArduPilot Mega polymorphic analog getter
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#include <AP_PeriodicProcess.h> // ArduPilot Mega TimerProcess
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#include <AP_Baro.h> // ArduPilot barometer 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_InertialSensor.h> // Inertial Sensor (uncalibated IMU) 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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#include <ModeFilter.h>
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#include <AP_Relay.h> // APM relay
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#include <AP_Mount.h> // Camera/Antenna mount
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <memcheck.h>
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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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////////////////////////////////////////////////////////////////////////////////
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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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// ISR Registry
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////////////////////////////////////////////////////////////////////////////////
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Arduino_Mega_ISR_Registry isr_registry;
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////////////////////////////////////////////////////////////////////////////////
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// APM_RC_Class Instance
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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APM_RC_APM2 APM_RC;
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#else
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APM_RC_APM1 APM_RC;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Dataflash
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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DataFlash_APM2 DataFlash;
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#else
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DataFlash_APM1 DataFlash;
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#endif
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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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static Parameters g;
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////////////////////////////////////////////////////////////////////////////////
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// prototypes
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static 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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static GPS *g_gps;
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// flight modes convenience array
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static AP_Int8 *flight_modes = &g.flight_mode1;
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#if HIL_MODE == HIL_MODE_DISABLED
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// real sensors
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#if CONFIG_ADC == ENABLED
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static AP_ADC_ADS7844 adc;
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#endif
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#ifdef DESKTOP_BUILD
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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#else
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#if CONFIG_BARO == AP_BARO_BMP085
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# if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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static AP_Baro_BMP085 barometer(true);
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# else
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static AP_Baro_BMP085 barometer(false);
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# endif
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#elif CONFIG_BARO == AP_BARO_MS5611
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static AP_Baro_MS5611 barometer;
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#endif
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static AP_Compass_HMC5843 compass(Parameters::k_param_compass);
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#endif
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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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# if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
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# else
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AP_InertialSensor_Oilpan ins( &adc );
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#endif // CONFIG_IMU_TYPE
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AP_IMU_INS imu( &ins, Parameters::k_param_IMU_calibration );
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AP_DCM dcm(&imu, g_gps);
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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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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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AP_GPS_HIL g_gps_driver(NULL);
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AP_InertialSensor_Oilpan ins( &adc );
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AP_IMU_Shim imu;
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AP_DCM dcm(&imu, g_gps);
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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AP_ADC_HIL adc;
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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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// we always have a timer scheduler
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AP_TimerProcess timer_scheduler;
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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////////////////////////////////////////////////////////////////////////////////
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//
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GCS_MAVLINK gcs0(Parameters::k_param_streamrates_port0);
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GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3);
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////////////////////////////////////////////////////////////////////////////////
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// PITOT selection
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////////////////////////////////////////////////////////////////////////////////
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//
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ModeFilter sonar_mode_filter;
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#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
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AP_AnalogSource_ADC pitot_analog_source( &adc,
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CONFIG_PITOT_SOURCE_ADC_CHANNEL, 1.0);
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#elif CONFIG_PITOT_SOURCE == PITOT_SOURCE_ANALOG_PIN
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AP_AnalogSource_Arduino pitot_analog_source(CONFIG_PITOT_SOURCE_ANALOG_PIN, 4.0);
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#endif
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#if SONAR_TYPE == MAX_SONAR_XL
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AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
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#elif SONAR_TYPE == MAX_SONAR_LV
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// XXX honestly I think these output the same values
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// If someone knows, can they confirm it?
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AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Global variables
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////////////////////////////////////////////////////////////////////////////////
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byte control_mode = INITIALISING;
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byte oldSwitchPosition; // for remembering the control mode switch
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bool inverted_flight = false;
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#if USB_MUX_PIN > 0
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static bool usb_connected;
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#endif
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static const char *comma = ",";
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static const char* flight_mode_strings[] = {
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"Manual",
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"Circle",
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"Stabilize",
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"",
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"",
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"FBW_A",
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"FBW_B",
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"",
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"",
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"",
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"Auto",
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"RTL",
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"Loiter",
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"Takeoff",
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"Land"};
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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 Aux5
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6 Aux6
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7 Aux7
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8 Aux8/Mode
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Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
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See libraries/RC_Channel/RC_Channel_aux.h for more information
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*/
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// Failsafe
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// --------
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static int failsafe; // track which type of failsafe is being processed
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static bool ch3_failsafe;
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static byte crash_timer;
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// Radio
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// -----
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static uint16_t elevon1_trim = 1500; // TODO: handle in EEProm
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static uint16_t elevon2_trim = 1500;
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static uint16_t ch1_temp = 1500; // Used for elevon mixing
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static uint16_t ch2_temp = 1500;
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static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
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static bool rc_override_active = false;
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static uint32_t rc_override_fs_timer = 0;
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static uint32_t ch3_failsafe_timer = 0;
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// for elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are equivalent aileron and elevator, not left and right elevon
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// LED output
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// ----------
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static bool GPS_light; // status of the GPS light
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// GPS variables
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// -------------
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static const float t7 = 10000000.0; // used to scale GPS values for EEPROM storage
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static float scaleLongUp = 1; // used to reverse longitude scaling
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static float scaleLongDown = 1; // used to reverse longitude scaling
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static byte ground_start_count = 5; // have we achieved first lock and set Home?
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static int ground_start_avg; // 5 samples to avg speed for ground start
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static bool GPS_enabled = false; // used to quit "looking" for gps with auto-detect if none present
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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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static long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
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static long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target
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static long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
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static 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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static long hold_course = -1; // deg * 100 dir of plane
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static byte nav_command_index; // active nav command memory location
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static byte non_nav_command_index; // active non-nav command memory location
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static byte nav_command_ID = NO_COMMAND; // active nav command ID
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static byte non_nav_command_ID = NO_COMMAND; // active non-nav command ID
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// Airspeed
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// --------
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static int airspeed; // m/s * 100
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static int airspeed_nudge; // m/s * 100 : additional airspeed based on throttle stick position in top 1/2 of range
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static long target_airspeed; // m/s * 100 (used for Auto-flap deployment in FBW_B mode)
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static float airspeed_error; // m/s * 100
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static long energy_error; // energy state error (kinetic + potential) for altitude hold
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static long airspeed_energy_error; // kinetic portion of energy error (m^2/s^2)
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// Ground speed
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static long groundspeed_undershoot = 0; // m/s * 100 (>=0, where > 0 => amount below min ground speed)
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// Location Errors
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// ---------------
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static long bearing_error; // deg * 100 : 0 to 36000
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static long altitude_error; // meters * 100 we are off in altitude
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static float crosstrack_error; // meters we are off trackline
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// Battery Sensors
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// ---------------
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static float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter
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static float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery Voltage of cell 1, initialized above threshold for filter
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static float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2, initialized above threshold for filter
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static float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3, initialized above threshold for filter
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static float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter
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static float current_amps;
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static float current_total;
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// Airspeed Sensors
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// ----------------
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static float airspeed_raw; // Airspeed Sensor - is a float to better handle filtering
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static float airspeed_pressure; // airspeed as a pressure value
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// Barometer Sensor variables
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// --------------------------
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static unsigned long abs_pressure;
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// Altitude Sensor variables
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// ----------------------
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static int sonar_alt;
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// flight mode specific
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// --------------------
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static bool takeoff_complete = true; // Flag for using gps ground course instead of IMU yaw. Set false when takeoff command processes.
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static bool land_complete;
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static long takeoff_altitude;
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// static int landing_distance; // meters;
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static int landing_pitch; // pitch for landing set by commands
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static int takeoff_pitch;
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// Loiter management
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// -----------------
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static long old_target_bearing; // deg * 100
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static int loiter_total; // deg : how many times to loiter * 360
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static int loiter_delta; // deg : how far we just turned
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static int loiter_sum; // deg : how far we have turned around a waypoint
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static long loiter_time; // millis : when we started LOITER mode
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static int 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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static long nav_roll; // deg * 100 : target roll angle
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static long nav_pitch; // deg * 100 : target pitch angle
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static int throttle_nudge = 0; // 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
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// Waypoints
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// ---------
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static long wp_distance; // meters - distance between plane and next waypoint
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static long wp_totalDistance; // meters - distance between old and next waypoint
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// repeating event control
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// -----------------------
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static byte event_id; // what to do - see defines
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static long event_timer; // when the event was asked for in ms
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static uint16_t event_delay; // how long to delay the next firing of event in millis
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static int event_repeat = 0; // how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
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static int event_value; // per command value, such as PWM for servos
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static int event_undo_value; // the value used to cycle events (alternate value to event_value)
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// delay command
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// --------------
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static long condition_value; // used in condition commands (eg delay, change alt, etc.)
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static long condition_start;
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static int condition_rate;
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// 3D Location vectors
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// -------------------
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static struct Location home; // home location
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static struct Location prev_WP; // last waypoint
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static struct Location current_loc; // current location
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static struct Location next_WP; // next waypoint
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static struct Location guided_WP; // guided mode waypoint
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static struct Location next_nav_command; // command preloaded
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static struct Location next_nonnav_command; // command preloaded
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static long target_altitude; // used for altitude management between waypoints
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static long offset_altitude; // used for altitude management between waypoints
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static bool 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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static 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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static long perf_mon_timer; // Metric based on accel gain deweighting
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static int G_Dt_max = 0; // Max main loop cycle time in milliseconds
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static int gps_fix_count = 0;
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static int pmTest1 = 0;
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// System Timers
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// --------------
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static unsigned long fast_loopTimer; // Time in miliseconds of main control loop
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static unsigned long fast_loopTimeStamp; // Time Stamp when fast loop was complete
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static uint8_t delta_ms_fast_loop; // Delta Time in miliseconds
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static uint16_t mainLoop_count;
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static unsigned long medium_loopTimer; // Time in miliseconds of medium loop
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static byte medium_loopCounter; // Counters for branching from main control loop to slower loops
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static uint8_t delta_ms_medium_loop;
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static byte slow_loopCounter;
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static byte superslow_loopCounter;
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static byte counter_one_herz;
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static unsigned long nav_loopTimer; // used to track the elapsed time for GPS nav
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static unsigned long dTnav; // Delta Time in milliseconds for navigation computations
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static float load; // % MCU cycles used
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AP_Relay relay;
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// Camera/Antenna mount tracking and stabilisation stuff
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// --------------------------------------
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#if MOUNT == ENABLED
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AP_Mount camera_mount(g_gps, &dcm);
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#endif
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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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memcheck_init();
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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 at 50Hz if possible
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// -------------------------------------------
|
|
if (millis()-fast_loopTimer > 19) {
|
|
delta_ms_fast_loop = millis() - fast_loopTimer;
|
|
load = (float)(fast_loopTimeStamp - fast_loopTimer)/delta_ms_fast_loop;
|
|
G_Dt = (float)delta_ms_fast_loop / 1000.f;
|
|
fast_loopTimer = millis();
|
|
|
|
mainLoop_count++;
|
|
|
|
// Execute the fast loop
|
|
// ---------------------
|
|
fast_loop();
|
|
|
|
// Execute the medium loop
|
|
// -----------------------
|
|
medium_loop();
|
|
|
|
counter_one_herz++;
|
|
if(counter_one_herz == 50){
|
|
one_second_loop();
|
|
counter_one_herz = 0;
|
|
}
|
|
|
|
if (millis() - perf_mon_timer > 20000) {
|
|
if (mainLoop_count != 0) {
|
|
if (g.log_bitmask & MASK_LOG_PM)
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
Log_Write_Performance();
|
|
#endif
|
|
|
|
resetPerfData();
|
|
}
|
|
}
|
|
|
|
fast_loopTimeStamp = millis();
|
|
}
|
|
}
|
|
|
|
// Main loop 50Hz
|
|
static void fast_loop()
|
|
{
|
|
// This is the fast loop - we want it to execute at 50Hz if possible
|
|
// -----------------------------------------------------------------
|
|
if (delta_ms_fast_loop > G_Dt_max)
|
|
G_Dt_max = delta_ms_fast_loop;
|
|
|
|
// Read radio
|
|
// ----------
|
|
read_radio();
|
|
|
|
// try to send any deferred messages if the serial port now has
|
|
// some space available
|
|
gcs_send_message(MSG_RETRY_DEFERRED);
|
|
|
|
// check for loss of control signal failsafe condition
|
|
// ------------------------------------
|
|
check_short_failsafe();
|
|
|
|
// Read Airspeed
|
|
// -------------
|
|
if (g.airspeed_enabled == true) {
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
read_airspeed();
|
|
#else
|
|
calc_airspeed_errors();
|
|
#endif
|
|
}
|
|
|
|
#if HIL_MODE == HIL_MODE_SENSORS
|
|
// update hil before dcm update
|
|
gcs_update();
|
|
#endif
|
|
|
|
dcm.update_DCM();
|
|
|
|
// uses the yaw from the DCM to give more accurate turns
|
|
calc_bearing_error();
|
|
|
|
# if HIL_MODE == HIL_MODE_DISABLED
|
|
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
|
|
Log_Write_Attitude((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor);
|
|
|
|
if (g.log_bitmask & MASK_LOG_RAW)
|
|
Log_Write_Raw();
|
|
#endif
|
|
|
|
// inertial navigation
|
|
// ------------------
|
|
#if INERTIAL_NAVIGATION == ENABLED
|
|
// TODO: implement inertial nav function
|
|
inertialNavigation();
|
|
#endif
|
|
|
|
// custom code/exceptions for flight modes
|
|
// ---------------------------------------
|
|
update_current_flight_mode();
|
|
|
|
// apply desired roll, pitch and yaw to the plane
|
|
// ----------------------------------------------
|
|
if (control_mode > MANUAL)
|
|
stabilize();
|
|
|
|
// write out the servo PWM values
|
|
// ------------------------------
|
|
set_servos();
|
|
|
|
|
|
// XXX is it appropriate to be doing the comms below on the fast loop?
|
|
|
|
gcs_update();
|
|
gcs_data_stream_send(45,1000);
|
|
}
|
|
|
|
static void medium_loop()
|
|
{
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_position();
|
|
#endif
|
|
|
|
// This is the start of the medium (10 Hz) loop pieces
|
|
// -----------------------------------------
|
|
switch(medium_loopCounter) {
|
|
|
|
// This case deals with the GPS
|
|
//-------------------------------
|
|
case 0:
|
|
medium_loopCounter++;
|
|
if(GPS_enabled){
|
|
update_GPS();
|
|
calc_gndspeed_undershoot();
|
|
}
|
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
if(g.compass_enabled){
|
|
compass.read(); // Read magnetometer
|
|
compass.calculate(dcm.get_dcm_matrix()); // Calculate heading
|
|
compass.null_offsets(dcm.get_dcm_matrix());
|
|
}
|
|
#endif
|
|
/*{
|
|
Serial.print(dcm.roll_sensor, DEC); Serial.printf_P(PSTR("\t"));
|
|
Serial.print(dcm.pitch_sensor, DEC); Serial.printf_P(PSTR("\t"));
|
|
Serial.print(dcm.yaw_sensor, DEC); Serial.printf_P(PSTR("\t"));
|
|
Vector3f tempaccel = imu.get_accel();
|
|
Serial.print(tempaccel.x, DEC); Serial.printf_P(PSTR("\t"));
|
|
Serial.print(tempaccel.y, DEC); Serial.printf_P(PSTR("\t"));
|
|
Serial.println(tempaccel.z, DEC);
|
|
}*/
|
|
|
|
break;
|
|
|
|
// This case performs some navigation computations
|
|
//------------------------------------------------
|
|
case 1:
|
|
medium_loopCounter++;
|
|
|
|
|
|
if(g_gps->new_data){
|
|
g_gps->new_data = false;
|
|
dTnav = millis() - nav_loopTimer;
|
|
nav_loopTimer = millis();
|
|
|
|
// calculate the plane's desired bearing
|
|
// -------------------------------------
|
|
navigate();
|
|
}
|
|
|
|
break;
|
|
|
|
// command processing
|
|
//------------------------------
|
|
case 2:
|
|
medium_loopCounter++;
|
|
|
|
// Read altitude from sensors
|
|
// ------------------
|
|
update_alt();
|
|
if(g.sonar_enabled) sonar_alt = sonar.read();
|
|
|
|
// altitude smoothing
|
|
// ------------------
|
|
if (control_mode != FLY_BY_WIRE_B)
|
|
calc_altitude_error();
|
|
|
|
// perform next command
|
|
// --------------------
|
|
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((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor);
|
|
|
|
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(g_gps->time, current_loc.lat, current_loc.lng, g_gps->altitude, current_loc.alt, (long) g_gps->ground_speed, g_gps->ground_course, g_gps->fix, g_gps->num_sats);
|
|
|
|
// send all requested output streams with rates requested
|
|
// between 5 and 45 Hz
|
|
gcs_data_stream_send(5,45);
|
|
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();
|
|
}
|
|
|
|
slow_loop();
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void slow_loop()
|
|
{
|
|
// This is the slow (3 1/3 Hz) loop pieces
|
|
//----------------------------------------
|
|
switch (slow_loopCounter){
|
|
case 0:
|
|
slow_loopCounter++;
|
|
check_long_failsafe();
|
|
superslow_loopCounter++;
|
|
if(superslow_loopCounter >=200) { // 200 = Execute every minute
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
if(g.compass_enabled) {
|
|
compass.save_offsets();
|
|
}
|
|
#endif
|
|
|
|
superslow_loopCounter = 0;
|
|
}
|
|
break;
|
|
|
|
case 1:
|
|
slow_loopCounter++;
|
|
|
|
// Read 3-position switch on radio
|
|
// -------------------------------
|
|
read_control_switch();
|
|
|
|
// Read Control Surfaces/Mix switches
|
|
// ----------------------------------
|
|
update_servo_switches();
|
|
|
|
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
|
|
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_type();
|
|
#endif
|
|
break;
|
|
|
|
case 2:
|
|
slow_loopCounter = 0;
|
|
update_events();
|
|
|
|
mavlink_system.sysid = g.sysid_this_mav; // This is just an ugly hack to keep mavlink_system.sysid sync'd with our parameter
|
|
gcs_data_stream_send(3,5);
|
|
|
|
#if USB_MUX_PIN > 0
|
|
check_usb_mux();
|
|
#endif
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void one_second_loop()
|
|
{
|
|
if (g.log_bitmask & MASK_LOG_CUR)
|
|
Log_Write_Current();
|
|
|
|
// send a heartbeat
|
|
gcs_send_message(MSG_HEARTBEAT);
|
|
gcs_data_stream_send(1,3);
|
|
}
|
|
|
|
static void update_GPS(void)
|
|
{
|
|
g_gps->update();
|
|
update_GPS_light();
|
|
|
|
if (g_gps->new_data && g_gps->fix) {
|
|
// for performance
|
|
// ---------------
|
|
gps_fix_count++;
|
|
|
|
if(ground_start_count > 1){
|
|
ground_start_count--;
|
|
ground_start_avg += g_gps->ground_speed;
|
|
|
|
} else if (ground_start_count == 1) {
|
|
// We countdown N number of good GPS fixes
|
|
// so that the altitude is more accurate
|
|
// -------------------------------------
|
|
if (current_loc.lat == 0) {
|
|
ground_start_count = 5;
|
|
|
|
} else {
|
|
if(ENABLE_AIR_START == 1 && (ground_start_avg / 5) < SPEEDFILT){
|
|
startup_ground();
|
|
|
|
if (g.log_bitmask & MASK_LOG_CMD)
|
|
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
|
|
|
|
init_home();
|
|
} else if (ENABLE_AIR_START == 0) {
|
|
init_home();
|
|
}
|
|
|
|
ground_start_count = 0;
|
|
}
|
|
}
|
|
|
|
|
|
current_loc.lng = g_gps->longitude; // Lon * 10**7
|
|
current_loc.lat = g_gps->latitude; // Lat * 10**7
|
|
|
|
// see if we've breached the geo-fence
|
|
geofence_check(false);
|
|
}
|
|
}
|
|
|
|
static void update_current_flight_mode(void)
|
|
{
|
|
if(control_mode == AUTO){
|
|
crash_checker();
|
|
|
|
switch(nav_command_ID){
|
|
case MAV_CMD_NAV_TAKEOFF:
|
|
if (hold_course > -1) {
|
|
calc_nav_roll();
|
|
} else {
|
|
nav_roll = 0;
|
|
}
|
|
|
|
if (g.airspeed_enabled == true)
|
|
{
|
|
calc_nav_pitch();
|
|
if (nav_pitch < (long)takeoff_pitch) nav_pitch = (long)takeoff_pitch;
|
|
} else {
|
|
nav_pitch = (long)((float)g_gps->ground_speed / (float)g.airspeed_cruise * (float)takeoff_pitch * 0.5);
|
|
nav_pitch = constrain(nav_pitch, 500l, (long)takeoff_pitch);
|
|
}
|
|
|
|
g.channel_throttle.servo_out = g.throttle_max; //TODO: Replace with THROTTLE_TAKEOFF or other method of controlling throttle
|
|
// What is the case for doing something else? Why wouldn't you want max throttle for TO?
|
|
// ******************************
|
|
|
|
break;
|
|
|
|
case MAV_CMD_NAV_LAND:
|
|
calc_nav_roll();
|
|
|
|
if (g.airspeed_enabled == true){
|
|
calc_nav_pitch();
|
|
calc_throttle();
|
|
}else{
|
|
calc_nav_pitch(); // calculate nav_pitch just to use for calc_throttle
|
|
calc_throttle(); // throttle based on altitude error
|
|
nav_pitch = landing_pitch; // pitch held constant
|
|
}
|
|
|
|
if (land_complete){
|
|
g.channel_throttle.servo_out = 0;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
hold_course = -1;
|
|
calc_nav_roll();
|
|
calc_nav_pitch();
|
|
calc_throttle();
|
|
break;
|
|
}
|
|
}else{
|
|
switch(control_mode){
|
|
case RTL:
|
|
case LOITER:
|
|
case GUIDED:
|
|
hold_course = -1;
|
|
crash_checker();
|
|
calc_nav_roll();
|
|
calc_nav_pitch();
|
|
calc_throttle();
|
|
break;
|
|
|
|
case FLY_BY_WIRE_A:
|
|
// set nav_roll and nav_pitch using sticks
|
|
nav_roll = g.channel_roll.norm_input() * g.roll_limit;
|
|
nav_pitch = g.channel_pitch.norm_input() * (-1) * g.pitch_limit_min;
|
|
// We use pitch_min above because it is usually greater magnitude then pitch_max. -1 is to compensate for its sign.
|
|
nav_pitch = constrain(nav_pitch, -3000, 3000); // trying to give more pitch authority
|
|
if (inverted_flight) nav_pitch = -nav_pitch;
|
|
break;
|
|
|
|
case FLY_BY_WIRE_B:
|
|
// Substitute stick inputs for Navigation control output
|
|
// We use g.pitch_limit_min because its magnitude is
|
|
// normally greater than g.pitch_limit_max
|
|
nav_roll = g.channel_roll.norm_input() * g.roll_limit;
|
|
altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min;
|
|
|
|
if ((current_loc.alt>=home.alt+g.FBWB_min_altitude) || (g.FBWB_min_altitude == -1)) {
|
|
altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min;
|
|
} else {
|
|
if (g.channel_pitch.norm_input()<0)
|
|
altitude_error =( (home.alt + g.FBWB_min_altitude) - current_loc.alt) + g.channel_pitch.norm_input() * g.pitch_limit_min ;
|
|
else altitude_error =( (home.alt + g.FBWB_min_altitude) - current_loc.alt) ;
|
|
}
|
|
calc_throttle();
|
|
calc_nav_pitch();
|
|
break;
|
|
|
|
case STABILIZE:
|
|
nav_roll = 0;
|
|
nav_pitch = 0;
|
|
// throttle is passthrough
|
|
break;
|
|
|
|
case CIRCLE:
|
|
// we have no GPS installed and have lost radio contact
|
|
// or we just want to fly around in a gentle circle w/o GPS
|
|
// ----------------------------------------------------
|
|
nav_roll = g.roll_limit / 3;
|
|
nav_pitch = 0;
|
|
|
|
if (failsafe != FAILSAFE_NONE){
|
|
g.channel_throttle.servo_out = g.throttle_cruise;
|
|
}
|
|
break;
|
|
|
|
case MANUAL:
|
|
// servo_out is for Sim control only
|
|
// ---------------------------------
|
|
g.channel_roll.servo_out = g.channel_roll.pwm_to_angle();
|
|
g.channel_pitch.servo_out = g.channel_pitch.pwm_to_angle();
|
|
g.channel_rudder.servo_out = g.channel_rudder.pwm_to_angle();
|
|
break;
|
|
//roll: -13788.000, pitch: -13698.000, thr: 0.000, rud: -13742.000
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
static 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();
|
|
}else{
|
|
|
|
switch(control_mode){
|
|
case LOITER:
|
|
case RTL:
|
|
case GUIDED:
|
|
update_loiter();
|
|
calc_bearing_error();
|
|
break;
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
static void update_alt()
|
|
{
|
|
#if HIL_MODE == HIL_MODE_ATTITUDE
|
|
current_loc.alt = g_gps->altitude;
|
|
#else
|
|
// this function is in place to potentially add a sonar sensor in the future
|
|
//altitude_sensor = BARO;
|
|
|
|
current_loc.alt = (1 - g.altitude_mix) * g_gps->altitude; // alt_MSL centimeters (meters * 100)
|
|
current_loc.alt += g.altitude_mix * (read_barometer() + home.alt);
|
|
#endif
|
|
|
|
geofence_check(true);
|
|
|
|
// Calculate new climb rate
|
|
//if(medium_loopCounter == 0 && slow_loopCounter == 0)
|
|
// add_altitude_data(millis() / 100, g_gps->altitude / 10);
|
|
}
|