mirror of https://github.com/ArduPilot/ardupilot
187 lines
5.8 KiB
C++
187 lines
5.8 KiB
C++
#include "Sub.h"
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// enable_motor_output() - enable and output lowest possible value to motors
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void Sub::enable_motor_output()
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{
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// enable motors
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motors.enable();
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motors.output_min();
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}
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// init_arm_motors - performs arming process including initialisation of barometer and gyros
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// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
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bool Sub::init_arm_motors(bool arming_from_gcs)
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{
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start_logging();
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static bool in_arm_motors = false;
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// exit immediately if already in this function
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if (in_arm_motors) {
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return false;
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}
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in_arm_motors = true;
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if (!arming.pre_arm_checks(true)) {
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AP_Notify::events.arming_failed = true;
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in_arm_motors = false;
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return false;
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}
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// let dataflash know that we're armed (it may open logs e.g.)
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DataFlash_Class::instance()->set_vehicle_armed(true);
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// disable cpu failsafe because initialising everything takes a while
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mainloop_failsafe_disable();
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// notify that arming will occur (we do this early to give plenty of warning)
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AP_Notify::flags.armed = true;
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// call update_notify a few times to ensure the message gets out
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for (uint8_t i=0; i<=10; i++) {
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update_notify();
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
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#endif
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initial_armed_bearing = ahrs.yaw_sensor;
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if (ap.home_state == HOME_UNSET) {
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// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
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// Always use absolute altitude for ROV
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// ahrs.resetHeightDatum();
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// Log_Write_Event(DATA_EKF_ALT_RESET);
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} else if (ap.home_state == HOME_SET_NOT_LOCKED) {
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// Reset home position if it has already been set before (but not locked)
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set_home_to_current_location(false);
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}
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// enable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(true);
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hal.util->set_soft_armed(true);
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// enable output to motors
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enable_motor_output();
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// finally actually arm the motors
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motors.armed(true);
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// log arming to dataflash
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Log_Write_Event(DATA_ARMED);
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// log flight mode in case it was changed while vehicle was disarmed
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DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
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// reenable failsafe
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mainloop_failsafe_enable();
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// perf monitor ignores delay due to arming
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perf_ignore_this_loop();
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// flag exiting this function
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in_arm_motors = false;
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// return success
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return true;
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}
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// init_disarm_motors - disarm motors
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void Sub::init_disarm_motors()
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{
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// return immediately if we are already disarmed
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if (!motors.armed()) {
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return;
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
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#endif
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// save compass offsets learned by the EKF if enabled
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if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
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for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
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Vector3f magOffsets;
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if (ahrs.getMagOffsets(i, magOffsets)) {
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compass.set_and_save_offsets(i, magOffsets);
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}
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}
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}
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// log disarm to the dataflash
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Log_Write_Event(DATA_DISARMED);
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// send disarm command to motors
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motors.armed(false);
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// reset the mission
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mission.reset();
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DataFlash_Class::instance()->set_vehicle_armed(false);
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// disable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(false);
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hal.util->set_soft_armed(false);
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}
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// motors_output - send output to motors library which will adjust and send to ESCs and servos
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void Sub::motors_output()
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{
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// check if we are performing the motor test
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if (ap.motor_test) {
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return; // Placeholder
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}
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motors.set_interlock(true);
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motors.output();
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}
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// translate wpnav roll/pitch outputs to lateral/forward
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void Sub::translate_wpnav_rp(float &lateral_out, float &forward_out)
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{
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// get roll and pitch targets in centidegrees
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int32_t lateral = wp_nav.get_roll();
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int32_t forward = -wp_nav.get_pitch(); // output is reversed
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// constrain target forward/lateral values
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// The outputs of wp_nav.get_roll and get_pitch should already be constrained to these values
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lateral = constrain_int16(lateral, -aparm.angle_max, aparm.angle_max);
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forward = constrain_int16(forward, -aparm.angle_max, aparm.angle_max);
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// Normalize
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lateral_out = (float)lateral/(float)aparm.angle_max;
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forward_out = (float)forward/(float)aparm.angle_max;
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}
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// translate wpnav roll/pitch outputs to lateral/forward
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void Sub::translate_circle_nav_rp(float &lateral_out, float &forward_out)
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{
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// get roll and pitch targets in centidegrees
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int32_t lateral = circle_nav.get_roll();
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int32_t forward = -circle_nav.get_pitch(); // output is reversed
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// constrain target forward/lateral values
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lateral = constrain_int16(lateral, -aparm.angle_max, aparm.angle_max);
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forward = constrain_int16(forward, -aparm.angle_max, aparm.angle_max);
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// Normalize
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lateral_out = (float)lateral/(float)aparm.angle_max;
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forward_out = (float)forward/(float)aparm.angle_max;
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}
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// translate pos_control roll/pitch outputs to lateral/forward
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void Sub::translate_pos_control_rp(float &lateral_out, float &forward_out)
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{
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// get roll and pitch targets in centidegrees
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int32_t lateral = pos_control.get_roll();
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int32_t forward = -pos_control.get_pitch(); // output is reversed
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// constrain target forward/lateral values
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lateral = constrain_int16(lateral, -aparm.angle_max, aparm.angle_max);
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forward = constrain_int16(forward, -aparm.angle_max, aparm.angle_max);
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// Normalize
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lateral_out = (float)lateral/(float)aparm.angle_max;
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forward_out = (float)forward/(float)aparm.angle_max;
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}
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