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ardupilot/ArduCopter/Copter.cpp

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/*
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/>.
*/
/*
* ArduCopter (also known as APM, APM:Copter or just Copter)
* Wiki: copter.ardupilot.org
* Creator: Jason Short
* Lead Developer: Randy Mackay
* Lead Tester: Marco Robustini
* Based on code and ideas from the Arducopter team: Leonard Hall, Andrew Tridgell, Robert Lefebvre, Pat Hickey, Michael Oborne, Jani Hirvinen,
Olivier Adler, Kevin Hester, Arthur Benemann, Jonathan Challinger, John Arne Birkeland,
Jean-Louis Naudin, Mike Smith, and more
* Thanks to: Chris Anderson, Jordi Munoz, Jason Short, Doug Weibel, Jose Julio
*
* Special Thanks to contributors (in alphabetical order by first name):
*
* Adam M Rivera :Auto Compass Declination
* Amilcar Lucas :Camera mount library
* Andrew Tridgell :General development, Mavlink Support
* Andy Piper :Harmonic notch, In-flight FFT, Bi-directional DShot, various drivers
* Angel Fernandez :Alpha testing
* AndreasAntonopoulous:GeoFence
* Arthur Benemann :DroidPlanner GCS
* Benjamin Pelletier :Libraries
* Bill King :Single Copter
* Christof Schmid :Alpha testing
* Craig Elder :Release Management, Support
* Dani Saez :V Octo Support
* Doug Weibel :DCM, Libraries, Control law advice
* Emile Castelnuovo :VRBrain port, bug fixes
* Gregory Fletcher :Camera mount orientation math
* Guntars :Arming safety suggestion
* HappyKillmore :Mavlink GCS
* Hein Hollander :Octo Support, Heli Testing
* Igor van Airde :Control Law optimization
* Jack Dunkle :Alpha testing
* James Goppert :Mavlink Support
* Jani Hiriven :Testing feedback
* Jean-Louis Naudin :Auto Landing
* John Arne Birkeland :PPM Encoder
* Jose Julio :Stabilization Control laws, MPU6k driver
* Julien Dubois :PosHold flight mode
* Julian Oes :Pixhawk
* Jonathan Challinger :Inertial Navigation, CompassMot, Spin-When-Armed
* Kevin Hester :Andropilot GCS
* Max Levine :Tri Support, Graphics
* Leonard Hall :Flight Dynamics, Throttle, Loiter and Navigation Controllers
* Marco Robustini :Lead tester
* Michael Oborne :Mission Planner GCS
* Mike Smith :Pixhawk driver, coding support
* Olivier Adler :PPM Encoder, piezo buzzer
* Pat Hickey :Hardware Abstraction Layer (HAL)
* Robert Lefebvre :Heli Support, Copter LEDs
* Roberto Navoni :Library testing, Porting to VRBrain
* Sandro Benigno :Camera support, MinimOSD
* Sandro Tognana :PosHold flight mode
* Sebastian Quilter :SmartRTL
* ..and many more.
*
* Code commit statistics can be found here: https://github.com/ArduPilot/ardupilot/graphs/contributors
* Wiki: https://copter.ardupilot.org/
*
*/
#include "Copter.h"
#define FORCE_VERSION_H_INCLUDE
#include "version.h"
#undef FORCE_VERSION_H_INCLUDE
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define SCHED_TASK(func, _interval_ticks, _max_time_micros, _prio) SCHED_TASK_CLASS(Copter, &copter, func, _interval_ticks, _max_time_micros, _prio)
#define FAST_TASK(func) FAST_TASK_CLASS(Copter, &copter, func)
/*
scheduler table - all tasks should be listed here.
All entries in this table must be ordered by priority.
This table is interleaved with the table in AP_Vehicle to determine
the order in which tasks are run. Convenience methods SCHED_TASK
and SCHED_TASK_CLASS are provided to build entries in this structure:
SCHED_TASK arguments:
- name of static function to call
- rate (in Hertz) at which the function should be called
- expected time (in MicroSeconds) that the function should take to run
- priority (0 through 255, lower number meaning higher priority)
SCHED_TASK_CLASS arguments:
- class name of method to be called
- instance on which to call the method
- method to call on that instance
- rate (in Hertz) at which the method should be called
- expected time (in MicroSeconds) that the method should take to run
- priority (0 through 255, lower number meaning higher priority)
*/
const AP_Scheduler::Task Copter::scheduler_tasks[] = {
// update INS immediately to get current gyro data populated
FAST_TASK_CLASS(AP_InertialSensor, &copter.ins, update),
// run low level rate controllers that only require IMU data
FAST_TASK(run_rate_controller),
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
FAST_TASK(run_custom_controller),
#endif
#if FRAME_CONFIG == HELI_FRAME
FAST_TASK(heli_update_autorotation),
#endif //HELI_FRAME
// send outputs to the motors library immediately
FAST_TASK(motors_output),
// run EKF state estimator (expensive)
FAST_TASK(read_AHRS),
#if FRAME_CONFIG == HELI_FRAME
FAST_TASK(update_heli_control_dynamics),
#endif //HELI_FRAME
// Inertial Nav
FAST_TASK(read_inertia),
// check if ekf has reset target heading or position
FAST_TASK(check_ekf_reset),
// run the attitude controllers
FAST_TASK(update_flight_mode),
// update home from EKF if necessary
FAST_TASK(update_home_from_EKF),
// check if we've landed or crashed
FAST_TASK(update_land_and_crash_detectors),
// surface tracking update
FAST_TASK(update_rangefinder_terrain_offset),
#if HAL_MOUNT_ENABLED
// camera mount's fast update
FAST_TASK_CLASS(AP_Mount, &copter.camera_mount, update_fast),
#endif
#if HAL_LOGGING_ENABLED
FAST_TASK(Log_Video_Stabilisation),
#endif
SCHED_TASK(rc_loop, 250, 130, 3),
SCHED_TASK(throttle_loop, 50, 75, 6),
SCHED_TASK_CLASS(AP_GPS, &copter.gps, update, 50, 200, 9),
#if AP_OPTICALFLOW_ENABLED
SCHED_TASK_CLASS(AP_OpticalFlow, &copter.optflow, update, 200, 160, 12),
#endif
SCHED_TASK(update_batt_compass, 10, 120, 15),
SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&copter.g2.rc_channels, read_aux_all, 10, 50, 18),
SCHED_TASK(arm_motors_check, 10, 50, 21),
#if TOY_MODE_ENABLED == ENABLED
SCHED_TASK_CLASS(ToyMode, &copter.g2.toy_mode, update, 10, 50, 24),
#endif
SCHED_TASK(auto_disarm_check, 10, 50, 27),
SCHED_TASK(auto_trim, 10, 75, 30),
#if RANGEFINDER_ENABLED == ENABLED
SCHED_TASK(read_rangefinder, 20, 100, 33),
#endif
#if HAL_PROXIMITY_ENABLED
SCHED_TASK_CLASS(AP_Proximity, &copter.g2.proximity, update, 200, 50, 36),
#endif
#if AP_BEACON_ENABLED
SCHED_TASK_CLASS(AP_Beacon, &copter.g2.beacon, update, 400, 50, 39),
#endif
SCHED_TASK(update_altitude, 10, 100, 42),
SCHED_TASK(run_nav_updates, 50, 100, 45),
SCHED_TASK(update_throttle_hover,100, 90, 48),
#if MODE_SMARTRTL_ENABLED == ENABLED
SCHED_TASK_CLASS(ModeSmartRTL, &copter.mode_smartrtl, save_position, 3, 100, 51),
#endif
#if HAL_SPRAYER_ENABLED
SCHED_TASK_CLASS(AC_Sprayer, &copter.sprayer, update, 3, 90, 54),
#endif
SCHED_TASK(three_hz_loop, 3, 75, 57),
#if AP_SERVORELAYEVENTS_ENABLED
SCHED_TASK_CLASS(AP_ServoRelayEvents, &copter.ServoRelayEvents, update_events, 50, 75, 60),
#endif
SCHED_TASK_CLASS(AP_Baro, &copter.barometer, accumulate, 50, 90, 63),
#if AC_PRECLAND_ENABLED
SCHED_TASK(update_precland, 400, 50, 69),
#endif
#if FRAME_CONFIG == HELI_FRAME
SCHED_TASK(check_dynamic_flight, 50, 75, 72),
#endif
#if HAL_LOGGING_ENABLED
SCHED_TASK(loop_rate_logging, LOOP_RATE, 50, 75),
#endif
SCHED_TASK(one_hz_loop, 1, 100, 81),
SCHED_TASK(ekf_check, 10, 75, 84),
SCHED_TASK(check_vibration, 10, 50, 87),
SCHED_TASK(gpsglitch_check, 10, 50, 90),
SCHED_TASK(takeoff_check, 50, 50, 91),
#if AP_LANDINGGEAR_ENABLED
SCHED_TASK(landinggear_update, 10, 75, 93),
#endif
SCHED_TASK(standby_update, 100, 75, 96),
SCHED_TASK(lost_vehicle_check, 10, 50, 99),
SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_receive, 400, 180, 102),
SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_send, 400, 550, 105),
#if HAL_MOUNT_ENABLED
SCHED_TASK_CLASS(AP_Mount, &copter.camera_mount, update, 50, 75, 108),
#endif
#if AP_CAMERA_ENABLED
SCHED_TASK_CLASS(AP_Camera, &copter.camera, update, 50, 75, 111),
#endif
#if HAL_LOGGING_ENABLED
SCHED_TASK(ten_hz_logging_loop, 10, 350, 114),
SCHED_TASK(twentyfive_hz_logging, 25, 110, 117),
SCHED_TASK_CLASS(AP_Logger, &copter.logger, periodic_tasks, 400, 300, 120),
#endif
SCHED_TASK_CLASS(AP_InertialSensor, &copter.ins, periodic, 400, 50, 123),
#if HAL_LOGGING_ENABLED
SCHED_TASK_CLASS(AP_Scheduler, &copter.scheduler, update_logging, 0.1, 75, 126),
#endif
#if AP_RPM_ENABLED
SCHED_TASK_CLASS(AP_RPM, &copter.rpm_sensor, update, 40, 200, 129),
#endif
#if AP_TEMPCALIBRATION_ENABLED
SCHED_TASK_CLASS(AP_TempCalibration, &copter.g2.temp_calibration, update, 10, 100, 135),
#endif
#if HAL_ADSB_ENABLED
SCHED_TASK(avoidance_adsb_update, 10, 100, 138),
#endif
#if ADVANCED_FAILSAFE == ENABLED
SCHED_TASK(afs_fs_check, 10, 100, 141),
#endif
#if AP_TERRAIN_AVAILABLE
SCHED_TASK(terrain_update, 10, 100, 144),
#endif
#if AP_WINCH_ENABLED
SCHED_TASK_CLASS(AP_Winch, &copter.g2.winch, update, 50, 50, 150),
#endif
#ifdef USERHOOK_FASTLOOP
SCHED_TASK(userhook_FastLoop, 100, 75, 153),
#endif
#ifdef USERHOOK_50HZLOOP
SCHED_TASK(userhook_50Hz, 50, 75, 156),
#endif
#ifdef USERHOOK_MEDIUMLOOP
SCHED_TASK(userhook_MediumLoop, 10, 75, 159),
#endif
#ifdef USERHOOK_SLOWLOOP
SCHED_TASK(userhook_SlowLoop, 3.3, 75, 162),
#endif
#ifdef USERHOOK_SUPERSLOWLOOP
SCHED_TASK(userhook_SuperSlowLoop, 1, 75, 165),
#endif
#if HAL_BUTTON_ENABLED
SCHED_TASK_CLASS(AP_Button, &copter.button, update, 5, 100, 168),
#endif
};
void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
uint8_t &task_count,
uint32_t &log_bit)
{
tasks = &scheduler_tasks[0];
task_count = ARRAY_SIZE(scheduler_tasks);
log_bit = MASK_LOG_PM;
}
constexpr int8_t Copter::_failsafe_priorities[7];
#if AP_SCRIPTING_ENABLED
#if MODE_GUIDED_ENABLED == ENABLED
// start takeoff to given altitude (for use by scripting)
bool Copter::start_takeoff(float alt)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
if (mode_guided.do_user_takeoff_start(alt * 100.0f)) {
copter.set_auto_armed(true);
return true;
}
return false;
}
// set target location (for use by scripting)
bool Copter::set_target_location(const Location& target_loc)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
return mode_guided.set_destination(target_loc);
}
// set target position (for use by scripting)
bool Copter::set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
const Vector3f pos_neu_cm(target_pos.x * 100.0f, target_pos.y * 100.0f, -target_pos.z * 100.0f);
return mode_guided.set_destination(pos_neu_cm, use_yaw, yaw_deg * 100.0, use_yaw_rate, yaw_rate_degs * 100.0, yaw_relative, terrain_alt);
}
// set target position and velocity (for use by scripting)
bool Copter::set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
const Vector3f pos_neu_cm(target_pos.x * 100.0f, target_pos.y * 100.0f, -target_pos.z * 100.0f);
const Vector3f vel_neu_cms(target_vel.x * 100.0f, target_vel.y * 100.0f, -target_vel.z * 100.0f);
return mode_guided.set_destination_posvelaccel(pos_neu_cm, vel_neu_cms, Vector3f());
}
// set target position, velocity and acceleration (for use by scripting)
bool Copter::set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
const Vector3f pos_neu_cm(target_pos.x * 100.0f, target_pos.y * 100.0f, -target_pos.z * 100.0f);
const Vector3f vel_neu_cms(target_vel.x * 100.0f, target_vel.y * 100.0f, -target_vel.z * 100.0f);
const Vector3f accel_neu_cms(target_accel.x * 100.0f, target_accel.y * 100.0f, -target_accel.z * 100.0f);
return mode_guided.set_destination_posvelaccel(pos_neu_cm, vel_neu_cms, accel_neu_cms, use_yaw, yaw_deg * 100.0, use_yaw_rate, yaw_rate_degs * 100.0, yaw_relative);
}
bool Copter::set_target_velocity_NED(const Vector3f& vel_ned)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
// convert vector to neu in cm
const Vector3f vel_neu_cms(vel_ned.x * 100.0f, vel_ned.y * 100.0f, -vel_ned.z * 100.0f);
mode_guided.set_velocity(vel_neu_cms);
return true;
}
// set target velocity and acceleration (for use by scripting)
bool Copter::set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool relative_yaw)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
// convert vector to neu in cm
const Vector3f vel_neu_cms(target_vel.x * 100.0f, target_vel.y * 100.0f, -target_vel.z * 100.0f);
const Vector3f accel_neu_cms(target_accel.x * 100.0f, target_accel.y * 100.0f, -target_accel.z * 100.0f);
mode_guided.set_velaccel(vel_neu_cms, accel_neu_cms, use_yaw, yaw_deg * 100.0, use_yaw_rate, yaw_rate_degs * 100.0, relative_yaw);
return true;
}
bool Copter::set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
Quaternion q;
q.from_euler(radians(roll_deg),radians(pitch_deg),radians(yaw_deg));
mode_guided.set_angle(q, Vector3f{}, climb_rate_ms*100, false);
return true;
}
#endif
#if MODE_CIRCLE_ENABLED == ENABLED
// circle mode controls
bool Copter::get_circle_radius(float &radius_m)
{
radius_m = circle_nav->get_radius() * 0.01f;
return true;
}
bool Copter::set_circle_rate(float rate_dps)
{
circle_nav->set_rate(rate_dps);
return true;
}
#endif
// set desired speed (m/s). Used for scripting.
bool Copter::set_desired_speed(float speed)
{
return flightmode->set_speed_xy(speed * 100.0f);
}
#if MODE_AUTO_ENABLED == ENABLED
// returns true if mode supports NAV_SCRIPT_TIME mission commands
bool Copter::nav_scripting_enable(uint8_t mode)
{
return mode == (uint8_t)mode_auto.mode_number();
}
// lua scripts use this to retrieve the contents of the active command
bool Copter::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4)
{
if (flightmode != &mode_auto) {
return false;
}
return mode_auto.nav_script_time(id, cmd, arg1, arg2, arg3, arg4);
}
// lua scripts use this to indicate when they have complete the command
void Copter::nav_script_time_done(uint16_t id)
{
if (flightmode != &mode_auto) {
return;
}
return mode_auto.nav_script_time_done(id);
}
#endif
// returns true if the EKF failsafe has triggered. Only used by Lua scripts
bool Copter::has_ekf_failsafed() const
{
return failsafe.ekf;
}
#endif // AP_SCRIPTING_ENABLED
// returns true if vehicle is landing. Only used by Lua scripts
bool Copter::is_landing() const
{
return flightmode->is_landing();
}
// returns true if vehicle is taking off. Only used by Lua scripts
bool Copter::is_taking_off() const
{
return flightmode->is_taking_off();
}
bool Copter::current_mode_requires_mission() const
{
#if MODE_AUTO_ENABLED == ENABLED
return flightmode == &mode_auto;
#else
return false;
#endif
}
// rc_loops - reads user input from transmitter/receiver
// called at 100hz
void Copter::rc_loop()
{
// Read radio and 3-position switch on radio
// -----------------------------------------
read_radio();
rc().read_mode_switch();
}
// throttle_loop - should be run at 50 hz
// ---------------------------
void Copter::throttle_loop()
{
// update throttle_low_comp value (controls priority of throttle vs attitude control)
update_throttle_mix();
// check auto_armed status
update_auto_armed();
#if FRAME_CONFIG == HELI_FRAME
// update rotor speed
heli_update_rotor_speed_targets();
// update trad heli swash plate movement
heli_update_landing_swash();
#endif
// compensate for ground effect (if enabled)
update_ground_effect_detector();
update_ekf_terrain_height_stable();
}
// update_batt_compass - read battery and compass
// should be called at 10hz
void Copter::update_batt_compass(void)
{
// read battery before compass because it may be used for motor interference compensation
battery.read();
if(AP::compass().available()) {
// update compass with throttle value - used for compassmot
compass.set_throttle(motors->get_throttle());
compass.set_voltage(battery.voltage());
compass.read();
}
}
#if HAL_LOGGING_ENABLED
// Full rate logging of attitude, rate and pid loops
// should be run at loop rate
void Copter::loop_rate_logging()
{
if (should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
Log_Write_Attitude();
Log_Write_PIDS(); // only logs if PIDS bitmask is set
}
if (should_log(MASK_LOG_FTN_FAST)) {
AP::ins().write_notch_log_messages();
}
if (should_log(MASK_LOG_IMU_FAST)) {
AP::ins().Write_IMU();
}
}
// ten_hz_logging_loop
// should be run at 10hz
void Copter::ten_hz_logging_loop()
{
// log attitude data if we're not already logging at the higher rate
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
Log_Write_Attitude();
}
if (!should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
// log at 10Hz if PIDS bitmask is selected, even if no ATT bitmask is selected; logs at looprate if ATT_FAST and PIDS bitmask set
Log_Write_PIDS();
}
// log EKF attitude data always at 10Hz unless ATTITUDE_FAST, then do it in the 25Hz loop
if (!should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_EKF_POS();
}
if (should_log(MASK_LOG_MOTBATT)) {
motors->Log_Write();
}
if (should_log(MASK_LOG_RCIN)) {
logger.Write_RCIN();
if (rssi.enabled()) {
logger.Write_RSSI();
}
}
if (should_log(MASK_LOG_RCOUT)) {
logger.Write_RCOUT();
}
if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS() || !flightmode->has_manual_throttle())) {
pos_control->write_log();
}
if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
AP::ins().Write_Vibration();
}
if (should_log(MASK_LOG_CTUN)) {
attitude_control->control_monitor_log();
#if HAL_PROXIMITY_ENABLED
g2.proximity.log(); // Write proximity sensor distances
#endif
#if AP_BEACON_ENABLED
g2.beacon.log();
#endif
}
#if FRAME_CONFIG == HELI_FRAME
Log_Write_Heli();
#endif
#if AP_WINCH_ENABLED
if (should_log(MASK_LOG_ANY)) {
g2.winch.write_log();
}
#endif
#if HAL_MOUNT_ENABLED
if (should_log(MASK_LOG_CAMERA)) {
camera_mount.write_log();
}
#endif
}
// twentyfive_hz_logging - should be run at 25hz
void Copter::twentyfive_hz_logging()
{
if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_EKF_POS();
}
if (should_log(MASK_LOG_IMU) && !(should_log(MASK_LOG_IMU_FAST))) {
AP::ins().Write_IMU();
}
#if MODE_AUTOROTATE_ENABLED == ENABLED
if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
//update autorotation log
g2.arot.Log_Write_Autorotation();
}
#endif
#if HAL_GYROFFT_ENABLED
if (should_log(MASK_LOG_FTN_FAST)) {
gyro_fft.write_log_messages();
}
#endif
}
#endif // HAL_LOGGING_ENABLED
// three_hz_loop - 3hz loop
void Copter::three_hz_loop()
{
// check if we've lost contact with the ground station
failsafe_gcs_check();
// check if we've lost terrain data
failsafe_terrain_check();
// check for deadreckoning failsafe
failsafe_deadreckon_check();
#if AP_FENCE_ENABLED
// check if we have breached a fence
fence_check();
#endif // AP_FENCE_ENABLED
// update ch6 in flight tuning
tuning();
// check if avoidance should be enabled based on alt
low_alt_avoidance();
}
// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
#if HAL_LOGGING_ENABLED
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(LogDataID::AP_STATE, ap.value);
}
#endif
if (!motors->armed()) {
update_using_interlock();
// check the user hasn't updated the frame class or type
motors->set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
#if FRAME_CONFIG != HELI_FRAME
// set all throttle channel settings
motors->update_throttle_range();
#endif
}
// update assigned functions and enable auxiliary servos
SRV_Channels::enable_aux_servos();
#if HAL_LOGGING_ENABLED
// log terrain data
terrain_logging();
#endif
#if HAL_ADSB_ENABLED
adsb.set_is_flying(!ap.land_complete);
#endif
AP_Notify::flags.flying = !ap.land_complete;
// slowly update the PID notches with the average loop rate
attitude_control->set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
pos_control->get_accel_z_pid().set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
custom_control.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
#endif
}
void Copter::init_simple_bearing()
{
// capture current cos_yaw and sin_yaw values
simple_cos_yaw = ahrs.cos_yaw();
simple_sin_yaw = ahrs.sin_yaw();
// initialise super simple heading (i.e. heading towards home) to be 180 deg from simple mode heading
super_simple_last_bearing = wrap_360_cd(ahrs.yaw_sensor+18000);
super_simple_cos_yaw = simple_cos_yaw;
super_simple_sin_yaw = simple_sin_yaw;
#if HAL_LOGGING_ENABLED
// log the simple bearing
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(LogDataID::INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
}
#endif
}
// update_simple_mode - rotates pilot input if we are in simple mode
void Copter::update_simple_mode(void)
{
float rollx, pitchx;
// exit immediately if no new radio frame or not in simple mode
if (simple_mode == SimpleMode::NONE || !ap.new_radio_frame) {
return;
}
// mark radio frame as consumed
ap.new_radio_frame = false;
if (simple_mode == SimpleMode::SIMPLE) {
// rotate roll, pitch input by -initial simple heading (i.e. north facing)
rollx = channel_roll->get_control_in()*simple_cos_yaw - channel_pitch->get_control_in()*simple_sin_yaw;
pitchx = channel_roll->get_control_in()*simple_sin_yaw + channel_pitch->get_control_in()*simple_cos_yaw;
}else{
// rotate roll, pitch input by -super simple heading (reverse of heading to home)
rollx = channel_roll->get_control_in()*super_simple_cos_yaw - channel_pitch->get_control_in()*super_simple_sin_yaw;
pitchx = channel_roll->get_control_in()*super_simple_sin_yaw + channel_pitch->get_control_in()*super_simple_cos_yaw;
}
// rotate roll, pitch input from north facing to vehicle's perspective
channel_roll->set_control_in(rollx*ahrs.cos_yaw() + pitchx*ahrs.sin_yaw());
channel_pitch->set_control_in(-rollx*ahrs.sin_yaw() + pitchx*ahrs.cos_yaw());
}
// update_super_simple_bearing - adjusts simple bearing based on location
// should be called after home_bearing has been updated
void Copter::update_super_simple_bearing(bool force_update)
{
if (!force_update) {
if (simple_mode != SimpleMode::SUPERSIMPLE) {
return;
}
if (home_distance() < SUPER_SIMPLE_RADIUS) {
return;
}
}
const int32_t bearing = home_bearing();
// check the bearing to home has changed by at least 5 degrees
if (labs(super_simple_last_bearing - bearing) < 500) {
return;
}
super_simple_last_bearing = bearing;
const float angle_rad = radians((super_simple_last_bearing+18000)/100);
super_simple_cos_yaw = cosf(angle_rad);
super_simple_sin_yaw = sinf(angle_rad);
}
void Copter::read_AHRS(void)
{
// we tell AHRS to skip INS update as we have already done it in FAST_TASK.
ahrs.update(true);
}
// read baro and log control tuning
void Copter::update_altitude()
{
// read in baro altitude
read_barometer();
#if HAL_LOGGING_ENABLED
if (should_log(MASK_LOG_CTUN)) {
Log_Write_Control_Tuning();
if (!should_log(MASK_LOG_FTN_FAST)) {
AP::ins().write_notch_log_messages();
#if HAL_GYROFFT_ENABLED
gyro_fft.write_log_messages();
#endif
}
}
#endif
}
// vehicle specific waypoint info helpers
bool Copter::get_wp_distance_m(float &distance) const
{
// see GCS_MAVLINK_Copter::send_nav_controller_output()
distance = flightmode->wp_distance() * 0.01;
return true;
}
// vehicle specific waypoint info helpers
bool Copter::get_wp_bearing_deg(float &bearing) const
{
// see GCS_MAVLINK_Copter::send_nav_controller_output()
bearing = flightmode->wp_bearing() * 0.01;
return true;
}
// vehicle specific waypoint info helpers
bool Copter::get_wp_crosstrack_error_m(float &xtrack_error) const
{
// see GCS_MAVLINK_Copter::send_nav_controller_output()
xtrack_error = flightmode->crosstrack_error() * 0.01;
return true;
}
// get the target earth-frame angular velocities in rad/s (Z-axis component used by some gimbals)
bool Copter::get_rate_ef_targets(Vector3f& rate_ef_targets) const
{
// always returns zero vector if landed or disarmed
if (copter.ap.land_complete) {
rate_ef_targets.zero();
} else {
rate_ef_targets = attitude_control->get_rate_ef_targets();
}
return true;
}
/*
constructor for main Copter class
*/
Copter::Copter(void)
:
flight_modes(&g.flight_mode1),
simple_cos_yaw(1.0f),
super_simple_cos_yaw(1.0),
land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),
rc_throttle_control_in_filter(1.0f),
inertial_nav(ahrs),
param_loader(var_info),
flightmode(&mode_stabilize),
pos_variance_filt(FS_EKF_FILT_DEFAULT),
vel_variance_filt(FS_EKF_FILT_DEFAULT),
hgt_variance_filt(FS_EKF_FILT_DEFAULT)
{
}
Copter copter;
AP_Vehicle& vehicle = copter;
AP_HAL_MAIN_CALLBACKS(&copter);
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