ardupilot/AntennaTracker/system.cpp

256 lines
6.1 KiB
C++

#include "Tracker.h"
// mission storage
static const StorageAccess wp_storage(StorageManager::StorageMission);
static void mavlink_delay_cb_static()
{
tracker.mavlink_delay_cb();
}
void Tracker::init_tracker()
{
// initialise console serial port
serial_manager.init_console();
hal.console->printf("\n\nInit %s\n\nFree RAM: %u\n",
AP::fwversion().fw_string,
(unsigned)hal.util->available_memory());
// Check the EEPROM format version before loading any parameters from EEPROM
load_parameters();
// initialise stats module
stats.init();
mavlink_system.sysid = g.sysid_this_mav;
// initialise serial ports
serial_manager.init();
// setup first port early to allow BoardConfig to report errors
gcs().setup_console();
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
BoardConfig.init();
#if HAL_WITH_UAVCAN
BoardConfig_CAN.init();
#endif
// initialise notify
notify.init();
AP_Notify::flags.pre_arm_check = true;
AP_Notify::flags.pre_arm_gps_check = true;
// initialise battery
battery.init();
// init baro before we start the GCS, so that the CLI baro test works
barometer.set_log_baro_bit(MASK_LOG_IMU);
barometer.init();
// setup telem slots with serial ports
gcs().setup_uarts();
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
#ifdef ENABLE_SCRIPTING
if (!scripting.init()) {
gcs().send_text(MAV_SEVERITY_ERROR, "Scripting failed to start");
}
#endif // ENABLE_SCRIPTING
// initialise compass
AP::compass().set_log_bit(MASK_LOG_COMPASS);
AP::compass().init();
// GPS Initialization
gps.set_log_gps_bit(MASK_LOG_GPS);
gps.init(serial_manager);
ahrs.init();
ahrs.set_fly_forward(false);
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
barometer.calibrate();
// initialise AP_Logger library
logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));
// set serial ports non-blocking
serial_manager.set_blocking_writes_all(false);
// initialise servos
init_servos();
// use given start positions - useful for indoor testing, and
// while waiting for GPS lock
// sanity check location
if (fabsf(g.start_latitude) <= 90.0f && fabsf(g.start_longitude) <= 180.0f) {
current_loc.lat = g.start_latitude * 1.0e7f;
current_loc.lng = g.start_longitude * 1.0e7f;
} else {
gcs().send_text(MAV_SEVERITY_NOTICE, "Ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
}
// see if EEPROM has a default location as well
if (current_loc.lat == 0 && current_loc.lng == 0) {
get_home_eeprom(current_loc);
}
gcs().send_text(MAV_SEVERITY_INFO,"Ready to track");
hal.scheduler->delay(1000); // Why????
switch (g.initial_mode) {
case MANUAL:
set_mode(MANUAL, MODE_REASON_STARTUP);
break;
case SCAN:
set_mode(SCAN, MODE_REASON_STARTUP);
break;
case STOP:
set_mode(STOP, MODE_REASON_STARTUP);
break;
case AUTO:
default:
set_mode(AUTO, MODE_REASON_STARTUP);
break;
}
if (g.startup_delay > 0) {
// arm servos with trim value to allow them to start up (required
// for some servos)
prepare_servos();
}
// disable safety if requested
BoardConfig.init_safety();
}
/*
fetch HOME from EEPROM
*/
bool Tracker::get_home_eeprom(struct Location &loc)
{
// Find out proper location in memory by using the start_byte position + the index
// --------------------------------------------------------------------------------
if (g.command_total.get() == 0) {
return false;
}
// read WP position
loc = {
int32_t(wp_storage.read_uint32(5)),
int32_t(wp_storage.read_uint32(9)),
int32_t(wp_storage.read_uint32(1)),
Location::AltFrame::ABSOLUTE
};
return true;
}
bool Tracker::set_home_eeprom(const Location &temp)
{
wp_storage.write_byte(0, 0);
wp_storage.write_uint32(1, temp.alt);
wp_storage.write_uint32(5, temp.lat);
wp_storage.write_uint32(9, temp.lng);
// Now have a home location in EEPROM
g.command_total.set_and_save(1); // At most 1 entry for HOME
return true;
}
bool Tracker::set_home(const Location &temp)
{
// check EKF origin has been set
Location ekf_origin;
if (ahrs.get_origin(ekf_origin)) {
if (!ahrs.set_home(temp)) {
return false;
}
}
if (!set_home_eeprom(temp)) {
return false;
}
current_loc = temp;
return true;
}
void Tracker::arm_servos()
{
hal.util->set_soft_armed(true);
logger.set_vehicle_armed(true);
}
void Tracker::disarm_servos()
{
hal.util->set_soft_armed(false);
logger.set_vehicle_armed(false);
}
/*
setup servos to trim value after initialising
*/
void Tracker::prepare_servos()
{
start_time_ms = AP_HAL::millis();
SRV_Channels::set_output_limit(SRV_Channel::k_tracker_yaw, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_tracker_pitch, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::calc_pwm();
SRV_Channels::output_ch_all();
}
void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
{
if (control_mode == mode) {
// don't switch modes if we are already in the correct mode.
return;
}
control_mode = mode;
switch (control_mode) {
case AUTO:
case MANUAL:
case SCAN:
case SERVO_TEST:
arm_servos();
break;
case STOP:
case INITIALISING:
disarm_servos();
break;
}
// log mode change
logger.Write_Mode(control_mode, reason);
gcs().send_message(MSG_HEARTBEAT);
nav_status.bearing = ahrs.yaw_sensor * 0.01f;
}
/*
should we log a message type now?
*/
bool Tracker::should_log(uint32_t mask)
{
if (!logger.should_log(mask)) {
return false;
}
return true;
}