mirror of https://github.com/ArduPilot/ardupilot
938 lines
29 KiB
Plaintext
938 lines
29 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduRover v2.43"
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This is the APMrover2 firmware. It was originally derived from
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ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
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AP_HAL merge by Andrew Tridgell
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Maintainer: Andrew Tridgell
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin
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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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APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
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Please contribute your ideas! See http://dev.ardupilot.com for details
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*/
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// Radio setup:
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// APM INPUT (Rec = receiver)
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// Rec ch1: Steering
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// Rec ch2: not used
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// Rec ch3: Throttle
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// Rec ch4: not used
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// Rec ch5: not used
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// Rec ch6: not used
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// Rec ch7: Option channel to 2 position switch
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// Rec ch8: Mode channel to 6 position switch
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// APM OUTPUT
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// Ch1: Wheel servo (direction)
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// Ch2: not used
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// Ch3: to the motor ESC
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// Ch4: not used
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////////////////////////////////////////////////////////////////////////////////
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// Header includes
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////////////////////////////////////////////////////////////////////////////////
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#include <math.h>
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#include <stdarg.h>
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#include <stdio.h>
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// Libraries
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_Menu.h>
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#include <AP_Param.h>
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_ADC_AnalogSource.h>
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#include <AP_Baro.h>
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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_AHRS.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 <Filter.h> // Filter library
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#include <Butter.h> // Filter library - butterworth filter
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#include <AP_Buffer.h> // FIFO buffer library
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#include <ModeFilter.h> // Mode Filter from Filter library
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#include <AverageFilter.h> // Mode Filter from Filter library
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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 <AP_Camera.h> // Camera triggering
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <AP_Airspeed.h> // needed for AHRS build
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#include <AP_Vehicle.h> // needed for AHRS build
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#include <memcheck.h>
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#include <DataFlash.h>
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#include <AP_RCMapper.h> // RC input mapping library
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#include <SITL.h>
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#include <AP_Scheduler.h> // main loop scheduler
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#include <stdarg.h>
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#include <AP_Navigation.h>
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#include <APM_Control.h>
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#include <AP_L1_Control.h>
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include <AP_HAL_PX4.h>
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#include <AP_HAL_FLYMAPLE.h>
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#include <AP_HAL_Linux.h>
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#include <AP_HAL_Empty.h>
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#include "compat.h"
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#include <AP_Notify.h> // Notify library
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#include <AP_BattMonitor.h> // Battery monitor library
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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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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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AP_HAL::BetterStream* cliSerial;
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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// this sets up the parameter table, and sets the default values. This
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// must be the first AP_Param variable declared to ensure its
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// constructor runs before the constructors of the other AP_Param
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// variables
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AP_Param param_loader(var_info, WP_START_BYTE);
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////////////////////////////////////////////////////////////////////////////////
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// the rate we run the main loop at
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////////////////////////////////////////////////////////////////////////////////
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static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
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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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// main loop scheduler
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static AP_Scheduler scheduler;
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// mapping between input channels
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static RCMapper rcmap;
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// primary control channels
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static RC_Channel *channel_steer;
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static RC_Channel *channel_throttle;
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static RC_Channel *channel_learn;
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////////////////////////////////////////////////////////////////////////////////
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// prototypes
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static void update_events(void);
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void gcs_send_text_fmt(const prog_char_t *fmt, ...);
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static void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
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////////////////////////////////////////////////////////////////////////////////
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// DataFlash
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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static DataFlash_APM1 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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static DataFlash_APM2 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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//static DataFlash_File DataFlash("/tmp/APMlogs");
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static DataFlash_SITL DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static DataFlash_File DataFlash("/fs/microsd/APM/logs");
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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static DataFlash_File DataFlash("logs");
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#else
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DataFlash_Empty DataFlash;
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#endif
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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 driving 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 *modes = &g.mode1;
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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static AP_ADC_ADS7844 adc;
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#endif
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#if CONFIG_COMPASS == AP_COMPASS_PX4
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static AP_Compass_PX4 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
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static AP_Compass_HMC5843 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HIL
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static AP_Compass_HIL compass;
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#else
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#error Unrecognized CONFIG_COMPASS setting
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#endif
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// GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&g_gps);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19
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AP_GPS_MTK19 g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_HIL
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AP_GPS_HIL g_gps_driver;
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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_INS_TYPE == CONFIG_INS_MPU6000
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AP_InertialSensor_MPU6000 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
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AP_InertialSensor_PX4 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_HIL
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AP_InertialSensor_HIL ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE
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AP_InertialSensor_Flymaple ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_L3G4200D
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AP_InertialSensor_L3G4200D ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
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AP_InertialSensor_Oilpan ins( &adc );
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#else
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#error Unrecognised CONFIG_INS_TYPE setting.
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#endif // CONFIG_INS_TYPE
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AP_AHRS_DCM ahrs(&ins, g_gps);
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static AP_L1_Control L1_controller(ahrs);
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// selected navigation controller
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static AP_Navigation *nav_controller = &L1_controller;
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// steering controller
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static AP_SteerController steerController(ahrs);
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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SITL sitl;
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#endif
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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;
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GCS_MAVLINK gcs3;
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// a pin for reading the receiver RSSI voltage. The scaling by 0.25
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// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
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AP_HAL::AnalogSource *rssi_analog_source;
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AP_HAL::AnalogSource *vcc_pin;
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////////////////////////////////////////////////////////////////////////////////
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// SONAR selection
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////////////////////////////////////////////////////////////////////////////////
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//
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static AP_RangeFinder_analog sonar;
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static AP_RangeFinder_analog sonar2;
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// relay support
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AP_Relay relay;
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// Camera
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#if CAMERA == ENABLED
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static AP_Camera camera(&relay);
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#endif
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// The rover's current location
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static struct Location current_loc;
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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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// current_loc uses the baro/gps soloution for altitude rather than gps only.
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// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
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AP_Mount camera_mount(¤t_loc, g_gps, ahrs, 0);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Global variables
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////////////////////////////////////////////////////////////////////////////////
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// if USB is connected
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static bool usb_connected;
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/* Radio values
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Channel assignments
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1 Steering
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2 ---
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3 Throttle
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4 ---
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5 Aux5
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6 Aux6
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7 Aux7/learn
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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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////////////////////////////////////////////////////////////////////////////////
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// Radio
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////////////////////////////////////////////////////////////////////////////////
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// This is the state of the flight control system
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// There are multiple states defined such as MANUAL, FBW-A, AUTO
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enum mode control_mode = INITIALISING;
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// Used to maintain the state of the previous control switch position
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// This is set to -1 when we need to re-read the switch
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uint8_t oldSwitchPosition;
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// These are values received from the GCS if the user is using GCS joystick
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// control and are substituted for the values coming from the RC radio
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static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
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// A flag if GCS joystick control is in use
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static bool rc_override_active = false;
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////////////////////////////////////////////////////////////////////////////////
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// Failsafe
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////////////////////////////////////////////////////////////////////////////////
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// A tracking variable for type of failsafe active
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// Used for failsafe based on loss of RC signal or GCS signal. See
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// FAILSAFE_EVENT_*
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static struct {
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uint8_t bits;
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uint32_t rc_override_timer;
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uint32_t start_time;
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uint8_t triggered;
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} failsafe;
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// notify object
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static AP_Notify notify;
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////////////////////////////////////////////////////////////////////////////////
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// GPS variables
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////////////////////////////////////////////////////////////////////////////////
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// This is used to scale GPS values for EEPROM storage
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// 10^7 times Decimal GPS means 1 == 1cm
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// This approximation makes calculations integer and it's easy to read
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static const float t7 = 10000000.0;
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// We use atan2 and other trig techniques to calaculate angles
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// A counter used to count down valid gps fixes to allow the gps estimate to settle
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// before recording our home position (and executing a ground start if we booted with an air start)
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static uint8_t ground_start_count = 5;
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// Used to compute a speed estimate from the first valid gps fixes to decide if we are
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// on the ground or in the air. Used to decide if a ground start is appropriate if we
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// booted with an air start.
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static int16_t ground_start_avg;
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static int32_t gps_base_alt;
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////////////////////////////////////////////////////////////////////////////////
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// Location & Navigation
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////////////////////////////////////////////////////////////////////////////////
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// Constants
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const float radius_of_earth = 6378100; // meters
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// true if we have a position estimate from AHRS
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static bool have_position;
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static bool rtl_complete = false;
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// There may be two active commands in Auto mode.
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// This indicates the active navigation command by index number
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static uint8_t nav_command_index;
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// This indicates the active non-navigation command by index number
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static uint8_t non_nav_command_index;
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// This is the command type (eg navigate to waypoint) of the active navigation command
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static uint8_t nav_command_ID = NO_COMMAND;
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static uint8_t non_nav_command_ID = NO_COMMAND;
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// ground speed error in m/s
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static float groundspeed_error;
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// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
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static int16_t throttle_nudge = 0;
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// receiver RSSI
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static uint8_t receiver_rssi;
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// the time when the last HEARTBEAT message arrived from a GCS
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static uint32_t last_heartbeat_ms;
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// obstacle detection information
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static struct {
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// have we detected an obstacle?
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uint8_t detected_count;
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float turn_angle;
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uint16_t sonar1_distance_cm;
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uint16_t sonar2_distance_cm;
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// time when we last detected an obstacle, in milliseconds
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uint32_t detected_time_ms;
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} obstacle;
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// this is set to true when auto has been triggered to start
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static bool auto_triggered;
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////////////////////////////////////////////////////////////////////////////////
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// Ground speed
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////////////////////////////////////////////////////////////////////////////////
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// The amount current ground speed is below min ground speed. meters per second
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static float ground_speed = 0;
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static int16_t throttle_last = 0, throttle = 500;
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////////////////////////////////////////////////////////////////////////////////
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// CH7 control
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////////////////////////////////////////////////////////////////////////////////
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// Used to track the CH7 toggle state.
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// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true
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// This allows advanced functionality to know when to execute
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static bool ch7_flag;
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// This register tracks the current Mission Command index when writing
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// a mission using CH7 in flight
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static int8_t CH7_wp_index;
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////////////////////////////////////////////////////////////////////////////////
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// Battery Sensors
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////////////////////////////////////////////////////////////////////////////////
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static AP_BattMonitor battery;
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////////////////////////////////////////////////////////////////////////////////
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// Navigation control variables
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////////////////////////////////////////////////////////////////////////////////
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// The instantaneous desired lateral acceleration in m/s/s
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static float lateral_acceleration;
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////////////////////////////////////////////////////////////////////////////////
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// Waypoint distances
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////////////////////////////////////////////////////////////////////////////////
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// Distance between rover and next waypoint. Meters
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static float wp_distance;
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// Distance between previous and next waypoint. Meters
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static int32_t wp_totalDistance;
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////////////////////////////////////////////////////////////////////////////////
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// repeating event control
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////////////////////////////////////////////////////////////////////////////////
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// Flag indicating current event type
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static uint8_t event_id;
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// when the event was started in ms
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static int32_t event_timer;
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// how long to delay the next firing of event in millis
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static uint16_t event_delay;
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// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
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static int16_t event_repeat = 0;
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// per command value, such as PWM for servos
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static int16_t event_value;
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// the value used to cycle events (alternate value to event_value)
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static int16_t event_undo_value;
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////////////////////////////////////////////////////////////////////////////////
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// Conditional command
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////////////////////////////////////////////////////////////////////////////////
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// A value used in condition commands (eg delay, change alt, etc.)
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// For example in a change altitude command, it is the altitude to change to.
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static int32_t condition_value;
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// A starting value used to check the status of a conditional command.
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// For example in a delay command the condition_start records that start time for the delay
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static int32_t condition_start;
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// A value used in condition commands. For example the rate at which to change altitude.
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static int16_t condition_rate;
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////////////////////////////////////////////////////////////////////////////////
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// 3D Location vectors
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// Location structure defined in AP_Common
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////////////////////////////////////////////////////////////////////////////////
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// The home location used for RTL. The location is set when we first get stable GPS lock
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static struct Location home;
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// Flag for if we have g_gps lock and have set the home location
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static bool home_is_set;
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// The location of the previous waypoint. Used for track following and altitude ramp calculations
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static struct Location prev_WP;
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// The location of the current/active waypoint. Used for track following
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static struct Location next_WP;
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// The location of the active waypoint in Guided mode.
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static struct Location guided_WP;
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// The location structure information from the Nav command being processed
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static struct Location next_nav_command;
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|
// The location structure information from the Non-Nav command being processed
|
|
static struct Location next_nonnav_command;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// IMU variables
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The main loop execution time. Seconds
|
|
//This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
|
|
static float G_Dt = 0.02;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Performance monitoring
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Timer used to accrue data and trigger recording of the performanc monitoring log message
|
|
static int32_t perf_mon_timer;
|
|
// The maximum main loop execution time recorded in the current performance monitoring interval
|
|
static int16_t G_Dt_max = 0;
|
|
// The number of gps fixes recorded in the current performance monitoring interval
|
|
static uint8_t gps_fix_count = 0;
|
|
// A variable used by developers to track performanc metrics.
|
|
// Currently used to record the number of GCS heartbeat messages received
|
|
static int16_t pmTest1 = 0;
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// System Timers
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Time in miliseconds of start of main control loop. Milliseconds
|
|
static uint32_t fast_loopTimer;
|
|
// Time Stamp when fast loop was complete. Milliseconds
|
|
static uint32_t fast_loopTimeStamp;
|
|
// Number of milliseconds used in last main loop cycle
|
|
static uint8_t delta_ms_fast_loop;
|
|
// Counter of main loop executions. Used for performance monitoring and failsafe processing
|
|
static uint16_t mainLoop_count;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Top-level logic
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
/*
|
|
scheduler table - all regular tasks apart from the fast_loop()
|
|
should be listed here, along with how often they should be called
|
|
(in 20ms units) and the maximum time they are expected to take (in
|
|
microseconds)
|
|
*/
|
|
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
|
|
{ update_GPS, 5, 2500 },
|
|
{ navigate, 5, 1600 },
|
|
{ update_compass, 5, 2000 },
|
|
{ update_commands, 5, 1000 },
|
|
{ update_logging, 5, 1000 },
|
|
{ read_battery, 5, 1000 },
|
|
{ read_receiver_rssi, 5, 1000 },
|
|
{ read_trim_switch, 5, 1000 },
|
|
{ read_control_switch, 15, 1000 },
|
|
{ update_events, 15, 1000 },
|
|
{ check_usb_mux, 15, 1000 },
|
|
{ mount_update, 1, 500 },
|
|
{ gcs_failsafe_check, 5, 500 },
|
|
{ compass_accumulate, 1, 900 },
|
|
{ update_notify, 1, 100 },
|
|
{ one_second_loop, 50, 3000 }
|
|
};
|
|
|
|
|
|
/*
|
|
setup is called when the sketch starts
|
|
*/
|
|
void setup() {
|
|
memcheck_init();
|
|
cliSerial = hal.console;
|
|
|
|
// load the default values of variables listed in var_info[]
|
|
AP_Param::setup_sketch_defaults();
|
|
|
|
// rover does not use arming nor pre-arm checks
|
|
AP_Notify::flags.armed = true;
|
|
AP_Notify::flags.pre_arm_check = true;
|
|
AP_Notify::flags.failsafe_battery = false;
|
|
|
|
notify.init();
|
|
|
|
battery.init();
|
|
|
|
rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
|
|
vcc_pin = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
|
|
|
|
init_ardupilot();
|
|
|
|
// initialise the main loop scheduler
|
|
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
|
|
}
|
|
|
|
/*
|
|
loop() is called rapidly while the sketch is running
|
|
*/
|
|
void loop()
|
|
{
|
|
// wait for an INS sample
|
|
if (!ins.wait_for_sample(1000)) {
|
|
return;
|
|
}
|
|
uint32_t timer = millis();
|
|
|
|
delta_ms_fast_loop = timer - fast_loopTimer;
|
|
G_Dt = (float)delta_ms_fast_loop / 1000.f;
|
|
fast_loopTimer = timer;
|
|
|
|
mainLoop_count++;
|
|
|
|
// Execute the fast loop
|
|
// ---------------------
|
|
fast_loop();
|
|
|
|
// tell the scheduler one tick has passed
|
|
scheduler.tick();
|
|
fast_loopTimeStamp = millis();
|
|
|
|
scheduler.run(19000U);
|
|
}
|
|
|
|
// 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);
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
// update hil before dcm update
|
|
gcs_update();
|
|
#endif
|
|
|
|
ahrs.update();
|
|
|
|
read_sonars();
|
|
|
|
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
|
|
Log_Write_Attitude();
|
|
|
|
if (g.log_bitmask & MASK_LOG_IMU)
|
|
DataFlash.Log_Write_IMU(&ins);
|
|
|
|
// custom code/exceptions for flight modes
|
|
// ---------------------------------------
|
|
update_current_mode();
|
|
|
|
// write out the servo PWM values
|
|
// ------------------------------
|
|
set_servos();
|
|
|
|
gcs_update();
|
|
gcs_data_stream_send();
|
|
}
|
|
|
|
/*
|
|
update camera mount - 50Hz
|
|
*/
|
|
static void mount_update(void)
|
|
{
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_position();
|
|
#endif
|
|
#if CAMERA == ENABLED
|
|
camera.trigger_pic_cleanup();
|
|
#endif
|
|
}
|
|
|
|
/*
|
|
check for GCS failsafe - 10Hz
|
|
*/
|
|
static void gcs_failsafe_check(void)
|
|
{
|
|
if (g.fs_gcs_enabled) {
|
|
failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000);
|
|
}
|
|
}
|
|
|
|
/*
|
|
if the compass is enabled then try to accumulate a reading
|
|
*/
|
|
static void compass_accumulate(void)
|
|
{
|
|
if (g.compass_enabled) {
|
|
compass.accumulate();
|
|
}
|
|
}
|
|
|
|
/*
|
|
check for new compass data - 10Hz
|
|
*/
|
|
static void update_compass(void)
|
|
{
|
|
if (g.compass_enabled && compass.read()) {
|
|
ahrs.set_compass(&compass);
|
|
// update offsets
|
|
compass.null_offsets();
|
|
if (g.log_bitmask & MASK_LOG_COMPASS) {
|
|
Log_Write_Compass();
|
|
}
|
|
} else {
|
|
ahrs.set_compass(NULL);
|
|
}
|
|
}
|
|
|
|
/*
|
|
log some key data - 10Hz
|
|
*/
|
|
static void update_logging(void)
|
|
{
|
|
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
|
|
Log_Write_Attitude();
|
|
|
|
if (g.log_bitmask & MASK_LOG_CTUN)
|
|
Log_Write_Control_Tuning();
|
|
|
|
if (g.log_bitmask & MASK_LOG_NTUN)
|
|
Log_Write_Nav_Tuning();
|
|
}
|
|
|
|
|
|
/*
|
|
update aux servo mappings
|
|
*/
|
|
static void update_aux(void)
|
|
{
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
|
|
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
|
|
#else
|
|
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
|
|
#endif
|
|
enable_aux_servos();
|
|
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_type();
|
|
#endif
|
|
}
|
|
|
|
/*
|
|
once a second events
|
|
*/
|
|
static void one_second_loop(void)
|
|
{
|
|
if (g.log_bitmask & MASK_LOG_CURRENT)
|
|
Log_Write_Current();
|
|
// send a heartbeat
|
|
gcs_send_message(MSG_HEARTBEAT);
|
|
|
|
// allow orientation change at runtime to aid config
|
|
ahrs.set_orientation();
|
|
|
|
set_control_channels();
|
|
|
|
// cope with changes to aux functions
|
|
update_aux();
|
|
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_type();
|
|
#endif
|
|
|
|
// cope with changes to mavlink system ID
|
|
mavlink_system.sysid = g.sysid_this_mav;
|
|
|
|
static uint8_t counter;
|
|
|
|
counter++;
|
|
|
|
// write perf data every 20s
|
|
if (counter == 20) {
|
|
if (g.log_bitmask & MASK_LOG_PM)
|
|
Log_Write_Performance();
|
|
resetPerfData();
|
|
}
|
|
|
|
// save compass offsets once a minute
|
|
if (counter >= 60) {
|
|
if (g.compass_enabled) {
|
|
compass.save_offsets();
|
|
}
|
|
counter = 0;
|
|
}
|
|
}
|
|
|
|
static void update_GPS(void)
|
|
{
|
|
static uint32_t last_gps_reading;
|
|
g_gps->update();
|
|
|
|
if (g_gps->last_message_time_ms() != last_gps_reading) {
|
|
last_gps_reading = g_gps->last_message_time_ms();
|
|
if (g.log_bitmask & MASK_LOG_GPS) {
|
|
DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
|
|
}
|
|
}
|
|
|
|
have_position = ahrs.get_projected_position(current_loc);
|
|
|
|
if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
|
|
gps_fix_count++;
|
|
|
|
if(ground_start_count > 1){
|
|
ground_start_count--;
|
|
ground_start_avg += g_gps->ground_speed_cm;
|
|
|
|
} 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 {
|
|
init_home();
|
|
if (g.compass_enabled) {
|
|
// Set compass declination automatically
|
|
compass.set_initial_location(g_gps->latitude, g_gps->longitude);
|
|
}
|
|
ground_start_count = 0;
|
|
}
|
|
}
|
|
ground_speed = g_gps->ground_speed_cm * 0.01;
|
|
|
|
#if CAMERA == ENABLED
|
|
if (camera.update_location(current_loc) == true) {
|
|
do_take_picture();
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
static void update_current_mode(void)
|
|
{
|
|
switch (control_mode){
|
|
case AUTO:
|
|
case RTL:
|
|
case GUIDED:
|
|
calc_lateral_acceleration();
|
|
calc_nav_steer();
|
|
calc_throttle(g.speed_cruise);
|
|
break;
|
|
|
|
case STEERING: {
|
|
/*
|
|
in steering mode we control lateral acceleration
|
|
directly. We first calculate the maximum lateral
|
|
acceleration at full steering lock for this speed. That is
|
|
V^2/R where R is the radius of turn. We get the radius of
|
|
turn from half the STEER2SRV_P.
|
|
*/
|
|
float max_g_force = ground_speed * ground_speed / steerController.get_turn_radius();
|
|
|
|
// constrain to user set TURN_MAX_G
|
|
max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);
|
|
|
|
lateral_acceleration = max_g_force * (channel_steer->pwm_to_angle()/4500.0f);
|
|
calc_nav_steer();
|
|
|
|
// and throttle gives speed in proportion to cruise speed, up
|
|
// to 50% throttle, then uses nudging above that.
|
|
float target_speed = channel_throttle->pwm_to_angle() * 0.01 * 2 * g.speed_cruise;
|
|
target_speed = constrain_float(target_speed, 0, g.speed_cruise);
|
|
calc_throttle(target_speed);
|
|
break;
|
|
}
|
|
|
|
case LEARNING:
|
|
case MANUAL:
|
|
/*
|
|
in both MANUAL and LEARNING we pass through the
|
|
controls. Setting servo_out here actually doesn't matter, as
|
|
we set the exact value in set_servos(), but it helps for
|
|
logging
|
|
*/
|
|
channel_throttle->servo_out = channel_throttle->control_in;
|
|
channel_steer->servo_out = channel_steer->pwm_to_angle();
|
|
break;
|
|
|
|
case HOLD:
|
|
// hold position - stop motors and center steering
|
|
channel_throttle->servo_out = 0;
|
|
channel_steer->servo_out = 0;
|
|
break;
|
|
|
|
case INITIALISING:
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void update_navigation()
|
|
{
|
|
switch (control_mode) {
|
|
case MANUAL:
|
|
case HOLD:
|
|
case LEARNING:
|
|
case STEERING:
|
|
case INITIALISING:
|
|
break;
|
|
|
|
case AUTO:
|
|
verify_commands();
|
|
break;
|
|
|
|
case RTL:
|
|
case GUIDED:
|
|
// no loitering around the wp with the rover, goes direct to the wp position
|
|
calc_lateral_acceleration();
|
|
calc_nav_steer();
|
|
if (verify_RTL()) {
|
|
channel_throttle->servo_out = g.throttle_min.get();
|
|
set_mode(HOLD);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
AP_HAL_MAIN();
|