mirror of https://github.com/ArduPilot/ardupilot
598 lines
19 KiB
C++
598 lines
19 KiB
C++
#include "Copter.h"
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#include <AP_ESC_Telem/AP_ESC_Telem.h>
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/*****************************************************************************
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* The init_ardupilot function processes everything we need for an in - air restart
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* We will determine later if we are actually on the ground and process a
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* ground start in that case.
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*
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*****************************************************************************/
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static void failsafe_check_static()
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{
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copter.failsafe_check();
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}
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void Copter::init_ardupilot()
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{
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#if STATS_ENABLED == ENABLED
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// initialise stats module
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g2.stats.init();
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#endif
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BoardConfig.init();
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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can_mgr.init();
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#endif
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// init cargo gripper
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#if GRIPPER_ENABLED == ENABLED
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g2.gripper.init();
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#endif
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#if AC_FENCE == ENABLED
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fence.init();
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#endif
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// init winch
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#if WINCH_ENABLED == ENABLED
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g2.winch.init();
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#endif
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// initialise notify system
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notify.init();
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notify_flight_mode();
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// initialise battery monitor
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battery.init();
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// Init RSSI
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rssi.init();
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barometer.init();
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// setup telem slots with serial ports
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gcs().setup_uarts();
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#if OSD_ENABLED == ENABLED
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osd.init();
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#endif
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#if LOGGING_ENABLED == ENABLED
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log_init();
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#endif
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// update motor interlock state
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update_using_interlock();
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#if FRAME_CONFIG == HELI_FRAME
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// trad heli specific initialisation
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heli_init();
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#endif
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#if FRAME_CONFIG == HELI_FRAME
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input_manager.set_loop_rate(scheduler.get_loop_rate_hz());
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#endif
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init_rc_in(); // sets up rc channels from radio
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// allocate the motors class
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allocate_motors();
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// initialise rc channels including setting mode
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rc().init();
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// sets up motors and output to escs
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init_rc_out();
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// check if we should enter esc calibration mode
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esc_calibration_startup_check();
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// motors initialised so parameters can be sent
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ap.initialised_params = true;
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relay.init();
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/*
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* setup the 'main loop is dead' check. Note that this relies on
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* the RC library being initialised.
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*/
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hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
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// Do GPS init
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gps.set_log_gps_bit(MASK_LOG_GPS);
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gps.init(serial_manager);
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AP::compass().set_log_bit(MASK_LOG_COMPASS);
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AP::compass().init();
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#if AC_OAPATHPLANNER_ENABLED == ENABLED
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g2.oa.init();
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#endif
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attitude_control->parameter_sanity_check();
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#if OPTFLOW == ENABLED
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// initialise optical flow sensor
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optflow.init(MASK_LOG_OPTFLOW);
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#endif // OPTFLOW == ENABLED
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#if HAL_MOUNT_ENABLED
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// initialise camera mount
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camera_mount.init();
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#endif
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#if PRECISION_LANDING == ENABLED
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// initialise precision landing
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init_precland();
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#endif
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#if LANDING_GEAR_ENABLED == ENABLED
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// initialise landing gear position
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landinggear.init();
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#endif
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#ifdef USERHOOK_INIT
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USERHOOK_INIT
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#endif
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// read Baro pressure at ground
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//-----------------------------
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barometer.set_log_baro_bit(MASK_LOG_IMU);
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barometer.calibrate();
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// initialise rangefinder
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init_rangefinder();
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// init proximity sensor
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init_proximity();
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#if BEACON_ENABLED == ENABLED
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// init beacons used for non-gps position estimation
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g2.beacon.init();
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#endif
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#if RPM_ENABLED == ENABLED
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// initialise AP_RPM library
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rpm_sensor.init();
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#endif
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#if MODE_AUTO_ENABLED == ENABLED
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// initialise mission library
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mode_auto.mission.init();
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#endif
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#if MODE_SMARTRTL_ENABLED == ENABLED
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// initialize SmartRTL
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g2.smart_rtl.init();
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#endif
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// initialise AP_Logger library
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logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&copter, &Copter::Log_Write_Vehicle_Startup_Messages, void));
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startup_INS_ground();
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#ifdef ENABLE_SCRIPTING
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g2.scripting.init();
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#endif // ENABLE_SCRIPTING
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// set landed flags
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set_land_complete(true);
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set_land_complete_maybe(true);
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// we don't want writes to the serial port to cause us to pause
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// mid-flight, so set the serial ports non-blocking once we are
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// ready to fly
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serial_manager.set_blocking_writes_all(false);
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// enable CPU failsafe
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failsafe_enable();
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ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
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// enable output to motors
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if (arming.rc_calibration_checks(true)) {
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enable_motor_output();
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}
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// attempt to set the intial_mode, else set to STABILIZE
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if (!set_mode((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED)) {
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// set mode to STABILIZE will trigger mode change notification to pilot
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set_mode(Mode::Number::STABILIZE, ModeReason::UNAVAILABLE);
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}
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// flag that initialisation has completed
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ap.initialised = true;
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}
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//******************************************************************************
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//This function does all the calibrations, etc. that we need during a ground start
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//******************************************************************************
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void Copter::startup_INS_ground()
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{
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// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
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ahrs.init();
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ahrs.set_vehicle_class(AP_AHRS::VehicleClass::COPTER);
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// Warm up and calibrate gyro offsets
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ins.init(scheduler.get_loop_rate_hz());
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// reset ahrs including gyro bias
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ahrs.reset();
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}
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// update the harmonic notch filter center frequency dynamically
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void Copter::update_dynamic_notch()
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{
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if (!ins.gyro_harmonic_notch_enabled()) {
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return;
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}
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const float ref_freq = ins.get_gyro_harmonic_notch_center_freq_hz();
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const float ref = ins.get_gyro_harmonic_notch_reference();
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if (is_zero(ref)) {
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ins.update_harmonic_notch_freq_hz(ref_freq);
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return;
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}
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const float throttle_freq = ref_freq * MAX(1.0f, sqrtf(motors->get_throttle_out() / ref));
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switch (ins.get_gyro_harmonic_notch_tracking_mode()) {
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case HarmonicNotchDynamicMode::UpdateThrottle: // throttle based tracking
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// set the harmonic notch filter frequency approximately scaled on motor rpm implied by throttle
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ins.update_harmonic_notch_freq_hz(throttle_freq);
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break;
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#if RPM_ENABLED == ENABLED
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case HarmonicNotchDynamicMode::UpdateRPM: // rpm sensor based tracking
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float rpm;
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if (rpm_sensor.get_rpm(0, rpm)) {
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// set the harmonic notch filter frequency from the main rotor rpm
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ins.update_harmonic_notch_freq_hz(MAX(ref_freq, rpm * ref / 60.0f));
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} else {
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ins.update_harmonic_notch_freq_hz(ref_freq);
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}
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break;
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#endif
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#if HAL_WITH_ESC_TELEM
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case HarmonicNotchDynamicMode::UpdateBLHeli: // BLHeli based tracking
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// set the harmonic notch filter frequency scaled on measured frequency
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if (ins.has_harmonic_option(HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
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float notches[INS_MAX_NOTCHES];
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const uint8_t num_notches = AP::esc_telem().get_motor_frequencies_hz(INS_MAX_NOTCHES, notches);
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for (uint8_t i = 0; i < num_notches; i++) {
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notches[i] = MAX(ref_freq, notches[i]);
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}
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if (num_notches > 0) {
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ins.update_harmonic_notch_frequencies_hz(num_notches, notches);
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} else { // throttle fallback
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ins.update_harmonic_notch_freq_hz(throttle_freq);
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}
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} else {
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ins.update_harmonic_notch_freq_hz(MAX(ref_freq, AP::esc_telem().get_average_motor_frequency_hz() * ref));
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}
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break;
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#endif
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#if HAL_GYROFFT_ENABLED
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case HarmonicNotchDynamicMode::UpdateGyroFFT: // FFT based tracking
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// set the harmonic notch filter frequency scaled on measured frequency
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if (ins.has_harmonic_option(HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
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float notches[INS_MAX_NOTCHES];
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const uint8_t peaks = gyro_fft.get_weighted_noise_center_frequencies_hz(INS_MAX_NOTCHES, notches);
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ins.update_harmonic_notch_frequencies_hz(peaks, notches);
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} else {
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ins.update_harmonic_notch_freq_hz(gyro_fft.get_weighted_noise_center_freq_hz());
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}
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break;
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#endif
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case HarmonicNotchDynamicMode::Fixed: // static
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default:
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ins.update_harmonic_notch_freq_hz(ref_freq);
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break;
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}
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}
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// position_ok - returns true if the horizontal absolute position is ok and home position is set
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bool Copter::position_ok() const
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{
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// return false if ekf failsafe has triggered
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if (failsafe.ekf) {
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return false;
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}
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// check ekf position estimate
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return (ekf_has_absolute_position() || ekf_has_relative_position());
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}
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// ekf_has_absolute_position - returns true if the EKF can provide an absolute WGS-84 position estimate
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bool Copter::ekf_has_absolute_position() const
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{
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if (!ahrs.have_inertial_nav()) {
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// do not allow navigation with dcm position
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return false;
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}
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// with EKF use filter status and ekf check
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nav_filter_status filt_status = inertial_nav.get_filter_status();
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// if disarmed we accept a predicted horizontal position
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if (!motors->armed()) {
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return ((filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs));
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} else {
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// once armed we require a good absolute position and EKF must not be in const_pos_mode
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return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
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}
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}
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// ekf_has_relative_position - returns true if the EKF can provide a position estimate relative to it's starting position
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bool Copter::ekf_has_relative_position() const
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{
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// return immediately if EKF not used
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if (!ahrs.have_inertial_nav()) {
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return false;
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}
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// return immediately if neither optflow nor visual odometry is enabled
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bool enabled = false;
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#if OPTFLOW == ENABLED
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if (optflow.enabled()) {
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enabled = true;
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}
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#endif
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#if HAL_VISUALODOM_ENABLED
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if (visual_odom.enabled()) {
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enabled = true;
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}
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#endif
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if (!enabled) {
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return false;
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}
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// get filter status from EKF
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nav_filter_status filt_status = inertial_nav.get_filter_status();
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// if disarmed we accept a predicted horizontal relative position
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if (!motors->armed()) {
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return (filt_status.flags.pred_horiz_pos_rel);
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} else {
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return (filt_status.flags.horiz_pos_rel && !filt_status.flags.const_pos_mode);
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}
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}
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// returns true if the ekf has a good altitude estimate (required for modes which do AltHold)
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bool Copter::ekf_alt_ok() const
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{
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if (!ahrs.have_inertial_nav()) {
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// do not allow alt control with only dcm
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return false;
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}
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// with EKF use filter status and ekf check
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nav_filter_status filt_status = inertial_nav.get_filter_status();
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// require both vertical velocity and position
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return (filt_status.flags.vert_vel && filt_status.flags.vert_pos);
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}
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// update_auto_armed - update status of auto_armed flag
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void Copter::update_auto_armed()
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{
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// disarm checks
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if(ap.auto_armed){
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// if motors are disarmed, auto_armed should also be false
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if(!motors->armed()) {
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set_auto_armed(false);
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return;
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}
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// if in stabilize or acro flight mode and throttle is zero, auto-armed should become false
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if(flightmode->has_manual_throttle() && ap.throttle_zero && !failsafe.radio) {
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set_auto_armed(false);
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}
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}else{
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// arm checks
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// for tradheli if motors are armed and throttle is above zero and the motor is started, auto_armed should be true
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if(motors->armed() && ap.using_interlock) {
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if(!ap.throttle_zero && motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
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set_auto_armed(true);
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}
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// if motors are armed and throttle is above zero auto_armed should be true
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// if motors are armed and we are in throw mode, then auto_armed should be true
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} else if (motors->armed() && !ap.using_interlock) {
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if(!ap.throttle_zero || flightmode->mode_number() == Mode::Number::THROW) {
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set_auto_armed(true);
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}
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}
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}
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}
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/*
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should we log a message type now?
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*/
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bool Copter::should_log(uint32_t mask)
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{
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#if LOGGING_ENABLED == ENABLED
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ap.logging_started = logger.logging_started();
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return logger.should_log(mask);
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#else
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return false;
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#endif
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}
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/*
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allocate the motors class
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*/
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void Copter::allocate_motors(void)
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{
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switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
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#if FRAME_CONFIG != HELI_FRAME
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case AP_Motors::MOTOR_FRAME_QUAD:
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case AP_Motors::MOTOR_FRAME_HEXA:
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case AP_Motors::MOTOR_FRAME_Y6:
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case AP_Motors::MOTOR_FRAME_OCTA:
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case AP_Motors::MOTOR_FRAME_OCTAQUAD:
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case AP_Motors::MOTOR_FRAME_DODECAHEXA:
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case AP_Motors::MOTOR_FRAME_DECA:
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case AP_Motors::MOTOR_FRAME_SCRIPTING_MATRIX:
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default:
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motors = new AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz());
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motors_var_info = AP_MotorsMatrix::var_info;
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break;
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case AP_Motors::MOTOR_FRAME_TRI:
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motors = new AP_MotorsTri(copter.scheduler.get_loop_rate_hz());
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motors_var_info = AP_MotorsTri::var_info;
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AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER);
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break;
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case AP_Motors::MOTOR_FRAME_SINGLE:
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motors = new AP_MotorsSingle(copter.scheduler.get_loop_rate_hz());
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motors_var_info = AP_MotorsSingle::var_info;
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break;
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case AP_Motors::MOTOR_FRAME_COAX:
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motors = new AP_MotorsCoax(copter.scheduler.get_loop_rate_hz());
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motors_var_info = AP_MotorsCoax::var_info;
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break;
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case AP_Motors::MOTOR_FRAME_TAILSITTER:
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motors = new AP_MotorsTailsitter(copter.scheduler.get_loop_rate_hz());
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motors_var_info = AP_MotorsTailsitter::var_info;
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break;
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case AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING:
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#ifdef ENABLE_SCRIPTING
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motors = new AP_MotorsMatrix_6DoF_Scripting(copter.scheduler.get_loop_rate_hz());
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motors_var_info = AP_MotorsMatrix_6DoF_Scripting::var_info;
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#endif // ENABLE_SCRIPTING
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break;
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case AP_Motors::MOTOR_FRAME_DYNAMIC_SCRIPTING_MATRIX:
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#ifdef ENABLE_SCRIPTING
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motors = new AP_MotorsMatrix_Scripting_Dynamic(copter.scheduler.get_loop_rate_hz());
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motors_var_info = AP_MotorsMatrix_Scripting_Dynamic::var_info;
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#endif // ENABLE_SCRIPTING
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break;
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#else // FRAME_CONFIG == HELI_FRAME
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case AP_Motors::MOTOR_FRAME_HELI_DUAL:
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motors = new AP_MotorsHeli_Dual(copter.scheduler.get_loop_rate_hz());
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motors_var_info = AP_MotorsHeli_Dual::var_info;
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AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
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break;
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case AP_Motors::MOTOR_FRAME_HELI_QUAD:
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motors = new AP_MotorsHeli_Quad(copter.scheduler.get_loop_rate_hz());
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motors_var_info = AP_MotorsHeli_Quad::var_info;
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AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
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break;
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case AP_Motors::MOTOR_FRAME_HELI:
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default:
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motors = new AP_MotorsHeli_Single(copter.scheduler.get_loop_rate_hz());
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motors_var_info = AP_MotorsHeli_Single::var_info;
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AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
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break;
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#endif
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}
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if (motors == nullptr) {
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AP_BoardConfig::config_error("Unable to allocate FRAME_CLASS=%u", (unsigned)g2.frame_class.get());
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}
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AP_Param::load_object_from_eeprom(motors, motors_var_info);
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ahrs_view = ahrs.create_view(ROTATION_NONE);
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|
if (ahrs_view == nullptr) {
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|
AP_BoardConfig::config_error("Unable to allocate AP_AHRS_View");
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|
}
|
|
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|
const struct AP_Param::GroupInfo *ac_var_info;
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|
|
|
#if FRAME_CONFIG != HELI_FRAME
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if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) {
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|
#ifdef ENABLE_SCRIPTING
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|
attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
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|
ac_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
|
|
#endif // ENABLE_SCRIPTING
|
|
} else {
|
|
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
|
|
ac_var_info = AC_AttitudeControl_Multi::var_info;
|
|
}
|
|
#else
|
|
attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
|
|
ac_var_info = AC_AttitudeControl_Heli::var_info;
|
|
#endif
|
|
if (attitude_control == nullptr) {
|
|
AP_BoardConfig::config_error("Unable to allocate AttitudeControl");
|
|
}
|
|
AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
|
|
|
|
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control, scheduler.get_loop_period_s());
|
|
if (pos_control == nullptr) {
|
|
AP_BoardConfig::config_error("Unable to allocate PosControl");
|
|
}
|
|
AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info);
|
|
|
|
#if AC_OAPATHPLANNER_ENABLED == ENABLED
|
|
wp_nav = new AC_WPNav_OA(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
|
|
#else
|
|
wp_nav = new AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
|
|
#endif
|
|
if (wp_nav == nullptr) {
|
|
AP_BoardConfig::config_error("Unable to allocate WPNav");
|
|
}
|
|
AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);
|
|
|
|
loiter_nav = new AC_Loiter(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
|
|
if (loiter_nav == nullptr) {
|
|
AP_BoardConfig::config_error("Unable to allocate LoiterNav");
|
|
}
|
|
AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info);
|
|
|
|
#if MODE_CIRCLE_ENABLED == ENABLED
|
|
circle_nav = new AC_Circle(inertial_nav, *ahrs_view, *pos_control);
|
|
if (circle_nav == nullptr) {
|
|
AP_BoardConfig::config_error("Unable to allocate CircleNav");
|
|
}
|
|
AP_Param::load_object_from_eeprom(circle_nav, circle_nav->var_info);
|
|
#endif
|
|
|
|
// reload lines from the defaults file that may now be accessible
|
|
AP_Param::reload_defaults_file(true);
|
|
|
|
// now setup some frame-class specific defaults
|
|
switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
|
|
case AP_Motors::MOTOR_FRAME_Y6:
|
|
attitude_control->get_rate_roll_pid().kP().set_default(0.1);
|
|
attitude_control->get_rate_roll_pid().kD().set_default(0.006);
|
|
attitude_control->get_rate_pitch_pid().kP().set_default(0.1);
|
|
attitude_control->get_rate_pitch_pid().kD().set_default(0.006);
|
|
attitude_control->get_rate_yaw_pid().kP().set_default(0.15);
|
|
attitude_control->get_rate_yaw_pid().kI().set_default(0.015);
|
|
break;
|
|
case AP_Motors::MOTOR_FRAME_TRI:
|
|
attitude_control->get_rate_yaw_pid().filt_D_hz().set_default(100);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
// brushed 16kHz defaults to 16kHz pulses
|
|
if (motors->get_pwm_type() == AP_Motors::PWM_TYPE_BRUSHED) {
|
|
g.rc_speed.set_default(16000);
|
|
}
|
|
|
|
// upgrade parameters. This must be done after allocating the objects
|
|
convert_pid_parameters();
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
convert_tradheli_parameters();
|
|
#endif
|
|
|
|
// param count could have changed
|
|
AP_Param::invalidate_count();
|
|
}
|
|
|
|
bool Copter::is_tradheli() const
|
|
{
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
return true;
|
|
#else
|
|
return false;
|
|
#endif
|
|
}
|