mirror of https://github.com/ArduPilot/ardupilot
359 lines
11 KiB
C++
359 lines
11 KiB
C++
/*
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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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// ArduSub scheduling, originally copied from ArduCopter
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#include "Sub.h"
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#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Sub, &sub, func, rate_hz, max_time_micros)
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/*
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scheduler table for fast CPUs - all regular tasks apart from the fast_loop()
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should be listed here, along with how often they should be called (in hz)
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and the maximum time they are expected to take (in microseconds)
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*/
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const AP_Scheduler::Task Sub::scheduler_tasks[] = {
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SCHED_TASK(fifty_hz_loop, 50, 75),
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SCHED_TASK(update_GPS, 50, 200),
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#if OPTFLOW == ENABLED
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SCHED_TASK_CLASS(OpticalFlow, &sub.optflow, update, 200, 160),
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#endif
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SCHED_TASK(update_batt_compass, 10, 120),
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SCHED_TASK(read_rangefinder, 20, 100),
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SCHED_TASK(update_altitude, 10, 100),
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SCHED_TASK(three_hz_loop, 3, 75),
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SCHED_TASK(update_turn_counter, 10, 50),
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SCHED_TASK_CLASS(AP_Baro, &sub.barometer, accumulate, 50, 90),
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SCHED_TASK_CLASS(AP_Notify, &sub.notify, update, 50, 90),
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SCHED_TASK(one_hz_loop, 1, 100),
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SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_receive, 400, 180),
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SCHED_TASK(gcs_send_heartbeat, 1, 110),
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SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_send, 400, 550),
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#if MOUNT == ENABLED
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SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75),
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#endif
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#if CAMERA == ENABLED
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SCHED_TASK_CLASS(AP_Camera, &sub.camera, update_trigger, 50, 75),
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#endif
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SCHED_TASK(ten_hz_logging_loop, 10, 350),
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SCHED_TASK(twentyfive_hz_logging, 25, 110),
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SCHED_TASK_CLASS(AP_Logger, &sub.logger, periodic_tasks, 400, 300),
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SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50),
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SCHED_TASK_CLASS(AP_Scheduler, &sub.scheduler, update_logging, 0.1, 75),
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#if RPM_ENABLED == ENABLED
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SCHED_TASK(rpm_update, 10, 200),
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#endif
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SCHED_TASK(compass_cal_update, 100, 100),
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SCHED_TASK(accel_cal_update, 10, 100),
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SCHED_TASK(terrain_update, 10, 100),
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#if GRIPPER_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Gripper, &sub.g2.gripper, update, 10, 75),
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#endif
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#ifdef USERHOOK_FASTLOOP
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SCHED_TASK(userhook_FastLoop, 100, 75),
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#endif
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#ifdef USERHOOK_50HZLOOP
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SCHED_TASK(userhook_50Hz, 50, 75),
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#endif
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#ifdef USERHOOK_MEDIUMLOOP
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SCHED_TASK(userhook_MediumLoop, 10, 75),
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#endif
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#ifdef USERHOOK_SLOWLOOP
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SCHED_TASK(userhook_SlowLoop, 3.3, 75),
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#endif
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#ifdef USERHOOK_SUPERSLOWLOOP
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SCHED_TASK(userhook_SuperSlowLoop, 1, 75),
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#endif
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};
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constexpr int8_t Sub::_failsafe_priorities[5];
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void Sub::setup()
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{
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// Load the default values of variables listed in var_info[]s
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AP_Param::setup_sketch_defaults();
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init_ardupilot();
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// initialise the main loop scheduler
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scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), MASK_LOG_PM);
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}
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void Sub::loop()
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{
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scheduler.loop();
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G_Dt = scheduler.get_loop_period_s();
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}
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// Main loop - 400hz
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void Sub::fast_loop()
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{
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// update INS immediately to get current gyro data populated
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ins.update();
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if (control_mode != MANUAL) { //don't run rate controller in manual mode
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// run low level rate controllers that only require IMU data
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attitude_control.rate_controller_run();
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}
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// send outputs to the motors library
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motors_output();
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// run EKF state estimator (expensive)
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// --------------------
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read_AHRS();
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// Inertial Nav
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// --------------------
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read_inertia();
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// check if ekf has reset target heading
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check_ekf_yaw_reset();
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// run the attitude controllers
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update_flight_mode();
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// update home from EKF if necessary
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update_home_from_EKF();
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// check if we've reached the surface or bottom
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update_surface_and_bottom_detector();
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#if MOUNT == ENABLED
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// camera mount's fast update
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camera_mount.update_fast();
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#endif
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// log sensor health
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if (should_log(MASK_LOG_ANY)) {
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Log_Sensor_Health();
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}
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}
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// 50 Hz tasks
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void Sub::fifty_hz_loop()
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{
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// check pilot input failsafe
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failsafe_pilot_input_check();
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failsafe_crash_check();
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failsafe_ekf_check();
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failsafe_sensors_check();
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// Update rc input/output
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rc().read_input();
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SRV_Channels::output_ch_all();
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}
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// update_batt_compass - read battery and compass
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// should be called at 10hz
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void Sub::update_batt_compass()
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{
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// read battery before compass because it may be used for motor interference compensation
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battery.read();
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if (g.compass_enabled) {
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// update compass with throttle value - used for compassmot
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compass.set_throttle(motors.get_throttle());
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compass.read();
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// log compass information
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if (should_log(MASK_LOG_COMPASS) && !ahrs.have_ekf_logging()) {
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logger.Write_Compass();
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}
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}
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}
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// ten_hz_logging_loop
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// should be run at 10hz
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void Sub::ten_hz_logging_loop()
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{
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// log attitude data if we're not already logging at the higher rate
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if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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logger.Write_Rate(&ahrs_view, motors, attitude_control, pos_control);
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if (should_log(MASK_LOG_PID)) {
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logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());
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logger.Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info());
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logger.Write_PID(LOG_PIDY_MSG, attitude_control.get_rate_yaw_pid().get_pid_info());
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logger.Write_PID(LOG_PIDA_MSG, pos_control.get_accel_z_pid().get_pid_info());
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}
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}
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if (should_log(MASK_LOG_MOTBATT)) {
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Log_Write_MotBatt();
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}
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if (should_log(MASK_LOG_RCIN)) {
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logger.Write_RCIN();
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}
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if (should_log(MASK_LOG_RCOUT)) {
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logger.Write_RCOUT();
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}
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if (should_log(MASK_LOG_NTUN) && mode_requires_GPS(control_mode)) {
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pos_control.write_log();
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}
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if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
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logger.Write_Vibration();
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}
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if (should_log(MASK_LOG_CTUN)) {
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attitude_control.control_monitor_log();
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}
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}
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// twentyfive_hz_logging_loop
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// should be run at 25hz
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void Sub::twentyfive_hz_logging()
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{
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if (should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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logger.Write_Rate(&ahrs_view, motors, attitude_control, pos_control);
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if (should_log(MASK_LOG_PID)) {
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logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());
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logger.Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info());
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logger.Write_PID(LOG_PIDY_MSG, attitude_control.get_rate_yaw_pid().get_pid_info());
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logger.Write_PID(LOG_PIDA_MSG, pos_control.get_accel_z_pid().get_pid_info());
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}
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}
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// log IMU data if we're not already logging at the higher rate
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if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
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logger.Write_IMU();
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}
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}
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// three_hz_loop - 3.3hz loop
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void Sub::three_hz_loop()
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{
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leak_detector.update();
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failsafe_leak_check();
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failsafe_internal_pressure_check();
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failsafe_internal_temperature_check();
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// check if we've lost contact with the ground station
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failsafe_gcs_check();
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// check if we've lost terrain data
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failsafe_terrain_check();
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#if AC_FENCE == ENABLED
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// check if we have breached a fence
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fence_check();
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#endif // AC_FENCE_ENABLED
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ServoRelayEvents.update_events();
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}
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// one_hz_loop - runs at 1Hz
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void Sub::one_hz_loop()
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{
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bool arm_check = arming.pre_arm_checks(false);
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ap.pre_arm_check = arm_check;
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AP_Notify::flags.pre_arm_check = arm_check;
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AP_Notify::flags.pre_arm_gps_check = position_ok();
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AP_Notify::flags.flying = motors.armed();
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if (should_log(MASK_LOG_ANY)) {
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Log_Write_Data(DATA_AP_STATE, ap.value);
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}
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if (!motors.armed()) {
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// make it possible to change ahrs orientation at runtime during initial config
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ahrs.update_orientation();
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// set all throttle channel settings
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motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
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}
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// update assigned functions and enable auxiliary servos
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SRV_Channels::enable_aux_servos();
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// update position controller alt limits
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update_poscon_alt_max();
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// log terrain data
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terrain_logging();
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// init compass location for declination
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init_compass_location();
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// need to set "likely flying" when armed to allow for compass
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// learning to run
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ahrs.set_likely_flying(hal.util->get_soft_armed());
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}
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// called at 50hz
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void Sub::update_GPS()
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{
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static uint32_t last_gps_reading[GPS_MAX_INSTANCES]; // time of last gps message
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bool gps_updated = false;
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gps.update();
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// log after every gps message
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for (uint8_t i=0; i<gps.num_sensors(); i++) {
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if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
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last_gps_reading[i] = gps.last_message_time_ms(i);
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gps_updated = true;
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break;
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}
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}
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if (gps_updated) {
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#if CAMERA == ENABLED
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camera.update();
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#endif
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}
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}
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void Sub::read_AHRS()
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{
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// Perform IMU calculations and get attitude info
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//-----------------------------------------------
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// <true> tells AHRS to skip INS update as we have already done it in fast_loop()
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ahrs.update(true);
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ahrs_view.update(true);
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}
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// read baro and rangefinder altitude at 10hz
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void Sub::update_altitude()
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{
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// read in baro altitude
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read_barometer();
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if (should_log(MASK_LOG_CTUN)) {
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Log_Write_Control_Tuning();
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}
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}
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bool Sub::control_check_barometer()
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{
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#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
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if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor
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gcs().send_text(MAV_SEVERITY_WARNING, "Depth sensor is not connected.");
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return false;
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} else if (failsafe.sensor_health) {
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gcs().send_text(MAV_SEVERITY_WARNING, "Depth sensor error.");
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return false;
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}
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#endif
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return true;
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}
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AP_HAL_MAIN_CALLBACKS(&sub);
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