mirror of https://github.com/ArduPilot/ardupilot
2229 lines
76 KiB
Plaintext
2229 lines
76 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduCopter V2.9.1-dev"
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/*
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* ArduCopter Version 2.9
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* Lead author: Jason Short
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* Based on code and ideas from the Arducopter team: Randy Mackay, Pat Hickey, Jose Julio, Jani Hirvinen, Andrew Tridgell, Justin Beech, Adam Rivera, Jean-Louis Naudin, Roberto Navoni
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* Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier, Robert Lefebvre, Marco Robustini
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*
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* This firmware is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* Special Thanks for Contributors (in alphabetical order by first name):
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*
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* Adam M Rivera :Auto Compass Declination
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* Amilcar Lucas :Camera mount library
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* Andrew Tridgell :General development, Mavlink Support
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* Angel Fernandez :Alpha testing
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* Doug Weibel :Libraries
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* Christof Schmid :Alpha testing
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* Dani Saez :V Octo Support
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* Gregory Fletcher :Camera mount orientation math
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* Guntars :Arming safety suggestion
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* HappyKillmore :Mavlink GCS
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* Hein Hollander :Octo Support
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* Igor van Airde :Control Law optimization
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* Leonard Hall :Flight Dynamics, INAV throttle
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* Jonathan Challinger :Inertial Navigation
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* Jean-Louis Naudin :Auto Landing
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* Max Levine :Tri Support, Graphics
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* Jack Dunkle :Alpha testing
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* James Goppert :Mavlink Support
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* Jani Hiriven :Testing feedback
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* John Arne Birkeland :PPM Encoder
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* Jose Julio :Stabilization Control laws
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* Randy Mackay :General development and release
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* Marco Robustini :Lead tester
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* Michael Oborne :Mission Planner GCS
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* Mike Smith :Libraries, Coding support
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* Oliver :Piezo support
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* Olivier Adler :PPM Encoder
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* Robert Lefebvre :Heli Support & LEDs
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* Sandro Benigno :Camera support
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*
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* And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
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*
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* Requires modified "mrelax" version of Arduino, which can be found here:
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* http://code.google.com/p/ardupilot-mega/downloads/list
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*
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*/
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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 <stdio.h>
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#include <stdarg.h>
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// Common dependencies
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_Menu.h>
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#include <AP_Param.h>
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// AP_HAL
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#include <AP_HAL.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_SMACCM.h>
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#include <AP_HAL_PX4.h>
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#include <AP_HAL_Empty.h>
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// Application dependencies
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <DataFlash.h> // ArduPilot Mega Flash Memory 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_Curve.h> // Curve used to linearlise throttle pwm to thrust
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#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
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#include <AP_AHRS.h>
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#include <APM_PI.h> // PI library
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#include <AC_PID.h> // PID library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_Motors.h> // AP Motors library
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#include <AP_RangeFinder.h> // Range finder library
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#include <AP_OpticalFlow.h> // Optical Flow library
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#include <Filter.h> // Filter library
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#include <AP_Buffer.h> // APM FIFO Buffer
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#include <AP_Relay.h> // APM relay
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#include <AP_Camera.h> // Photo or video camera
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#include <AP_Mount.h> // Camera/Antenna mount
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#include <AP_Airspeed.h> // needed for AHRS build
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#include <AP_InertialNav.h> // ArduPilot Mega inertial navigation library
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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#include <AP_Limits.h>
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#include <memcheck.h> // memory limit checker
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#include <SITL.h> // software in the loop support
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#include <AP_Scheduler.h> // main loop scheduler
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// AP_HAL to Arduino compatibility layer
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#include "compat.h"
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// Configuration
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#include "defines.h"
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#include "config.h"
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#include "config_channels.h"
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// Local modules
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#include "Parameters.h"
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#include "GCS.h"
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////////////////////////////////////////////////////////////////////////////////
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// cliSerial
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////////////////////////////////////////////////////////////////////////////////
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// cliSerial isn't strictly necessary - it is an alias for hal.console. It may
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// be deprecated in favor of hal.console in later releases.
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AP_HAL::BetterStream* cliSerial;
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// N.B. we need to keep a static declaration which isn't guarded by macros
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// at the top to cooperate with the prototype mangler.
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////////////////////////////////////////////////////////////////////////////////
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// AP_HAL instance
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////////////////////////////////////////////////////////////////////////////////
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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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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AP_Scheduler scheduler;
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////////////////////////////////////////////////////////////////////////////////
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// prototypes
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////////////////////////////////////////////////////////////////////////////////
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static void update_events(void);
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////////////////////////////////////////////////////////////////////////////////
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// Dataflash
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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DataFlash_APM2 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
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DataFlash_APM1 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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DataFlash_SITL DataFlash;
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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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// 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_200HZ;
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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 flight 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 *flight_modes = &g.flight_mode1;
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#if HIL_MODE == HIL_MODE_DISABLED
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#if CONFIG_ADC == ENABLED
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AP_ADC_ADS7844 adc;
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#endif
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#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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AP_InertialSensor_MPU6000 ins;
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
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AP_InertialSensor_Oilpan ins(&adc);
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_SITL
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AP_InertialSensor_Stub ins;
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_PX4
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AP_InertialSensor_PX4 ins;
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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// When building for SITL we use the HIL barometer and compass drivers
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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SITL sitl;
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#else
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// Otherwise, instantiate a real barometer and compass driver
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#if CONFIG_BARO == AP_BARO_BMP085
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AP_Baro_BMP085 barometer;
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#elif CONFIG_BARO == AP_BARO_PX4
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AP_Baro_PX4 barometer;
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#elif CONFIG_BARO == AP_BARO_MS5611
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#if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI
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AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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#elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C
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AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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#else
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#error Unrecognized CONFIG_MS5611_SERIAL setting.
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#endif
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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AP_Compass_PX4 compass;
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#else
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AP_Compass_HMC5843 compass;
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#endif
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#endif
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// real 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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#else
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#error Unrecognised GPS_PROTOCOL setting.
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#endif // GPS PROTOCOL
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#if DMP_ENABLED == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_AHRS_MPU6000 ahrs(&ins, g_gps); // only works with APM2
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#else
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AP_AHRS_DCM ahrs(&ins, g_gps);
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#endif
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// ahrs2 object is the secondary ahrs to allow running DMP in parallel with DCM
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#if SECONDARY_DMP_ENABLED == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_AHRS_MPU6000 ahrs2(&ins, g_gps); // only works with APM2
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#endif
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#elif HIL_MODE == HIL_MODE_SENSORS
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// sensor emulators
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AP_ADC_HIL adc;
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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AP_GPS_HIL g_gps_driver;
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AP_InertialSensor_Stub ins;
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AP_AHRS_DCM ahrs(&ins, g_gps);
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static int32_t gps_base_alt;
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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AP_ADC_HIL adc;
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AP_InertialSensor_Stub ins;
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AP_AHRS_HIL ahrs(&ins, g_gps);
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AP_GPS_HIL g_gps_driver;
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AP_Compass_HIL compass; // never used
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AP_Baro_BMP085_HIL barometer;
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static int32_t gps_base_alt;
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#else
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#error Unrecognised HIL_MODE setting.
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#endif // HIL MODE
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////////////////////////////////////////////////////////////////////////////////
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// Optical flow sensor
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////////////////////////////////////////////////////////////////////////////////
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#if OPTFLOW == ENABLED
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AP_OpticalFlow_ADNS3080 optflow;
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#else
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AP_OpticalFlow optflow;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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////////////////////////////////////////////////////////////////////////////////
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GCS_MAVLINK gcs0;
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GCS_MAVLINK gcs3;
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////////////////////////////////////////////////////////////////////////////////
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// SONAR selection
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////////////////////////////////////////////////////////////////////////////////
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//
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ModeFilterInt16_Size3 sonar_mode_filter(1);
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#if CONFIG_SONAR == ENABLED
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AP_HAL::AnalogSource *sonar_analog_source;
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AP_RangeFinder_MaxsonarXL *sonar;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// User variables
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////////////////////////////////////////////////////////////////////////////////
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#ifdef USERHOOK_VARIABLES
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#include USERHOOK_VARIABLES
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Global variables
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////////////////////////////////////////////////////////////////////////////////
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/* Radio values
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* Channel assignments
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* 1 Ailerons (rudder if no ailerons)
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* 2 Elevator
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* 3 Throttle
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* 4 Rudder (if we have ailerons)
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* 5 Mode - 3 position switch
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* 6 User assignable
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* 7 trainer switch - sets throttle nominal (toggle switch), sets accels to Level (hold > 1 second)
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* 8 TBD
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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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//Documentation of GLobals:
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static union {
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struct {
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uint8_t home_is_set : 1; // 1
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uint8_t simple_mode : 1; // 2 // This is the state of simple mode
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uint8_t manual_attitude : 1; // 3
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uint8_t manual_throttle : 1; // 4
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uint8_t low_battery : 1; // 5 // Used to track if the battery is low - LED output flashes when the batt is low
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uint8_t armed : 1; // 6
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uint8_t auto_armed : 1; // 7
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uint8_t failsafe_radio : 1; // 8 // A status flag for the radio failsafe
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uint8_t failsafe_batt : 1; // 9 // A status flag for the battery failsafe
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uint8_t failsafe_gps : 1; // 10 // A status flag for the gps failsafe
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uint8_t do_flip : 1; // 11 // Used to enable flip code
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uint8_t takeoff_complete : 1; // 12
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uint8_t land_complete : 1; // 13
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uint8_t compass_status : 1; // 14
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uint8_t gps_status : 1; // 15
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};
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uint16_t value;
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} ap;
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static struct AP_System{
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uint8_t GPS_light : 1; // 1 // Solid indicates we have full 3D lock and can navigate, flash = read
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uint8_t motor_light : 1; // 2 // Solid indicates Armed state
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uint8_t new_radio_frame : 1; // 3 // Set true if we have new PWM data to act on from the Radio
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uint8_t nav_ok : 1; // 4 // deprecated
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uint8_t CH7_flag : 1; // 5 // manages state of the ch7 toggle switch
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uint8_t usb_connected : 1; // 6 // true if APM is powered from USB connection
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uint8_t alt_sensor_flag : 1; // 7 // used to track when to read sensors vs estimate alt
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uint8_t yaw_stopped : 1; // 8 // Used to manage the Yaw hold capabilities
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} ap_system;
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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 STABILIZE, ACRO,
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static int8_t control_mode = STABILIZE;
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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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static uint8_t oldSwitchPosition;
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// receiver RSSI
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static uint8_t receiver_rssi;
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////////////////////////////////////////////////////////////////////////////////
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// Motor Output
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////////////////////////////////////////////////////////////////////////////////
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#if FRAME_CONFIG == QUAD_FRAME
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#define MOTOR_CLASS AP_MotorsQuad
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#endif
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#if FRAME_CONFIG == TRI_FRAME
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#define MOTOR_CLASS AP_MotorsTri
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#endif
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#if FRAME_CONFIG == HEXA_FRAME
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#define MOTOR_CLASS AP_MotorsHexa
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#endif
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#if FRAME_CONFIG == Y6_FRAME
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#define MOTOR_CLASS AP_MotorsY6
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#endif
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#if FRAME_CONFIG == OCTA_FRAME
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#define MOTOR_CLASS AP_MotorsOcta
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#endif
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#if FRAME_CONFIG == OCTA_QUAD_FRAME
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#define MOTOR_CLASS AP_MotorsOctaQuad
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#endif
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#if FRAME_CONFIG == HELI_FRAME
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#define MOTOR_CLASS AP_MotorsHeli
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#endif
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#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
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MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
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#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
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MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
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#else
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MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// PIDs
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////////////////////////////////////////////////////////////////////////////////
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// This is a convienience accessor for the IMU roll rates. It's currently the raw IMU rates
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// and not the adjusted omega rates, but the name is stuck
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static Vector3f omega;
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// This is used to hold radio tuning values for in-flight CH6 tuning
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float tuning_value;
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// used to limit the rate that the pid controller output is logged so that it doesn't negatively affect performance
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static uint8_t pid_log_counter;
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////////////////////////////////////////////////////////////////////////////////
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// LED output
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////////////////////////////////////////////////////////////////////////////////
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// This is current status for the LED lights state machine
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// setting this value changes the output of the LEDs
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static uint8_t led_mode = NORMAL_LEDS;
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// Blinking indicates GPS status
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static uint8_t copter_leds_GPS_blink;
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// Blinking indicates battery status
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static uint8_t copter_leds_motor_blink;
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// Navigation confirmation blinks
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static int8_t copter_leds_nav_blink;
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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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// We need to scale the longitude up to make these calcs work
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// to account for decreasing distance between lines of longitude away from the equator
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static float scaleLongUp = 1;
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// Sometimes we need to remove the scaling for distance calcs
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static float scaleLongDown = 1;
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////////////////////////////////////////////////////////////////////////////////
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// Mavlink specific
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////////////////////////////////////////////////////////////////////////////////
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// Used by Mavlink for unknow reasons
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static const float radius_of_earth = 6378100; // meters
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// Unions for getting byte values
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union float_int {
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int32_t int_value;
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float float_value;
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} float_int;
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////////////////////////////////////////////////////////////////////////////////
|
||
// Location & Navigation
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// This is the angle from the copter to the "next_WP" location in degrees * 100
|
||
static int32_t wp_bearing;
|
||
// navigation mode - options include NAV_NONE, NAV_LOITER, NAV_CIRCLE, NAV_WP
|
||
static uint8_t nav_mode;
|
||
// Register containing the index of the current navigation command in the mission script
|
||
static int16_t command_nav_index;
|
||
// Register containing the index of the previous navigation command in the mission script
|
||
// Used to manage the execution of conditional commands
|
||
static uint8_t prev_nav_index;
|
||
// Register containing the index of the current conditional command in the mission script
|
||
static uint8_t command_cond_index;
|
||
// Used to track the required WP navigation information
|
||
// options include
|
||
// NAV_ALTITUDE - have we reached the desired altitude?
|
||
// NAV_LOCATION - have we reached the desired location?
|
||
// NAV_DELAY - have we waited at the waypoint the desired time?
|
||
static uint8_t wp_verify_byte; // used for tracking state of navigating waypoints
|
||
static float lon_error, lat_error; // Used to report how many cm we are from the next waypoint or loiter target position
|
||
static int16_t control_roll;
|
||
static int16_t control_pitch;
|
||
static uint8_t rtl_state;
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Orientation
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Convienience accessors for commonly used trig functions. These values are generated
|
||
// by the DCM through a few simple equations. They are used throughout the code where cos and sin
|
||
// would normally be used.
|
||
// The cos values are defaulted to 1 to get a decent initial value for a level state
|
||
static float cos_roll_x = 1;
|
||
static float cos_pitch_x = 1;
|
||
static float cos_yaw_x = 1;
|
||
static float sin_yaw_y = 1;
|
||
static float cos_yaw = 1;
|
||
static float sin_yaw = 1;
|
||
static float sin_roll = 1;
|
||
static float sin_pitch = 1;
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// SIMPLE Mode
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Used to track the orientation of the copter for Simple mode. This value is reset at each arming
|
||
// or in SuperSimple mode when the copter leaves a 20m radius from home.
|
||
static int32_t initial_simple_bearing;
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Rate contoller targets
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
static uint8_t rate_targets_frame = EARTH_FRAME; // indicates whether rate targets provided in earth or body frame
|
||
static int32_t roll_rate_target_ef;
|
||
static int32_t pitch_rate_target_ef;
|
||
static int32_t yaw_rate_target_ef;
|
||
static int32_t roll_rate_target_bf; // body frame roll rate target
|
||
static int32_t pitch_rate_target_bf; // body frame pitch rate target
|
||
static int32_t yaw_rate_target_bf; // body frame yaw rate target
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Throttle variables
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
static int16_t throttle_accel_target_ef; // earth frame throttle acceleration target
|
||
static bool throttle_accel_controller_active; // true when accel based throttle controller is active, false when higher level throttle controllers are providing throttle output directly
|
||
static float throttle_avg; // g.throttle_cruise as a float
|
||
static int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// ACRO Mode
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Used to control Axis lock
|
||
int32_t roll_axis;
|
||
int32_t pitch_axis;
|
||
|
||
// Filters
|
||
#if FRAME_CONFIG == HELI_FRAME
|
||
LowPassFilterFloat rate_roll_filter; // Rate Roll filter
|
||
LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter
|
||
// LowPassFilterFloat rate_yaw_filter; // Rate Yaw filter
|
||
#endif // HELI_FRAME
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Circle Mode / Loiter control
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// used to control the speed of Circle mode in radians/second, default is 5° per second
|
||
static const float circle_rate = 0.0872664625;
|
||
Vector2f circle_center; // circle position expressed in cm from home location. x = lat, y = lon
|
||
// angle from the circle center to the copter's desired location. Incremented at circle_rate / second
|
||
static float circle_angle;
|
||
// the total angle (in radians) travelled
|
||
static float circle_angle_total;
|
||
// deg : how many times to circle as specified by mission command
|
||
static uint8_t circle_desired_rotations;
|
||
// How long we should stay in Loiter Mode for mission scripting
|
||
static uint16_t loiter_time_max;
|
||
// How long have we been loitering - The start time in millis
|
||
static uint32_t loiter_time;
|
||
// The synthetic location created to make the copter do circles around a WP
|
||
static struct Location circle_WP;
|
||
// inertial nav loiter variables
|
||
static float loiter_lat_from_home_cm; // loiter's target latitude in cm from home
|
||
static float loiter_lon_from_home_cm; // loiter's target longitude in cm from home
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// CH7 control
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// This register tracks the current Mission Command index when writing
|
||
// a mission using CH7 in flight
|
||
static int8_t CH7_wp_index;
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Battery Sensors
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Battery Voltage of battery, initialized above threshold for filter
|
||
static float battery_voltage1 = LOW_VOLTAGE * 1.05f;
|
||
// refers to the instant amp draw – based on an Attopilot Current sensor
|
||
static float current_amps1;
|
||
// refers to the total amps drawn – based on an Attopilot Current sensor
|
||
static float current_total1;
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Altitude
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// The (throttle) controller desired altitude in cm
|
||
static float controller_desired_alt;
|
||
// The cm we are off in altitude from next_WP.alt – Positive value means we are below the WP
|
||
static int32_t altitude_error;
|
||
// The cm/s we are moving up or down based on filtered data - Positive = UP
|
||
static int16_t climb_rate;
|
||
// The altitude as reported by Sonar in cm – Values are 20 to 700 generally.
|
||
static int16_t sonar_alt;
|
||
static uint8_t sonar_alt_health; // true if we can trust the altitude from the sonar
|
||
// The altitude as reported by Baro in cm – Values can be quite high
|
||
static int32_t baro_alt;
|
||
|
||
static int16_t saved_toy_throttle;
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// flight modes
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Flight modes are combinations of Roll/Pitch, Yaw and Throttle control modes
|
||
// Each Flight mode is a unique combination of these modes
|
||
//
|
||
// The current desired control scheme for Yaw
|
||
static uint8_t yaw_mode;
|
||
// The current desired control scheme for roll and pitch / navigation
|
||
static uint8_t roll_pitch_mode;
|
||
// The current desired control scheme for altitude hold
|
||
static uint8_t throttle_mode;
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// flight specific
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// An additional throttle added to keep the copter at the same altitude when banking
|
||
static int16_t angle_boost;
|
||
// counter to verify landings
|
||
static uint16_t land_detector;
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Navigation general
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// The location of home in relation to the copter, updated every GPS read
|
||
static int32_t home_bearing;
|
||
// distance between plane and home in cm
|
||
static int32_t home_distance;
|
||
// distance between plane and next_WP in cm
|
||
// is not static because AP_Camera uses it
|
||
uint32_t wp_distance;
|
||
// wpinav variables
|
||
Vector2f wpinav_origin; // starting point of trip to next waypoint in cm from home (equivalent to next_WP)
|
||
Vector2f wpinav_destination; // target destination in cm from home (equivalent to next_WP)
|
||
Vector2f wpinav_target; // the intermediate target location in cm from home
|
||
Vector2f wpinav_pos_delta; // position difference between origin and destination
|
||
float wpinav_track_length; // distance in cm between origin and destination
|
||
float wpinav_track_desired; // the desired distance along the track in cm
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// 3D Location vectors
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// home location is stored when we have a good GPS lock and arm the copter
|
||
// Can be reset each the copter is re-armed
|
||
static struct Location home;
|
||
// Current location of the copter
|
||
static struct Location current_loc;
|
||
// Next WP is the desired location of the copter - the next waypoint or loiter location
|
||
static struct Location next_WP;
|
||
// Prev WP is used to get the optimum path from one WP to the next
|
||
static struct Location prev_WP;
|
||
// Holds the current loaded command from the EEPROM for navigation
|
||
static struct Location command_nav_queue;
|
||
// Holds the current loaded command from the EEPROM for conditional scripts
|
||
static struct Location command_cond_queue;
|
||
// Holds the current loaded command from the EEPROM for guided mode
|
||
static struct Location guided_WP;
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Crosstrack
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// deg * 100, The original angle to the next_WP when the next_WP was set
|
||
// Also used to check when we pass a WP
|
||
static int32_t original_wp_bearing;
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Navigation Roll/Pitch functions
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// all angles are deg * 100 : target yaw angle
|
||
// The Commanded ROll from the autopilot.
|
||
static int32_t nav_roll;
|
||
// The Commanded pitch from the autopilot. negative Pitch means go forward.
|
||
static int32_t nav_pitch;
|
||
// The desired bank towards North (Positive) or South (Negative)
|
||
static int32_t auto_roll;
|
||
static int32_t auto_pitch;
|
||
|
||
// Don't be fooled by the fact that Pitch is reversed from Roll in its sign!
|
||
static int16_t nav_lat;
|
||
// The desired bank towards East (Positive) or West (Negative)
|
||
static int16_t nav_lon;
|
||
// The Commanded ROll from the autopilot based on optical flow sensor.
|
||
static int32_t of_roll;
|
||
// The Commanded pitch from the autopilot based on optical flow sensor. negative Pitch means go forward.
|
||
static int32_t of_pitch;
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Navigation Throttle control
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// The Commanded Throttle from the autopilot.
|
||
static int16_t nav_throttle; // 0-1000 for throttle control
|
||
// This is a simple counter to track the amount of throttle used during flight
|
||
// This could be useful later in determining and debuging current usage and predicting battery life
|
||
static uint32_t throttle_integrator;
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Climb rate control
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Time when we intiated command in millis - used for controlling decent rate
|
||
// Used to track the altitude offset for climbrate control
|
||
static int8_t alt_change_flag;
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Navigation Yaw control
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// The Commanded Yaw from the autopilot.
|
||
static int32_t nav_yaw;
|
||
static uint8_t yaw_timer;
|
||
// Yaw will point at this location if yaw_mode is set to YAW_LOOK_AT_LOCATION
|
||
static struct Location yaw_look_at_WP;
|
||
// bearing from current location to the yaw_look_at_WP
|
||
static int32_t yaw_look_at_WP_bearing;
|
||
// yaw used for YAW_LOOK_AT_HEADING yaw_mode
|
||
static int32_t yaw_look_at_heading;
|
||
// Deg/s we should turn
|
||
static int16_t yaw_look_at_heading_slew;
|
||
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Repeat Mission Scripting Command
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// The type of repeating event - Toggle a servo channel, Toggle the APM1 relay, etc
|
||
static uint8_t event_id;
|
||
// Used to manage the timimng of repeating events
|
||
static uint32_t event_timer;
|
||
// How long to delay the next firing of event in millis
|
||
static uint16_t event_delay;
|
||
// how many times to fire : 0 = forever, 1 = do once, 2 = do twice
|
||
static int16_t event_repeat;
|
||
// per command value, such as PWM for servos
|
||
static int16_t event_value;
|
||
// the stored value used to undo commands - such as original PWM command
|
||
static int16_t event_undo_value;
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Delay Mission Scripting Command
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
static int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
|
||
static uint32_t condition_start;
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// IMU variables
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Integration time for the gyros (DCM algorithm)
|
||
// Updated with the fast loop
|
||
static float G_Dt = 0.02;
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Inertial Navigation
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
AP_InertialNav inertial_nav(&ahrs, &ins, &barometer, &g_gps);
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Performance monitoring
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// The number of GPS fixes we have had
|
||
static uint8_t gps_fix_count;
|
||
|
||
// System Timers
|
||
// --------------
|
||
// Time in microseconds of main control loop
|
||
static uint32_t fast_loopTimer;
|
||
// Counters for branching from 10 hz control loop
|
||
static uint8_t medium_loopCounter;
|
||
// Counters for branching from 3 1/3hz control loop
|
||
static uint8_t slow_loopCounter;
|
||
// Counter of main loop executions. Used for performance monitoring and failsafe processing
|
||
static uint16_t mainLoop_count;
|
||
// Delta Time in milliseconds for navigation computations, updated with every good GPS read
|
||
static float dTnav;
|
||
// Counters for branching from 4 minute control loop used to save Compass offsets
|
||
static int16_t superslow_loopCounter;
|
||
// Loiter timer - Records how long we have been in loiter
|
||
static uint32_t rtl_loiter_start_time;
|
||
// disarms the copter while in Acro or Stabilize mode after 30 seconds of no flight
|
||
static uint8_t auto_disarming_counter;
|
||
// prevents duplicate GPS messages from entering system
|
||
static uint32_t last_gps_time;
|
||
|
||
// Used to exit the roll and pitch auto trim function
|
||
static uint8_t auto_trim_counter;
|
||
|
||
// Reference to the relay object (APM1 -> PORTL 2) (APM2 -> PORTB 7)
|
||
AP_Relay relay;
|
||
|
||
//Reference to the camera object (it uses the relay object inside it)
|
||
#if CAMERA == ENABLED
|
||
AP_Camera camera(&relay);
|
||
#endif
|
||
|
||
// a pin for reading the receiver RSSI voltage. The scaling by 0.25
|
||
// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
|
||
AP_HAL::AnalogSource* rssi_analog_source;
|
||
|
||
|
||
// Input sources for battery voltage, battery current, board vcc
|
||
AP_HAL::AnalogSource* batt_volt_analog_source;
|
||
AP_HAL::AnalogSource* batt_curr_analog_source;
|
||
AP_HAL::AnalogSource* board_vcc_analog_source;
|
||
|
||
|
||
#if CLI_ENABLED == ENABLED
|
||
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
|
||
#endif
|
||
|
||
// Camera/Antenna mount tracking and stabilisation stuff
|
||
// --------------------------------------
|
||
#if MOUNT == ENABLED
|
||
// current_loc uses the baro/gps soloution for altitude rather than gps only.
|
||
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
|
||
AP_Mount camera_mount(¤t_loc, g_gps, &ahrs, 0);
|
||
#endif
|
||
|
||
#if MOUNT2 == ENABLED
|
||
// current_loc uses the baro/gps soloution for altitude rather than gps only.
|
||
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
|
||
AP_Mount camera_mount2(¤t_loc, g_gps, &ahrs, 1);
|
||
#endif
|
||
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
#if AP_LIMITS == ENABLED
|
||
AP_Limits limits;
|
||
AP_Limit_GPSLock gpslock_limit(g_gps);
|
||
AP_Limit_Geofence geofence_limit(FENCE_START_BYTE, FENCE_WP_SIZE, MAX_FENCEPOINTS, g_gps, &home, ¤t_loc);
|
||
AP_Limit_Altitude altitude_limit(¤t_loc);
|
||
#endif
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// function definitions to keep compiler from complaining about undeclared functions
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
void get_throttle_althold(int32_t target_alt, int16_t min_climb_rate, int16_t max_climb_rate);
|
||
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
// Top-level logic
|
||
////////////////////////////////////////////////////////////////////////////////
|
||
|
||
// setup the var_info table
|
||
AP_Param param_loader(var_info, WP_START_BYTE);
|
||
|
||
/*
|
||
scheduler table - all regular tasks apart from the fast_loop()
|
||
should be listed here, along with how often they should be called
|
||
(in 10ms units) and the maximum time they are expected to take (in
|
||
microseconds)
|
||
*/
|
||
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
|
||
{ update_GPS, 2, 900 },
|
||
{ update_navigation, 10, 500 },
|
||
{ medium_loop, 2, 700 },
|
||
{ update_altitude, 5, 1000 },
|
||
{ fifty_hz_loop, 2, 950 },
|
||
{ run_nav_updates, 10, 800 },
|
||
{ slow_loop, 10, 500 },
|
||
{ gcs_check_input, 2, 700 },
|
||
{ gcs_send_heartbeat, 100, 700 },
|
||
{ gcs_data_stream_send, 2, 1500 },
|
||
{ gcs_send_deferred, 2, 1200 },
|
||
{ compass_accumulate, 2, 700 },
|
||
{ barometer_accumulate, 2, 900 },
|
||
{ super_slow_loop, 100, 1100 },
|
||
{ perf_update, 1000, 500 }
|
||
};
|
||
|
||
|
||
void setup() {
|
||
// this needs to be the first call, as it fills memory with
|
||
// sentinel values
|
||
memcheck_init();
|
||
cliSerial = hal.console;
|
||
|
||
// Load the default values of variables listed in var_info[]s
|
||
AP_Param::setup_sketch_defaults();
|
||
|
||
#if CONFIG_SONAR == ENABLED
|
||
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
|
||
sonar_analog_source = new AP_ADC_AnalogSource(
|
||
&adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
|
||
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
|
||
sonar_analog_source = hal.analogin->channel(
|
||
CONFIG_SONAR_SOURCE_ANALOG_PIN);
|
||
#else
|
||
#warning "Invalid CONFIG_SONAR_SOURCE"
|
||
#endif
|
||
sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
|
||
&sonar_mode_filter);
|
||
#endif
|
||
|
||
rssi_analog_source = hal.analogin->channel(g.rssi_pin, 0.25);
|
||
batt_volt_analog_source = hal.analogin->channel(g.battery_volt_pin);
|
||
batt_curr_analog_source = hal.analogin->channel(g.battery_curr_pin);
|
||
board_vcc_analog_source = 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]));
|
||
}
|
||
|
||
/*
|
||
if the compass is enabled then try to accumulate a reading
|
||
*/
|
||
static void compass_accumulate(void)
|
||
{
|
||
if (g.compass_enabled) {
|
||
compass.accumulate();
|
||
}
|
||
}
|
||
|
||
/*
|
||
try to accumulate a baro reading
|
||
*/
|
||
static void barometer_accumulate(void)
|
||
{
|
||
barometer.accumulate();
|
||
}
|
||
|
||
// enable this to get console logging of scheduler performance
|
||
#define SCHEDULER_DEBUG 0
|
||
|
||
static void perf_update(void)
|
||
{
|
||
if (g.log_bitmask & MASK_LOG_PM)
|
||
Log_Write_Performance();
|
||
if (scheduler.debug()) {
|
||
cliSerial->printf_P(PSTR("PERF: %u/%u %lu\n"),
|
||
(unsigned)perf_info_get_num_long_running(),
|
||
(unsigned)perf_info_get_num_loops(),
|
||
(unsigned long)perf_info_get_max_time());
|
||
}
|
||
perf_info_reset();
|
||
gps_fix_count = 0;
|
||
}
|
||
|
||
void loop()
|
||
{
|
||
uint32_t timer = micros();
|
||
|
||
// We want this to execute fast
|
||
// ----------------------------
|
||
if (ins.num_samples_available() >= 2) {
|
||
|
||
// check loop time
|
||
perf_info_check_loop_time(timer - fast_loopTimer);
|
||
|
||
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
|
||
fast_loopTimer = timer;
|
||
|
||
// for mainloop failure monitoring
|
||
mainLoop_count++;
|
||
|
||
// Execute the fast loop
|
||
// ---------------------
|
||
fast_loop();
|
||
|
||
// tell the scheduler one tick has passed
|
||
scheduler.tick();
|
||
} else {
|
||
uint16_t dt = timer - fast_loopTimer;
|
||
if (dt < 10000) {
|
||
uint16_t time_to_next_loop = 10000 - dt;
|
||
scheduler.run(time_to_next_loop);
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
// Main loop - 100hz
|
||
static void fast_loop()
|
||
{
|
||
// IMU DCM Algorithm
|
||
// --------------------
|
||
read_AHRS();
|
||
|
||
// reads all of the necessary trig functions for cameras, throttle, etc.
|
||
// --------------------------------------------------------------------
|
||
update_trig();
|
||
|
||
// Acrobatic control
|
||
if (ap.do_flip) {
|
||
if(abs(g.rc_1.control_in) < 4000) {
|
||
// calling roll_flip will override the desired roll rate and throttle output
|
||
roll_flip();
|
||
}else{
|
||
// force an exit from the loop if we are not hands off sticks.
|
||
ap.do_flip = false;
|
||
Log_Write_Event(DATA_EXIT_FLIP);
|
||
}
|
||
}
|
||
|
||
// run low level rate controllers that only require IMU data
|
||
run_rate_controllers();
|
||
|
||
// write out the servo PWM values
|
||
// ------------------------------
|
||
set_servos_4();
|
||
|
||
// Inertial Nav
|
||
// --------------------
|
||
read_inertia();
|
||
|
||
// optical flow
|
||
// --------------------
|
||
#if OPTFLOW == ENABLED
|
||
if(g.optflow_enabled) {
|
||
update_optical_flow();
|
||
}
|
||
#endif // OPTFLOW == ENABLED
|
||
|
||
// Read radio and 3-position switch on radio
|
||
// -----------------------------------------
|
||
read_radio();
|
||
read_control_switch();
|
||
|
||
// custom code/exceptions for flight modes
|
||
// ---------------------------------------
|
||
update_yaw_mode();
|
||
update_roll_pitch_mode();
|
||
|
||
// update targets to rate controllers
|
||
update_rate_contoller_targets();
|
||
|
||
// agmatthews - USERHOOKS
|
||
#ifdef USERHOOK_FASTLOOP
|
||
USERHOOK_FASTLOOP
|
||
#endif
|
||
}
|
||
|
||
static void medium_loop()
|
||
{
|
||
// This is the start of the medium (10 Hz) loop pieces
|
||
// -----------------------------------------
|
||
switch(medium_loopCounter) {
|
||
|
||
// This case deals with the GPS and Compass
|
||
//-----------------------------------------
|
||
case 0:
|
||
medium_loopCounter++;
|
||
|
||
// read battery before compass because it may be used for motor interference compensation
|
||
if (g.battery_monitoring != 0) {
|
||
read_battery();
|
||
}
|
||
|
||
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
|
||
if(g.compass_enabled) {
|
||
if (compass.read()) {
|
||
compass.null_offsets();
|
||
}
|
||
}
|
||
#endif
|
||
|
||
// auto_trim - stores roll and pitch radio inputs to ahrs
|
||
auto_trim();
|
||
|
||
// record throttle output
|
||
// ------------------------------
|
||
throttle_integrator += g.rc_3.servo_out;
|
||
break;
|
||
|
||
// This case performs some navigation computations
|
||
//------------------------------------------------
|
||
case 1:
|
||
medium_loopCounter++;
|
||
read_receiver_rssi();
|
||
break;
|
||
|
||
// command processing
|
||
//-------------------
|
||
case 2:
|
||
medium_loopCounter++;
|
||
|
||
// log compass information
|
||
if (motors.armed() && g.log_bitmask & MASK_LOG_COMPASS) {
|
||
Log_Write_Compass();
|
||
}
|
||
|
||
if(control_mode == TOY_A) {
|
||
update_toy_throttle();
|
||
|
||
if(throttle_mode == THROTTLE_AUTO) {
|
||
update_toy_altitude();
|
||
}
|
||
}
|
||
|
||
ap_system.alt_sensor_flag = true;
|
||
break;
|
||
|
||
// This case deals with sending high rate telemetry
|
||
//-------------------------------------------------
|
||
case 3:
|
||
medium_loopCounter++;
|
||
|
||
// perform next command
|
||
// --------------------
|
||
if(control_mode == AUTO) {
|
||
if(ap.home_is_set && g.command_total > 1) {
|
||
update_commands();
|
||
}
|
||
}
|
||
|
||
if(motors.armed()) {
|
||
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
|
||
Log_Write_Attitude();
|
||
#if SECONDARY_DMP_ENABLED == ENABLED
|
||
Log_Write_DMP();
|
||
#endif
|
||
}
|
||
|
||
if (g.log_bitmask & MASK_LOG_MOTORS)
|
||
Log_Write_Motors();
|
||
}
|
||
break;
|
||
|
||
// This case controls the slow loop
|
||
//---------------------------------
|
||
case 4:
|
||
medium_loopCounter = 0;
|
||
|
||
// Accel trims = hold > 2 seconds
|
||
// Throttle cruise = switch less than 1 second
|
||
// --------------------------------------------
|
||
read_trim_switch();
|
||
|
||
// Check for engine arming
|
||
// -----------------------
|
||
arm_motors();
|
||
|
||
// agmatthews - USERHOOKS
|
||
#ifdef USERHOOK_MEDIUMLOOP
|
||
USERHOOK_MEDIUMLOOP
|
||
#endif
|
||
|
||
#if COPTER_LEDS == ENABLED
|
||
update_copter_leds();
|
||
#endif
|
||
break;
|
||
|
||
default:
|
||
// this is just a catch all
|
||
// ------------------------
|
||
medium_loopCounter = 0;
|
||
break;
|
||
}
|
||
}
|
||
|
||
// stuff that happens at 50 hz
|
||
// ---------------------------
|
||
static void fifty_hz_loop()
|
||
{
|
||
// get altitude and climb rate from inertial lib
|
||
read_inertial_altitude();
|
||
|
||
// Update the throttle ouput
|
||
// -------------------------
|
||
update_throttle_mode();
|
||
|
||
#if TOY_EDF == ENABLED
|
||
edf_toy();
|
||
#endif
|
||
|
||
#ifdef USERHOOK_50HZLOOP
|
||
USERHOOK_50HZLOOP
|
||
#endif
|
||
|
||
|
||
#if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME
|
||
// HIL for a copter needs very fast update of the servo values
|
||
gcs_send_message(MSG_RADIO_OUT);
|
||
#endif
|
||
|
||
#if MOUNT == ENABLED
|
||
// update camera mount's position
|
||
camera_mount.update_mount_position();
|
||
#endif
|
||
|
||
#if MOUNT2 == ENABLED
|
||
// update camera mount's position
|
||
camera_mount2.update_mount_position();
|
||
#endif
|
||
|
||
#if CAMERA == ENABLED
|
||
camera.trigger_pic_cleanup();
|
||
#endif
|
||
|
||
# if HIL_MODE == HIL_MODE_DISABLED
|
||
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed()) {
|
||
Log_Write_Attitude();
|
||
#if SECONDARY_DMP_ENABLED == ENABLED
|
||
Log_Write_DMP();
|
||
#endif
|
||
}
|
||
|
||
if (g.log_bitmask & MASK_LOG_IMU && motors.armed())
|
||
Log_Write_IMU();
|
||
#endif
|
||
|
||
}
|
||
|
||
|
||
static void slow_loop()
|
||
{
|
||
|
||
#if AP_LIMITS == ENABLED
|
||
|
||
// Run the AP_Limits main loop
|
||
limits_loop();
|
||
|
||
#endif // AP_LIMITS_ENABLED
|
||
|
||
// This is the slow (3 1/3 Hz) loop pieces
|
||
//----------------------------------------
|
||
switch (slow_loopCounter) {
|
||
case 0:
|
||
slow_loopCounter++;
|
||
superslow_loopCounter++;
|
||
|
||
// record if the compass is healthy
|
||
set_compass_healthy(compass.healthy);
|
||
|
||
if(superslow_loopCounter > 1200) {
|
||
#if HIL_MODE != HIL_MODE_ATTITUDE
|
||
if(g.rc_3.control_in == 0 && control_mode == STABILIZE && g.compass_enabled) {
|
||
compass.save_offsets();
|
||
superslow_loopCounter = 0;
|
||
}
|
||
#endif
|
||
}
|
||
|
||
if(!motors.armed()) {
|
||
// check the user hasn't updated the frame orientation
|
||
motors.set_frame_orientation(g.frame_orientation);
|
||
}
|
||
|
||
break;
|
||
|
||
case 1:
|
||
slow_loopCounter++;
|
||
|
||
#if MOUNT == ENABLED
|
||
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
|
||
#endif
|
||
enable_aux_servos();
|
||
|
||
#if MOUNT == ENABLED
|
||
camera_mount.update_mount_type();
|
||
#endif
|
||
|
||
#if MOUNT2 == ENABLED
|
||
camera_mount2.update_mount_type();
|
||
#endif
|
||
|
||
// agmatthews - USERHOOKS
|
||
#ifdef USERHOOK_SLOWLOOP
|
||
USERHOOK_SLOWLOOP
|
||
#endif
|
||
|
||
break;
|
||
|
||
case 2:
|
||
slow_loopCounter = 0;
|
||
update_events();
|
||
|
||
// blink if we are armed
|
||
update_lights();
|
||
|
||
if(g.radio_tuning > 0)
|
||
tuning();
|
||
|
||
#if USB_MUX_PIN > 0
|
||
check_usb_mux();
|
||
#endif
|
||
break;
|
||
|
||
default:
|
||
slow_loopCounter = 0;
|
||
break;
|
||
}
|
||
}
|
||
|
||
#define AUTO_DISARMING_DELAY 25
|
||
// 1Hz loop
|
||
static void super_slow_loop()
|
||
{
|
||
if (g.log_bitmask != 0) {
|
||
Log_Write_Data(DATA_AP_STATE, ap.value);
|
||
}
|
||
|
||
// log battery info to the dataflash
|
||
if (g.log_bitmask & MASK_LOG_CURRENT && motors.armed())
|
||
Log_Write_Current();
|
||
|
||
// this function disarms the copter if it has been sitting on the ground for any moment of time greater than 25 seconds
|
||
// but only of the control mode is manual
|
||
if((control_mode <= ACRO) && (g.rc_3.control_in == 0)) {
|
||
auto_disarming_counter++;
|
||
|
||
if(auto_disarming_counter == AUTO_DISARMING_DELAY) {
|
||
init_disarm_motors();
|
||
}else if (auto_disarming_counter > AUTO_DISARMING_DELAY) {
|
||
auto_disarming_counter = AUTO_DISARMING_DELAY + 1;
|
||
}
|
||
}else{
|
||
auto_disarming_counter = 0;
|
||
}
|
||
|
||
// agmatthews - USERHOOKS
|
||
#ifdef USERHOOK_SUPERSLOWLOOP
|
||
USERHOOK_SUPERSLOWLOOP
|
||
#endif
|
||
}
|
||
|
||
// called at 100hz but data from sensor only arrives at 20 Hz
|
||
#if OPTFLOW == ENABLED
|
||
static void update_optical_flow(void)
|
||
{
|
||
static uint32_t last_of_update = 0;
|
||
static uint8_t of_log_counter = 0;
|
||
|
||
// if new data has arrived, process it
|
||
if( optflow.last_update != last_of_update ) {
|
||
last_of_update = optflow.last_update;
|
||
optflow.update_position(ahrs.roll, ahrs.pitch, cos_yaw_x, sin_yaw_y, current_loc.alt); // updates internal lon and lat with estimation based on optical flow
|
||
|
||
// write to log at 5hz
|
||
of_log_counter++;
|
||
if( of_log_counter >= 4 ) {
|
||
of_log_counter = 0;
|
||
if (g.log_bitmask & MASK_LOG_OPTFLOW) {
|
||
Log_Write_Optflow();
|
||
}
|
||
}
|
||
}
|
||
}
|
||
#endif // OPTFLOW == ENABLED
|
||
|
||
// called at 50hz
|
||
static void update_GPS(void)
|
||
{
|
||
// A counter that is used to grab at least 10 reads before commiting the Home location
|
||
static uint8_t ground_start_count = 10;
|
||
|
||
g_gps->update();
|
||
update_GPS_light();
|
||
|
||
set_gps_healthy(g_gps->status() >= GPS::GPS_OK_FIX_3D);
|
||
|
||
if (g_gps->new_data && last_gps_time != g_gps->time && g_gps->status() >= GPS::GPS_OK_FIX_2D) {
|
||
// clear new data flag
|
||
g_gps->new_data = false;
|
||
|
||
// save GPS time so we don't get duplicate reads
|
||
last_gps_time = g_gps->time;
|
||
|
||
// log location if we have at least a 2D fix
|
||
if (g.log_bitmask & MASK_LOG_GPS && motors.armed()) {
|
||
Log_Write_GPS();
|
||
}
|
||
|
||
// for performance monitoring
|
||
gps_fix_count++;
|
||
|
||
// check if we can initialise home yet
|
||
if (!ap.home_is_set) {
|
||
// if we have a 3d lock and valid location
|
||
if(g_gps->status() >= GPS::GPS_OK_FIX_3D && g_gps->latitude != 0) {
|
||
if( ground_start_count > 0 ) {
|
||
ground_start_count--;
|
||
}else{
|
||
// after 10 successful reads store home location
|
||
// ap.home_is_set will be true so this will only happen once
|
||
ground_start_count = 0;
|
||
init_home();
|
||
if (g.compass_enabled) {
|
||
// Set compass declination automatically
|
||
compass.set_initial_location(g_gps->latitude, g_gps->longitude);
|
||
}
|
||
}
|
||
}else{
|
||
// start again if we lose 3d lock
|
||
ground_start_count = 10;
|
||
}
|
||
|
||
#if HIL_MODE == HIL_MODE_ATTITUDE // only execute in HIL mode
|
||
ap_system.alt_sensor_flag = true;
|
||
#endif
|
||
}
|
||
}
|
||
|
||
// check for loss of gps
|
||
failsafe_gps_check();
|
||
}
|
||
|
||
// set_yaw_mode - update yaw mode and initialise any variables required
|
||
bool set_yaw_mode(uint8_t new_yaw_mode)
|
||
{
|
||
// boolean to ensure proper initialisation of throttle modes
|
||
bool yaw_initialised = false;
|
||
|
||
// return immediately if no change
|
||
if( new_yaw_mode == yaw_mode ) {
|
||
return true;
|
||
}
|
||
|
||
switch( new_yaw_mode ) {
|
||
case YAW_HOLD:
|
||
case YAW_ACRO:
|
||
yaw_initialised = true;
|
||
break;
|
||
case YAW_LOOK_AT_NEXT_WP:
|
||
if( ap.home_is_set ) {
|
||
yaw_initialised = true;
|
||
}
|
||
break;
|
||
case YAW_LOOK_AT_LOCATION:
|
||
if( ap.home_is_set ) {
|
||
// update bearing - assumes yaw_look_at_WP has been intialised before set_yaw_mode was called
|
||
yaw_look_at_WP_bearing = get_bearing_cd(¤t_loc, &yaw_look_at_WP);
|
||
yaw_initialised = true;
|
||
}
|
||
break;
|
||
case YAW_LOOK_AT_HEADING:
|
||
yaw_initialised = true;
|
||
break;
|
||
case YAW_LOOK_AT_HOME:
|
||
if( ap.home_is_set ) {
|
||
yaw_initialised = true;
|
||
}
|
||
break;
|
||
case YAW_TOY:
|
||
yaw_initialised = true;
|
||
break;
|
||
case YAW_LOOK_AHEAD:
|
||
if( ap.home_is_set ) {
|
||
yaw_initialised = true;
|
||
}
|
||
break;
|
||
}
|
||
|
||
// if initialisation has been successful update the yaw mode
|
||
if( yaw_initialised ) {
|
||
yaw_mode = new_yaw_mode;
|
||
}
|
||
|
||
// return success or failure
|
||
return yaw_initialised;
|
||
}
|
||
|
||
// update_yaw_mode - run high level yaw controllers
|
||
// 100hz update rate
|
||
void update_yaw_mode(void)
|
||
{
|
||
switch(yaw_mode) {
|
||
|
||
case YAW_HOLD:
|
||
// heading hold at heading held in nav_yaw but allow input from pilot
|
||
get_yaw_rate_stabilized_ef(g.rc_4.control_in);
|
||
break;
|
||
|
||
case YAW_ACRO:
|
||
// pilot controlled yaw using rate controller
|
||
if(g.axis_enabled) {
|
||
get_yaw_rate_stabilized_ef(g.rc_4.control_in);
|
||
}else{
|
||
get_acro_yaw(g.rc_4.control_in);
|
||
}
|
||
break;
|
||
|
||
case YAW_LOOK_AT_NEXT_WP:
|
||
// point towards next waypoint (no pilot input accepted)
|
||
// we don't use wp_bearing because we don't want the copter to turn too much during flight
|
||
nav_yaw = get_yaw_slew(nav_yaw, original_wp_bearing, AUTO_YAW_SLEW_RATE);
|
||
get_stabilize_yaw(nav_yaw);
|
||
|
||
// if there is any pilot input, switch to YAW_HOLD mode for the next iteration
|
||
if( g.rc_4.control_in != 0 ) {
|
||
set_yaw_mode(YAW_HOLD);
|
||
}
|
||
break;
|
||
|
||
case YAW_LOOK_AT_LOCATION:
|
||
// point towards a location held in yaw_look_at_WP (no pilot input accepted)
|
||
nav_yaw = get_yaw_slew(nav_yaw, yaw_look_at_WP_bearing, AUTO_YAW_SLEW_RATE);
|
||
get_stabilize_yaw(nav_yaw);
|
||
|
||
// if there is any pilot input, switch to YAW_HOLD mode for the next iteration
|
||
if( g.rc_4.control_in != 0 ) {
|
||
set_yaw_mode(YAW_HOLD);
|
||
}
|
||
break;
|
||
|
||
case YAW_LOOK_AT_HOME:
|
||
// keep heading always pointing at home with no pilot input allowed
|
||
nav_yaw = get_yaw_slew(nav_yaw, home_bearing, AUTO_YAW_SLEW_RATE);
|
||
get_stabilize_yaw(nav_yaw);
|
||
|
||
// if there is any pilot input, switch to YAW_HOLD mode for the next iteration
|
||
if( g.rc_4.control_in != 0 ) {
|
||
set_yaw_mode(YAW_HOLD);
|
||
}
|
||
break;
|
||
|
||
case YAW_LOOK_AT_HEADING:
|
||
// keep heading pointing in the direction held in yaw_look_at_heading with no pilot input allowed
|
||
nav_yaw = get_yaw_slew(nav_yaw, yaw_look_at_heading, yaw_look_at_heading_slew);
|
||
get_stabilize_yaw(nav_yaw);
|
||
break;
|
||
|
||
case YAW_LOOK_AHEAD:
|
||
// Commanded Yaw to automatically look ahead.
|
||
get_look_ahead_yaw(g.rc_4.control_in);
|
||
break;
|
||
|
||
#if TOY_LOOKUP == TOY_EXTERNAL_MIXER
|
||
case YAW_TOY:
|
||
// update to allow external roll/yaw mixing
|
||
// keep heading always pointing at home with no pilot input allowed
|
||
nav_yaw = get_yaw_slew(nav_yaw, home_bearing, AUTO_YAW_SLEW_RATE);
|
||
get_stabilize_yaw(nav_yaw);
|
||
break;
|
||
#endif
|
||
}
|
||
}
|
||
|
||
// set_roll_pitch_mode - update roll/pitch mode and initialise any variables as required
|
||
bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
|
||
{
|
||
// boolean to ensure proper initialisation of throttle modes
|
||
bool roll_pitch_initialised = false;
|
||
|
||
// return immediately if no change
|
||
if( new_roll_pitch_mode == roll_pitch_mode ) {
|
||
return true;
|
||
}
|
||
|
||
switch( new_roll_pitch_mode ) {
|
||
case ROLL_PITCH_STABLE:
|
||
case ROLL_PITCH_ACRO:
|
||
case ROLL_PITCH_AUTO:
|
||
case ROLL_PITCH_STABLE_OF:
|
||
case ROLL_PITCH_TOY:
|
||
roll_pitch_initialised = true;
|
||
break;
|
||
|
||
case ROLL_PITCH_LOITER:
|
||
// require gps lock
|
||
if( ap.home_is_set ) {
|
||
roll_pitch_initialised = true;
|
||
}
|
||
break;
|
||
}
|
||
|
||
// if initialisation has been successful update the yaw mode
|
||
if( roll_pitch_initialised ) {
|
||
roll_pitch_mode = new_roll_pitch_mode;
|
||
}
|
||
|
||
// return success or failure
|
||
return roll_pitch_initialised;
|
||
}
|
||
|
||
// update_roll_pitch_mode - run high level roll and pitch controllers
|
||
// 100hz update rate
|
||
void update_roll_pitch_mode(void)
|
||
{
|
||
switch(roll_pitch_mode) {
|
||
case ROLL_PITCH_ACRO:
|
||
// copy user input for reporting purposes
|
||
control_roll = g.rc_1.control_in;
|
||
control_pitch = g.rc_2.control_in;
|
||
|
||
#if FRAME_CONFIG == HELI_FRAME
|
||
if(g.axis_enabled) {
|
||
get_roll_rate_stabilized_ef(g.rc_1.control_in);
|
||
get_pitch_rate_stabilized_ef(g.rc_2.control_in);
|
||
}else{
|
||
// ACRO does not get SIMPLE mode ability
|
||
if (motors.flybar_mode == 1) {
|
||
g.rc_1.servo_out = g.rc_1.control_in;
|
||
g.rc_2.servo_out = g.rc_2.control_in;
|
||
} else {
|
||
get_acro_roll(g.rc_1.control_in);
|
||
get_acro_pitch(g.rc_2.control_in);
|
||
}
|
||
}
|
||
#else // !HELI_FRAME
|
||
if(g.axis_enabled) {
|
||
get_roll_rate_stabilized_ef(g.rc_1.control_in);
|
||
get_pitch_rate_stabilized_ef(g.rc_2.control_in);
|
||
}else{
|
||
// ACRO does not get SIMPLE mode ability
|
||
get_acro_roll(g.rc_1.control_in);
|
||
get_acro_pitch(g.rc_2.control_in);
|
||
}
|
||
#endif // HELI_FRAME
|
||
break;
|
||
|
||
case ROLL_PITCH_STABLE:
|
||
// apply SIMPLE mode transform
|
||
if(ap.simple_mode && ap_system.new_radio_frame) {
|
||
update_simple_mode();
|
||
}
|
||
|
||
control_roll = g.rc_1.control_in;
|
||
control_pitch = g.rc_2.control_in;
|
||
|
||
get_stabilize_roll(control_roll);
|
||
get_stabilize_pitch(control_pitch);
|
||
|
||
break;
|
||
|
||
case ROLL_PITCH_AUTO:
|
||
// copy user input for reporting purposes
|
||
control_roll = g.rc_1.control_in;
|
||
control_pitch = g.rc_2.control_in;
|
||
|
||
// copy latest output from nav controller to stabilize controller
|
||
nav_roll += constrain_int32(wrap_180(auto_roll - nav_roll), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
|
||
nav_pitch += constrain_int32(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
|
||
get_stabilize_roll(nav_roll);
|
||
get_stabilize_pitch(nav_pitch);
|
||
|
||
// copy control_roll and pitch for reporting purposes
|
||
control_roll = nav_roll;
|
||
control_pitch = nav_pitch;
|
||
break;
|
||
|
||
case ROLL_PITCH_STABLE_OF:
|
||
// apply SIMPLE mode transform
|
||
if(ap.simple_mode && ap_system.new_radio_frame) {
|
||
update_simple_mode();
|
||
}
|
||
|
||
control_roll = g.rc_1.control_in;
|
||
control_pitch = g.rc_2.control_in;
|
||
|
||
// mix in user control with optical flow
|
||
get_stabilize_roll(get_of_roll(control_roll));
|
||
get_stabilize_pitch(get_of_pitch(control_pitch));
|
||
break;
|
||
|
||
// THOR
|
||
// a call out to the main toy logic
|
||
case ROLL_PITCH_TOY:
|
||
roll_pitch_toy();
|
||
break;
|
||
|
||
case ROLL_PITCH_LOITER:
|
||
// apply SIMPLE mode transform
|
||
if(ap.simple_mode && ap_system.new_radio_frame) {
|
||
update_simple_mode();
|
||
}
|
||
// copy user input for logging purposes
|
||
control_roll = g.rc_1.control_in;
|
||
control_pitch = g.rc_2.control_in;
|
||
|
||
// update loiter target from user controls - max velocity is 5.0 m/s
|
||
if( control_roll != 0 || control_pitch != 0 ) {
|
||
loiter_set_pos_from_velocity(-control_pitch/(2*4.5), control_roll/(2*4.5),0.01f);
|
||
}
|
||
|
||
// copy latest output from nav controller to stabilize controller
|
||
nav_roll += constrain_int32(wrap_180(auto_roll - nav_roll), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
|
||
nav_pitch += constrain_int32(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
|
||
get_stabilize_roll(nav_roll);
|
||
get_stabilize_pitch(nav_pitch);
|
||
break;
|
||
}
|
||
|
||
#if FRAME_CONFIG != HELI_FRAME
|
||
if(g.rc_3.control_in == 0 && control_mode <= ACRO) {
|
||
reset_rate_I();
|
||
reset_stability_I();
|
||
}
|
||
#endif //HELI_FRAME
|
||
|
||
if(ap_system.new_radio_frame) {
|
||
// clear new radio frame info
|
||
ap_system.new_radio_frame = false;
|
||
}
|
||
}
|
||
|
||
// new radio frame is used to make sure we only call this at 50hz
|
||
void update_simple_mode(void)
|
||
{
|
||
static uint8_t simple_counter = 0; // State machine counter for Simple Mode
|
||
static float simple_sin_y=0, simple_cos_x=0;
|
||
|
||
// used to manage state machine
|
||
// which improves speed of function
|
||
simple_counter++;
|
||
|
||
int16_t delta = wrap_360(ahrs.yaw_sensor - initial_simple_bearing)/100;
|
||
|
||
if (simple_counter == 1) {
|
||
// roll
|
||
simple_cos_x = sinf(radians(90 - delta));
|
||
|
||
}else if (simple_counter > 2) {
|
||
// pitch
|
||
simple_sin_y = cosf(radians(90 - delta));
|
||
simple_counter = 0;
|
||
}
|
||
|
||
// Rotate input by the initial bearing
|
||
int16_t _roll = g.rc_1.control_in * simple_cos_x + g.rc_2.control_in * simple_sin_y;
|
||
int16_t _pitch = -(g.rc_1.control_in * simple_sin_y - g.rc_2.control_in * simple_cos_x);
|
||
|
||
g.rc_1.control_in = _roll;
|
||
g.rc_2.control_in = _pitch;
|
||
}
|
||
|
||
// update_super_simple_bearing - adjusts simple bearing based on location
|
||
// should be called after home_bearing has been updated
|
||
void update_super_simple_bearing()
|
||
{
|
||
// are we in SIMPLE mode?
|
||
if(ap.simple_mode && g.super_simple) {
|
||
// get distance to home
|
||
if(home_distance > SUPER_SIMPLE_RADIUS) { // 10m from home
|
||
// we reset the angular offset to be a vector from home to the quad
|
||
initial_simple_bearing = wrap_360(home_bearing+18000);
|
||
}
|
||
}
|
||
}
|
||
|
||
// set_throttle_mode - sets the throttle mode and initialises any variables as required
|
||
bool set_throttle_mode( uint8_t new_throttle_mode )
|
||
{
|
||
// boolean to ensure proper initialisation of throttle modes
|
||
bool throttle_initialised = false;
|
||
|
||
// return immediately if no change
|
||
if( new_throttle_mode == throttle_mode ) {
|
||
return true;
|
||
}
|
||
|
||
// initialise any variables required for the new throttle mode
|
||
switch(new_throttle_mode) {
|
||
case THROTTLE_MANUAL:
|
||
case THROTTLE_MANUAL_TILT_COMPENSATED:
|
||
throttle_accel_deactivate(); // this controller does not use accel based throttle controller
|
||
altitude_error = 0; // clear altitude error reported to GCS
|
||
throttle_initialised = true;
|
||
break;
|
||
|
||
case THROTTLE_ACCELERATION: // pilot inputs the desired acceleration
|
||
if( g.throttle_accel_enabled ) { // this throttle mode requires use of the accel based throttle controller
|
||
altitude_error = 0; // clear altitude error reported to GCS
|
||
throttle_initialised = true;
|
||
}
|
||
break;
|
||
|
||
case THROTTLE_RATE:
|
||
altitude_error = 0; // clear altitude error reported to GCS
|
||
throttle_initialised = true;
|
||
break;
|
||
|
||
case THROTTLE_STABILIZED_RATE:
|
||
case THROTTLE_DIRECT_ALT:
|
||
controller_desired_alt = get_initial_alt_hold(current_loc.alt, climb_rate); // reset controller desired altitude to current altitude
|
||
throttle_initialised = true;
|
||
break;
|
||
|
||
case THROTTLE_HOLD:
|
||
case THROTTLE_AUTO:
|
||
controller_desired_alt = get_initial_alt_hold(current_loc.alt, climb_rate); // reset controller desired altitude to current altitude
|
||
set_new_altitude(current_loc.alt); // by default hold the current altitude
|
||
if ( throttle_mode <= THROTTLE_MANUAL_TILT_COMPENSATED ) { // reset the alt hold I terms if previous throttle mode was manual
|
||
reset_throttle_I();
|
||
set_accel_throttle_I_from_pilot_throttle(get_pilot_desired_throttle(g.rc_3.control_in));
|
||
}
|
||
throttle_initialised = true;
|
||
break;
|
||
|
||
case THROTTLE_LAND:
|
||
set_land_complete(false); // mark landing as incomplete
|
||
land_detector = 0; // A counter that goes up if our climb rate stalls out.
|
||
controller_desired_alt = get_initial_alt_hold(current_loc.alt, climb_rate); // reset controller desired altitude to current altitude
|
||
// Set target altitude to LAND_START_ALT if we are high, below this altitude the get_throttle_rate_stabilized will take care of setting the next_WP.alt
|
||
if (current_loc.alt >= LAND_START_ALT) {
|
||
set_new_altitude(LAND_START_ALT);
|
||
}
|
||
throttle_initialised = true;
|
||
break;
|
||
|
||
default:
|
||
// To-Do: log an error message to the dataflash or tlogs instead of printing to the serial port
|
||
cliSerial->printf_P(PSTR("Unsupported throttle mode: %d!!"),new_throttle_mode);
|
||
break;
|
||
}
|
||
|
||
// update the throttle mode
|
||
if( throttle_initialised ) {
|
||
throttle_mode = new_throttle_mode;
|
||
|
||
// reset some variables used for logging
|
||
desired_climb_rate = 0;
|
||
nav_throttle = 0;
|
||
}
|
||
|
||
// return success or failure
|
||
return throttle_initialised;
|
||
}
|
||
|
||
// update_throttle_mode - run high level throttle controllers
|
||
// 50 hz update rate
|
||
void update_throttle_mode(void)
|
||
{
|
||
int16_t pilot_climb_rate;
|
||
int16_t pilot_throttle_scaled;
|
||
|
||
if(ap.do_flip) // this is pretty bad but needed to flip in AP modes.
|
||
return;
|
||
|
||
// do not run throttle controllers if motors disarmed
|
||
if( !motors.armed() ) {
|
||
set_throttle_out(0, false);
|
||
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
|
||
return;
|
||
}
|
||
|
||
#if FRAME_CONFIG == HELI_FRAME
|
||
if (control_mode == STABILIZE){
|
||
motors.stab_throttle = true;
|
||
} else {
|
||
motors.stab_throttle = false;
|
||
}
|
||
#endif // HELI_FRAME
|
||
|
||
switch(throttle_mode) {
|
||
|
||
case THROTTLE_MANUAL:
|
||
// completely manual throttle
|
||
if(g.rc_3.control_in <= 0){
|
||
set_throttle_out(0, false);
|
||
}else{
|
||
// send pilot's output directly to motors
|
||
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
|
||
set_throttle_out(pilot_throttle_scaled, false);
|
||
|
||
// update estimate of throttle cruise
|
||
#if FRAME_CONFIG == HELI_FRAME
|
||
update_throttle_cruise(motors.coll_out);
|
||
#else
|
||
update_throttle_cruise(pilot_throttle_scaled);
|
||
#endif //HELI_FRAME
|
||
|
||
|
||
// check if we've taken off yet
|
||
if (!ap.takeoff_complete && motors.armed()) {
|
||
if (pilot_throttle_scaled > g.throttle_cruise) {
|
||
// we must be in the air by now
|
||
set_takeoff_complete(true);
|
||
}
|
||
}
|
||
}
|
||
break;
|
||
|
||
case THROTTLE_MANUAL_TILT_COMPENSATED:
|
||
// manual throttle but with angle boost
|
||
if (g.rc_3.control_in <= 0) {
|
||
set_throttle_out(0, false); // no need for angle boost with zero throttle
|
||
}else{
|
||
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
|
||
set_throttle_out(pilot_throttle_scaled, true);
|
||
|
||
// update estimate of throttle cruise
|
||
#if FRAME_CONFIG == HELI_FRAME
|
||
update_throttle_cruise(motors.coll_out);
|
||
#else
|
||
update_throttle_cruise(pilot_throttle_scaled);
|
||
#endif //HELI_FRAME
|
||
|
||
if (!ap.takeoff_complete && motors.armed()) {
|
||
if (pilot_throttle_scaled > g.throttle_cruise) {
|
||
// we must be in the air by now
|
||
set_takeoff_complete(true);
|
||
}
|
||
}
|
||
}
|
||
break;
|
||
|
||
case THROTTLE_ACCELERATION:
|
||
// pilot inputs the desired acceleration
|
||
if(g.rc_3.control_in <= 0){
|
||
set_throttle_out(0, false);
|
||
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
|
||
}else{
|
||
int16_t desired_acceleration = get_pilot_desired_acceleration(g.rc_3.control_in);
|
||
set_throttle_accel_target(desired_acceleration);
|
||
}
|
||
break;
|
||
|
||
case THROTTLE_RATE:
|
||
// pilot inputs the desired climb rate. Note this is the unstabilized rate controller
|
||
if(g.rc_3.control_in <= 0){
|
||
set_throttle_out(0, false);
|
||
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
|
||
}else{
|
||
pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
|
||
get_throttle_rate(pilot_climb_rate);
|
||
}
|
||
break;
|
||
|
||
case THROTTLE_STABILIZED_RATE:
|
||
// pilot inputs the desired climb rate. Note this is the stabilized rate controller
|
||
if(g.rc_3.control_in <= 0){
|
||
set_throttle_out(0, false);
|
||
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
|
||
altitude_error = 0; // clear altitude error reported to GCS - normally underlying alt hold controller updates altitude error reported to GCS
|
||
}else{
|
||
pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
|
||
get_throttle_rate_stabilized(pilot_climb_rate);
|
||
}
|
||
break;
|
||
|
||
case THROTTLE_DIRECT_ALT:
|
||
// pilot inputs a desired altitude from 0 ~ 10 meters
|
||
if(g.rc_3.control_in <= 0){
|
||
set_throttle_out(0, false);
|
||
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
|
||
altitude_error = 0; // clear altitude error reported to GCS - normally underlying alt hold controller updates altitude error reported to GCS
|
||
}else{
|
||
int32_t desired_alt = get_pilot_desired_direct_alt(g.rc_3.control_in);
|
||
get_throttle_althold_with_slew(desired_alt, g.auto_velocity_z_min, g.auto_velocity_z_max);
|
||
}
|
||
break;
|
||
|
||
case THROTTLE_HOLD:
|
||
// alt hold plus pilot input of climb rate
|
||
pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
|
||
if( sonar_alt_health >= SONAR_ALT_HEALTH_MAX ) {
|
||
// if sonar is ok, use surface tracking
|
||
get_throttle_surface_tracking(pilot_climb_rate);
|
||
}else{
|
||
// if no sonar fall back stabilize rate controller
|
||
get_throttle_rate_stabilized(pilot_climb_rate);
|
||
}
|
||
break;
|
||
|
||
case THROTTLE_AUTO:
|
||
// auto pilot altitude controller with target altitude held in next_WP.alt
|
||
if(motors.auto_armed() == true) {
|
||
get_throttle_althold_with_slew(next_WP.alt, g.auto_velocity_z_min, g.auto_velocity_z_max);
|
||
}
|
||
break;
|
||
|
||
case THROTTLE_LAND:
|
||
// landing throttle controller
|
||
get_throttle_land();
|
||
break;
|
||
}
|
||
}
|
||
|
||
static void read_AHRS(void)
|
||
{
|
||
// Perform IMU calculations and get attitude info
|
||
//-----------------------------------------------
|
||
#if HIL_MODE != HIL_MODE_DISABLED
|
||
// update hil before ahrs update
|
||
gcs_check_input();
|
||
#endif
|
||
|
||
ahrs.update();
|
||
omega = ins.get_gyro();
|
||
|
||
#if SECONDARY_DMP_ENABLED == ENABLED
|
||
ahrs2.update();
|
||
#endif
|
||
}
|
||
|
||
static void update_trig(void){
|
||
Vector2f yawvector;
|
||
Matrix3f temp = ahrs.get_dcm_matrix();
|
||
|
||
yawvector.x = temp.a.x; // sin
|
||
yawvector.y = temp.b.x; // cos
|
||
yawvector.normalize();
|
||
|
||
cos_pitch_x = safe_sqrt(1 - (temp.c.x * temp.c.x)); // level = 1
|
||
cos_roll_x = temp.c.z / cos_pitch_x; // level = 1
|
||
|
||
cos_pitch_x = constrain(cos_pitch_x, 0, 1.0);
|
||
// this relies on constrain() of infinity doing the right thing,
|
||
// which it does do in avr-libc
|
||
cos_roll_x = constrain(cos_roll_x, -1.0, 1.0);
|
||
|
||
sin_yaw_y = yawvector.x; // 1y = north
|
||
cos_yaw_x = yawvector.y; // 0x = north
|
||
|
||
// added to convert earth frame to body frame for rate controllers
|
||
sin_pitch = -temp.c.x;
|
||
sin_roll = temp.c.y / cos_pitch_x;
|
||
|
||
sin_yaw = constrain(temp.b.x/cos_pitch_x, -1.0, 1.0);
|
||
cos_yaw = constrain(temp.a.x/cos_pitch_x, -1.0, 1.0);
|
||
|
||
//flat:
|
||
// 0 ° = cos_yaw: 0.00, sin_yaw: 1.00,
|
||
// 90° = cos_yaw: 1.00, sin_yaw: 0.00,
|
||
// 180 = cos_yaw: 0.00, sin_yaw: -1.00,
|
||
// 270 = cos_yaw: -1.00, sin_yaw: 0.00,
|
||
}
|
||
|
||
// read baro and sonar altitude at 10hz
|
||
static void update_altitude()
|
||
{
|
||
#if HIL_MODE == HIL_MODE_ATTITUDE
|
||
// we are in the SIM, fake out the baro and Sonar
|
||
baro_alt = g_gps->altitude - gps_base_alt;
|
||
|
||
if(g.sonar_enabled) {
|
||
sonar_alt = baro_alt;
|
||
}
|
||
#else
|
||
// read in baro altitude
|
||
baro_alt = read_barometer();
|
||
|
||
// read in sonar altitude
|
||
sonar_alt = read_sonar();
|
||
#endif // HIL_MODE == HIL_MODE_ATTITUDE
|
||
|
||
// write altitude info to dataflash logs
|
||
if ((g.log_bitmask & MASK_LOG_CTUN) && motors.armed()) {
|
||
Log_Write_Control_Tuning();
|
||
}
|
||
}
|
||
|
||
static void tuning(){
|
||
tuning_value = (float)g.rc_6.control_in / 1000.0f;
|
||
g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high); // 0 to 1
|
||
|
||
switch(g.radio_tuning) {
|
||
|
||
case CH6_RATE_KD:
|
||
g.pid_rate_roll.kD(tuning_value);
|
||
g.pid_rate_pitch.kD(tuning_value);
|
||
break;
|
||
|
||
case CH6_STABILIZE_KP:
|
||
g.pi_stabilize_roll.kP(tuning_value);
|
||
g.pi_stabilize_pitch.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_STABILIZE_KI:
|
||
g.pi_stabilize_roll.kI(tuning_value);
|
||
g.pi_stabilize_pitch.kI(tuning_value);
|
||
break;
|
||
|
||
case CH6_ACRO_KP:
|
||
g.acro_p = tuning_value;
|
||
break;
|
||
|
||
case CH6_RATE_KP:
|
||
g.pid_rate_roll.kP(tuning_value);
|
||
g.pid_rate_pitch.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_RATE_KI:
|
||
g.pid_rate_roll.kI(tuning_value);
|
||
g.pid_rate_pitch.kI(tuning_value);
|
||
break;
|
||
|
||
case CH6_YAW_KP:
|
||
g.pi_stabilize_yaw.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_YAW_KI:
|
||
g.pi_stabilize_yaw.kI(tuning_value);
|
||
break;
|
||
|
||
case CH6_YAW_RATE_KP:
|
||
g.pid_rate_yaw.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_YAW_RATE_KD:
|
||
g.pid_rate_yaw.kD(tuning_value);
|
||
break;
|
||
|
||
case CH6_THROTTLE_KP:
|
||
g.pid_throttle.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_THROTTLE_KI:
|
||
g.pid_throttle.kI(tuning_value);
|
||
break;
|
||
|
||
case CH6_THROTTLE_KD:
|
||
g.pid_throttle.kD(tuning_value);
|
||
break;
|
||
|
||
case CH6_TOP_BOTTOM_RATIO:
|
||
motors.top_bottom_ratio = tuning_value;
|
||
break;
|
||
|
||
case CH6_RELAY:
|
||
if (g.rc_6.control_in > 525) relay.on();
|
||
if (g.rc_6.control_in < 475) relay.off();
|
||
break;
|
||
|
||
case CH6_TRAVERSE_SPEED:
|
||
g.waypoint_speed_max = g.rc_6.control_in;
|
||
break;
|
||
|
||
case CH6_LOITER_KP:
|
||
g.pi_loiter_lat.kP(tuning_value);
|
||
g.pi_loiter_lon.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_LOITER_KI:
|
||
g.pi_loiter_lat.kI(tuning_value);
|
||
g.pi_loiter_lon.kI(tuning_value);
|
||
break;
|
||
|
||
case CH6_NAV_KP:
|
||
g.pid_nav_lat.kP(tuning_value);
|
||
g.pid_nav_lon.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_LOITER_RATE_KP:
|
||
g.pid_loiter_rate_lon.kP(tuning_value);
|
||
g.pid_loiter_rate_lat.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_LOITER_RATE_KI:
|
||
g.pid_loiter_rate_lon.kI(tuning_value);
|
||
g.pid_loiter_rate_lat.kI(tuning_value);
|
||
break;
|
||
|
||
case CH6_LOITER_RATE_KD:
|
||
g.pid_loiter_rate_lon.kD(tuning_value);
|
||
g.pid_loiter_rate_lat.kD(tuning_value);
|
||
break;
|
||
|
||
case CH6_NAV_KI:
|
||
g.pid_nav_lat.kI(tuning_value);
|
||
g.pid_nav_lon.kI(tuning_value);
|
||
break;
|
||
|
||
#if FRAME_CONFIG == HELI_FRAME
|
||
case CH6_HELI_EXTERNAL_GYRO:
|
||
motors.ext_gyro_gain = tuning_value;
|
||
break;
|
||
#endif
|
||
|
||
case CH6_THR_HOLD_KP:
|
||
g.pi_alt_hold.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_OPTFLOW_KP:
|
||
g.pid_optflow_roll.kP(tuning_value);
|
||
g.pid_optflow_pitch.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_OPTFLOW_KI:
|
||
g.pid_optflow_roll.kI(tuning_value);
|
||
g.pid_optflow_pitch.kI(tuning_value);
|
||
break;
|
||
|
||
case CH6_OPTFLOW_KD:
|
||
g.pid_optflow_roll.kD(tuning_value);
|
||
g.pid_optflow_pitch.kD(tuning_value);
|
||
break;
|
||
|
||
#if HIL_MODE != HIL_MODE_ATTITUDE // do not allow modifying _kp or _kp_yaw gains in HIL mode
|
||
case CH6_AHRS_YAW_KP:
|
||
ahrs._kp_yaw.set(tuning_value);
|
||
break;
|
||
|
||
case CH6_AHRS_KP:
|
||
ahrs._kp.set(tuning_value);
|
||
break;
|
||
#endif
|
||
|
||
case CH6_INAV_TC:
|
||
// To-Do: allowing tuning TC for xy and z separately
|
||
inertial_nav.set_time_constant_xy(tuning_value);
|
||
inertial_nav.set_time_constant_z(tuning_value);
|
||
break;
|
||
|
||
case CH6_THR_ACCEL_KP:
|
||
g.pid_throttle_accel.kP(tuning_value);
|
||
break;
|
||
|
||
case CH6_THR_ACCEL_KI:
|
||
g.pid_throttle_accel.kI(tuning_value);
|
||
break;
|
||
|
||
case CH6_THR_ACCEL_KD:
|
||
g.pid_throttle_accel.kD(tuning_value);
|
||
break;
|
||
}
|
||
}
|
||
|
||
AP_HAL_MAIN();
|
||
|