Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ardupilot/ArduCopter/ArduCopter.pde

2294 lines
69 KiB
Plaintext
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "ArduCopter V2.5.5"
/*
ArduCopter Version 2.5
Lead author: Jason Short
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
Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier, Robert Lefebvre, Marco Robustini
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
Special Thanks for Contributors:
Hein Hollander :Octo Support
Dani Saez :V Ocoto Support
Max Levine :Tri Support, Graphics
Jose Julio :Stabilization Control laws
Randy MacKay :Heli Support
Jani Hiriven :Testing feedback
Andrew Tridgell :Mavlink Support
James Goppert :Mavlink Support
Doug Weibel :Libraries
Mike Smith :Libraries, Coding support
HappyKillmore :Mavlink GCS
Michael Oborne :Mavlink GCS
Jack Dunkle :Alpha testing
Christof Schmid :Alpha testing
Oliver :Piezo support
Guntars :Arming safety suggestion
Igor van Airde :Control Law optimization
Jean-Louis Naudin :Auto Landing
Sandro Benigno :Camera support
Olivier Adler :PPM Encoder
John Arne Birkeland :PPM Encoder
Adam M Rivera :Auto Compass Declination
Marco Robustini :Alpha testing
Robert Lefebvre :Heli Support & LEDs
And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
Requires modified "mrelax" version of Arduino, which can be found here:
http://code.google.com/p/ardupilot-mega/downloads/list
*/
////////////////////////////////////////////////////////////////////////////////
// Header includes
////////////////////////////////////////////////////////////////////////////////
// AVR runtime
#include <avr/io.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <math.h>
// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <APM_RC.h> // ArduPilot Mega RC Library
#include <AP_GPS.h> // ArduPilot GPS library
#include <I2C.h> // Arduino I2C lib
#include <SPI.h> // Arduino SPI lib
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_AnalogSource.h>
#include <AP_Baro.h>
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_IMU.h> // ArduPilot Mega IMU Library
#include <AP_PeriodicProcess.h> // Parent header of Timer
// (only included for makefile libpath to work)
#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads.
#include <AP_AHRS.h>
#include <APM_PI.h> // PI library
#include <AC_PID.h> // PID library
#include <RC_Channel.h> // RC Channel Library
#include <AP_Motors.h> // AP Motors library
#include <AP_MotorsQuad.h> // AP Motors library for Quad
#include <AP_MotorsTri.h> // AP Motors library for Tri
#include <AP_MotorsHexa.h> // AP Motors library for Hexa
#include <AP_MotorsY6.h> // AP Motors library for Y6
#include <AP_MotorsOcta.h> // AP Motors library for Octa
#include <AP_MotorsOctaQuad.h> // AP Motors library for OctaQuad
#include <AP_MotorsHeli.h> // AP Motors library for Heli
#include <AP_MotorsMatrix.h> // AP Motors library for Heli
#include <AP_RangeFinder.h> // Range finder library
#include <AP_OpticalFlow.h> // Optical Flow library
#include <Filter.h> // Filter library
#include <ModeFilter.h> // Mode Filter from Filter library
#include <AverageFilter.h> // Mode Filter from Filter library
#include <AP_Relay.h> // APM relay
#include <memcheck.h>
// Configuration
#include "defines.h"
#include "config.h"
#include "config_channels.h"
#include <GCS_MAVLink.h> // MAVLink GCS definitions
// Local modules
#include "Parameters.h"
#include "GCS.h"
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
////////////////////////////////////////////////////////////////////////////////
// Serial ports
////////////////////////////////////////////////////////////////////////////////
//
// Note that FastSerial port buffers are allocated at ::begin time,
// so there is not much of a penalty to defining ports that we don't
// use.
//
FastSerialPort0(Serial); // FTDI/console
FastSerialPort1(Serial1); // GPS port
FastSerialPort3(Serial3); // Telemetry port
Arduino_Mega_ISR_Registry isr_registry;
////////////////////////////////////////////////////////////////////////////////
// Parameters
////////////////////////////////////////////////////////////////////////////////
//
// Global parameters are all contained within the 'g' class.
//
static Parameters g;
////////////////////////////////////////////////////////////////////////////////
// prototypes
static void update_events(void);
////////////////////////////////////////////////////////////////////////////////
// RC Hardware
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
APM_RC_APM2 APM_RC;
#else
APM_RC_APM1 APM_RC;
#endif
////////////////////////////////////////////////////////////////////////////////
// Dataflash
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
DataFlash_APM2 DataFlash;
#else
DataFlash_APM1 DataFlash;
#endif
////////////////////////////////////////////////////////////////////////////////
// Sensors
////////////////////////////////////////////////////////////////////////////////
//
// There are three basic options related to flight sensor selection.
//
// - Normal flight mode. Real sensors are used.
// - HIL Attitude mode. Most sensors are disabled, as the HIL
// protocol supplies attitude information directly.
// - HIL Sensors mode. Synthetic sensors are configured that
// supply data from the simulation.
//
// All GPS access should be through this pointer.
static GPS *g_gps;
// flight modes convenience array
static AP_Int8 *flight_modes = &g.flight_mode1;
#if HIL_MODE == HIL_MODE_DISABLED
// real sensors
#if CONFIG_ADC == ENABLED
AP_ADC_ADS7844 adc;
#endif
#ifdef DESKTOP_BUILD
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
#else
#if CONFIG_BARO == AP_BARO_BMP085
# if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_Baro_BMP085 barometer(true);
# else
AP_Baro_BMP085 barometer(false);
# endif
#elif CONFIG_BARO == AP_BARO_MS5611
AP_Baro_MS5611 barometer;
#endif
AP_Compass_HMC5843 compass;
#endif
#ifdef OPTFLOW_ENABLED
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_OpticalFlow_ADNS3080_APM2 optflow(OPTFLOW_CS_PIN);
#else
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
#endif
#else
AP_OpticalFlow optflow;
#endif
// real GPS selection
#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
AP_GPS_NMEA g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
AP_GPS_SIRF g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
AP_GPS_UBLOX g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
AP_GPS_MTK g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
AP_GPS_MTK16 g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
AP_GPS_None g_gps_driver(NULL);
#else
#error Unrecognised GPS_PROTOCOL setting.
#endif // GPS PROTOCOL
#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
#else
AP_InertialSensor_Oilpan ins(&adc);
#endif
AP_IMU_INS imu(&ins);
// we don't want to use gps for yaw correction on ArduCopter, so pass
// a NULL GPS object pointer
static GPS *g_gps_null;
#if QUATERNION_ENABLE == ENABLED
AP_AHRS_Quaternion ahrs(&imu, g_gps_null);
#else
AP_AHRS_DCM ahrs(&imu, g_gps_null);
#endif
AP_TimerProcess timer_scheduler;
#elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators
AP_ADC_HIL adc;
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
AP_GPS_HIL g_gps_driver(NULL);
AP_IMU_Shim imu;
AP_AHRS_DCM ahrs(&imu, g_gps);
AP_PeriodicProcessStub timer_scheduler;
AP_InertialSensor_Stub ins;
static int32_t gps_base_alt;
#elif HIL_MODE == HIL_MODE_ATTITUDE
AP_ADC_HIL adc;
AP_IMU_Shim imu; // never used
AP_AHRS_HIL ahrs(&imu, g_gps);
AP_GPS_HIL g_gps_driver(NULL);
AP_Compass_HIL compass; // never used
AP_Baro_BMP085_HIL barometer;
AP_InertialSensor_Stub ins;
AP_PeriodicProcessStub timer_scheduler;
#ifdef OPTFLOW_ENABLED
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
#endif
static int32_t gps_base_alt;
#else
#error Unrecognised HIL_MODE setting.
#endif // HIL MODE
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
GCS_MAVLINK gcs0;
GCS_MAVLINK gcs3;
////////////////////////////////////////////////////////////////////////////////
// SONAR selection
////////////////////////////////////////////////////////////////////////////////
//
ModeFilterInt16_Size5 sonar_mode_filter(2);
#if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
#endif
AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
#endif
// agmatthews USERHOOKS
////////////////////////////////////////////////////////////////////////////////
// User variables
////////////////////////////////////////////////////////////////////////////////
#ifdef USERHOOK_VARIABLES
#include USERHOOK_VARIABLES
#endif
////////////////////////////////////////////////////////////////////////////////
// Global variables
////////////////////////////////////////////////////////////////////////////////
static const char* flight_mode_strings[] = {
"STABILIZE",
"ACRO",
"ALT_HOLD",
"AUTO",
"GUIDED",
"LOITER",
"RTL",
"CIRCLE",
"POSITION",
"LAND",
"OF_LOITER"};
/* Radio values
Channel assignments
1 Ailerons (rudder if no ailerons)
2 Elevator
3 Throttle
4 Rudder (if we have ailerons)
5 Mode - 3 position switch
6 User assignable
7 trainer switch - sets throttle nominal (toggle switch), sets accels to Level (hold > 1 second)
8 TBD
*/
//Documentation of GLobals:
////////////////////////////////////////////////////////////////////////////////
// The GPS based velocity calculated by offsetting the Latitude and Longitude
// updated after GPS read - 5-10hz
static int16_t x_actual_speed;
static int16_t y_actual_speed;
// The difference between the desired rate of travel and the actual rate of travel
// updated after GPS read - 5-10hz
static int16_t x_rate_error;
static int16_t y_rate_error;
////////////////////////////////////////////////////////////////////////////////
// Radio
////////////////////////////////////////////////////////////////////////////////
// This is the state of the flight control system
// There are multiple states defined such as STABILIZE, ACRO,
static int8_t control_mode = STABILIZE;
// This is the state of simple mode.
// Set in the control_mode.pde file when the control switch is read
static bool do_simple = false;
// Used to maintain the state of the previous control switch position
// This is set to -1 when we need to re-read the switch
static byte oldSwitchPosition;
// This is used to look for change in the control switch
static byte old_control_mode = STABILIZE;
////////////////////////////////////////////////////////////////////////////////
// Motor Output
////////////////////////////////////////////////////////////////////////////////
// This is the array of PWM values being sent to the motors
//static int16_t motor_out[11];
// This is the array of PWM values being sent to the motors that has been lightly filtered with a simple LPF
// This was added to try and deal with biger motors
//static int16_t motor_filtered[11];
#if FRAME_CONFIG == QUAD_FRAME
#define MOTOR_CLASS AP_MotorsQuad
#endif
#if FRAME_CONFIG == TRI_FRAME
#define MOTOR_CLASS AP_MotorsTri
#endif
#if FRAME_CONFIG == HEXA_FRAME
#define MOTOR_CLASS AP_MotorsHexa
#endif
#if FRAME_CONFIG == Y6_FRAME
#define MOTOR_CLASS AP_MotorsY6
#endif
#if FRAME_CONFIG == OCTA_FRAME
#define MOTOR_CLASS AP_MotorsOcta
#endif
#if FRAME_CONFIG == OCTA_QUAD_FRAME
#define MOTOR_CLASS AP_MotorsOctaQuad
#endif
#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#endif
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
#if INSTANT_PWM == 1
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4, AP_MOTORS_SPEED_INSTANT_PWM); // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
#endif
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
#if INSTANT_PWM == 1
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7, AP_MOTORS_SPEED_INSTANT_PWM); // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
#endif
#else
#if INSTANT_PWM == 1
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, AP_MOTORS_SPEED_INSTANT_PWM); // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
#endif
#endif
////////////////////////////////////////////////////////////////////////////////
// Mavlink/HIL control
////////////////////////////////////////////////////////////////////////////////
// Used to track the GCS based control input
// Allow override of RC channel values for HIL
static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
// Status flag that tracks whether we are under GCS control
static bool rc_override_active = false;
// Status flag that tracks whether we are under GCS control
static uint32_t rc_override_fs_timer = 0;
////////////////////////////////////////////////////////////////////////////////
// Failsafe
////////////////////////////////////////////////////////////////////////////////
// A status flag for the failsafe state
// did our throttle dip below the failsafe value?
static boolean failsafe;
////////////////////////////////////////////////////////////////////////////////
// PIDs
////////////////////////////////////////////////////////////////////////////////
// This is a convienience accessor for the IMU roll rates. It's currently the raw IMU rates
// and not the adjusted omega rates, but the name is stuck
static Vector3f omega;
// This is used to hold radio tuning values for in-flight CH6 tuning
float tuning_value;
// This will keep track of the percent of roll or pitch the user is applying
float roll_scale_d, pitch_scale_d;
////////////////////////////////////////////////////////////////////////////////
// LED output
////////////////////////////////////////////////////////////////////////////////
// status of LED based on the motor_armed variable
// Flashing indicates we are not armed
// Solid indicates Armed state
static boolean motor_light;
// Flashing indicates we are reading the GPS Strings
// Solid indicates we have full 3D lock and can navigate
static boolean GPS_light;
// This is current status for the LED lights state machine
// setting this value changes the output of the LEDs
static byte led_mode = NORMAL_LEDS;
// Blinking indicates GPS status
static byte copter_leds_GPS_blink = 0;
// Blinking indicates battery status
static byte copter_leds_motor_blink = 0;
// Navigation confirmation blinks
static int8_t copter_leds_nav_blink = 0;
////////////////////////////////////////////////////////////////////////////////
// GPS variables
////////////////////////////////////////////////////////////////////////////////
// This is used to scale GPS values for EEPROM storage
// 10^7 times Decimal GPS means 1 == 1cm
// This approximation makes calculations integer and it's easy to read
static const float t7 = 10000000.0;
// We use atan2 and other trig techniques to calaculate angles
// We need to scale the longitude up to make these calcs work
// to account for decreasing distance between lines of longitude away from the equator
static float scaleLongUp = 1;
// Sometimes we need to remove the scaling for distance calcs
static float scaleLongDown = 1;
////////////////////////////////////////////////////////////////////////////////
// Mavlink specific
////////////////////////////////////////////////////////////////////////////////
// Used by Mavlink for unknow reasons
static const float radius_of_earth = 6378100; // meters
// Used by Mavlink for unknow reasons
static const float gravity = 9.81; // meters/ sec^2
// Unions for getting byte values
union float_int{
int32_t int_value;
float float_value;
} float_int;
////////////////////////////////////////////////////////////////////////////////
// Location & Navigation
////////////////////////////////////////////////////////////////////////////////
// Status flag indicating we have data that can be used to navigate
// Set by a GPS read with 3D fix, or an optical flow read
static bool nav_ok;
// This is the angle from the copter to the "next_WP" location in degrees * 100
static int32_t target_bearing;
// This is the angle from the copter to the "next_WP" location
// with the addition of Crosstrack error in degrees * 100
static int32_t nav_bearing;
// Status of the Waypoint tracking mode. Options include:
// NO_NAV_MODE, WP_MODE, LOITER_MODE, CIRCLE_MODE
static byte wp_control;
// Register containing the index of the current navigation command in the mission script
static uint8_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
// used to limit the speed ramp up of WP navigation
// Acceleration is limited to .5m/s/s
static int16_t waypoint_speed_gov;
// Used to track how many cm we are from the "next_WP" location
static int32_t long_error, lat_error;
// Are we navigating while holding a positon? This is set to false once the speed drops below 1m/s
static boolean loiter_override;
////////////////////////////////////////////////////////////////////////////////
// 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;
////////////////////////////////////////////////////////////////////////////////
// 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;
////////////////////////////////////////////////////////////////////////////////
// ACRO Mode
////////////////////////////////////////////////////////////////////////////////
// Used to control Axis lock
int32_t roll_axis;
int32_t pitch_axis;
// Filters
AverageFilterInt32_Size3 roll_rate_d_filter; // filtered acceleration
AverageFilterInt32_Size3 pitch_rate_d_filter; // filtered pitch acceleration
// Barometer filter
AverageFilterInt32_Size5 baro_filter; // filtered pitch acceleration
////////////////////////////////////////////////////////////////////////////////
// Circle Mode / Loiter control
////////////////////////////////////////////////////////////////////////////////
// used to determin the desired location in Circle mode
// increments at circle_rate / second
static float circle_angle;
// used to control the speed of Circle mode
// units are in radians, default is 5° per second
static const float circle_rate = 0.0872664625;
// used to track the delat in Circle Mode
static int32_t old_target_bearing;
// deg : how many times to circle * 360 for Loiter/Circle Mission command
static int16_t loiter_total;
// deg : how far we have turned around a waypoint
static int16_t loiter_sum;
// 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;
////////////////////////////////////////////////////////////////////////////////
// CH7 control
////////////////////////////////////////////////////////////////////////////////
// Used to enable Jose's flip code
// when true the Roll/Pitch/Throttle control is sent to the flip state machine
#if CH7_OPTION == CH7_FLIP
static bool do_flip = false;
#endif
// Used to track the CH7 toggle state.
// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true
// This allows advanced functionality to know when to execute
static boolean trim_flag;
// 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 * 1.05;
// 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;
// Used to track if the battery is low - LED output flashes when the batt is low
static bool low_batt = false;
////////////////////////////////////////////////////////////////////////////////
// Altitude
////////////////////////////////////////////////////////////////////////////////
// The pressure at home location - calibrated at arming
static int32_t ground_pressure;
// The ground temperature at home location - calibrated at arming
static int16_t ground_temperature;
// 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 sensor data - Positive = UP
static int16_t climb_rate_actual;
// Used to dither our climb_rate over 50hz
static int16_t climb_rate_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;
// The climb_rate as reported by sonar in cm/s
static int16_t sonar_rate;
// The altitude as reported by Baro in cm – Values can be quite high
static int32_t baro_alt;
// The climb_rate as reported by Baro in cm/s
static int16_t baro_rate;
// used to switch out of Manual Boost
static boolean reset_throttle_flag;
// used to track when to read sensors vs estimate alt
static boolean alt_sensor_flag;
////////////////////////////////////////////////////////////////////////////////
// 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 byte yaw_mode;
// The current desired control scheme for roll and pitch / navigation
static byte roll_pitch_mode;
// The current desired control scheme for altitude hold
static byte throttle_mode;
////////////////////////////////////////////////////////////////////////////////
// flight specific
////////////////////////////////////////////////////////////////////////////////
// Flag for monitoring the status of flight
// We must be in the air with throttle for 5 seconds before this flag is true
// This flag is reset when we are in a manual throttle mode with 0 throttle or disarmed
static boolean takeoff_complete;
// Used to record the most recent time since we enaged the throttle to take off
static uint32_t takeoff_timer;
// Used to see if we have landed and if we should shut our engines - not fully implemented
static boolean land_complete = true;
// used to manually override throttle in interactive Alt hold modes
static int16_t manual_boost;
// An additional throttle added to keep the copter at the same altitude when banking
static int16_t angle_boost;
// Push copter down for clean landing
static int16_t landing_boost;
// for controlling the landing throttle curve
//verifies landings
static int16_t ground_detector;
////////////////////////////////////////////////////////////////////////////////
// Navigation general
////////////////////////////////////////////////////////////////////////////////
// The location of the copter in relation to home, updated every GPS read
static int32_t home_to_copter_bearing;
// distance between plane and home in cm
static int32_t home_distance;
// distance between plane and next_WP in cm
static int32_t wp_distance;
////////////////////////////////////////////////////////////////////////////////
// 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;
// Flag for if we have g_gps lock and have set the home location
static boolean home_is_set;
// 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_target_bearing;
// The amount of angle correction applied to target_bearing to bring the copter back on its optimum path
static int16_t crosstrack_error;
////////////////////////////////////////////////////////////////////////////////
// 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;
static bool slow_wp = false;
////////////////////////////////////////////////////////////////////////////////
// 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
// The orginal altitude used to base our new altitude during decent
static int32_t original_altitude;
// Used to track the altitude offset for climbrate control
static int32_t target_altitude;
static uint32_t alt_change_timer;
static int8_t alt_change_flag;
static uint32_t alt_change;
////////////////////////////////////////////////////////////////////////////////
// Navigation Yaw control
////////////////////////////////////////////////////////////////////////////////
// The Commanded Yaw from the autopilot.
static int32_t nav_yaw;
// A speed governer for Yaw control - limits the rate the quad can be turned by the autopilot
static int32_t auto_yaw;
// Used to manage the Yaw hold capabilities -
// Options include: no tracking, point at next wp, or at a target
static byte yaw_tracking = MAV_ROI_WPNEXT;
// In AP Mission scripting we have a fine level of control for Yaw
// This is our initial angle for relative Yaw movements
static int32_t command_yaw_start;
// Timer values used to control the speed of Yaw movements
static uint32_t command_yaw_start_time;
static uint16_t command_yaw_time; // how long we are turning
static int32_t command_yaw_end; // what angle are we trying to be
// how many degrees will we turn
static int32_t command_yaw_delta;
// Deg/s we should turn
static int16_t command_yaw_speed;
// Direction we will turn – 1 = CW, 0 or -1 = CCW
static byte command_yaw_dir;
// Direction we will turn – 1 = relative, 0 = Absolute
static byte command_yaw_relative;
// Yaw will point at this location if yaw_tracking is set to MAV_ROI_LOCATION
static struct Location target_WP;
////////////////////////////////////////////////////////////////////////////////
// Repeat Mission Scripting Command
////////////////////////////////////////////////////////////////////////////////
// The type of repeating event - Toggle a servo channel, Toggle the APM1 relay, etc
static byte 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;
////////////////////////////////////////////////////////////////////////////////
// Performance monitoring
////////////////////////////////////////////////////////////////////////////////
// Used to manage the rate of performance logging messages
static int16_t perf_mon_counter;
// The number of GPS fixes we have had
static int16_t gps_fix_count;
// gps_watchdog checks for bad reads and if we miss 12 in a row, we stop navigating
// by lowering nav_lat and navlon to 0 gradually
static byte gps_watchdog;
// System Timers
// --------------
// Time in microseconds of main control loop
static uint32_t fast_loopTimer;
// Time in microseconds of 50hz control loop
static uint32_t fiftyhz_loopTimer;
// Counters for branching from 10 hz control loop
static byte medium_loopCounter;
// Counters for branching from 3 1/3hz control loop
static byte slow_loopCounter;
// Counters for branching at 1 hz
static byte counter_one_herz;
// Stat machine counter for Simple Mode
static byte simple_counter;
// used to track the elapsed time between GPS reads
static uint32_t nav_loopTimer;
// 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 loiter_timer;
// 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;
// Tracks if GPS is enabled based on statup routine
// If we do not detect GPS at startup, we stop trying and assume GPS is not connected
static bool GPS_enabled = false;
// Set true if we have new PWM data to act on from the Radio
static bool new_radio_frame;
// Used to auto exit the in-flight leveler
static int16_t auto_level_counter;
// Reference to the AP relay object - APM1 only
AP_Relay relay;
// APM2 only
#if USB_MUX_PIN > 0
static bool usb_connected;
#endif
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////
void setup() {
memcheck_init();
init_ardupilot();
}
void loop()
{
uint32_t timer = micros();
// We want this to execute fast
// ----------------------------
if ((timer - fast_loopTimer) >= 10000 && imu.new_data_available()) {
//Log_Write_Data(13, (int32_t)(timer - fast_loopTimer));
//PORTK |= B00010000;
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
fast_loopTimer = timer;
// Execute the fast loop
// ---------------------
fast_loop();
} else {
#ifdef DESKTOP_BUILD
usleep(1000);
#endif
}
// port manipulation for external timing of main loops
//PORTK &= B11101111;
if ((timer - fiftyhz_loopTimer) >= 20000) {
// store the micros for the 50 hz timer
fiftyhz_loopTimer = timer;
// port manipulation for external timing of main loops
//PORTK |= B01000000;
// reads all of the necessary trig functions for cameras, throttle, etc.
// --------------------------------------------------------------------
update_trig();
// check for new GPS messages
// --------------------------
update_GPS();
// perform 10hz tasks
// ------------------
medium_loop();
// Stuff to run at full 50hz, but after the med loops
// --------------------------------------------------
fifty_hz_loop();
counter_one_herz++;
// trgger our 1 hz loop
if(counter_one_herz >= 50){
super_slow_loop();
counter_one_herz = 0;
}
perf_mon_counter++;
if (perf_mon_counter > 600 ) {
if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance();
gps_fix_count = 0;
perf_mon_counter = 0;
}
//PORTK &= B10111111;
}
}
// PORTK |= B01000000;
// PORTK &= B10111111;
// Main loop - 100hz
static void fast_loop()
{
// try to send any deferred messages if the serial port now has
// some space available
gcs_send_message(MSG_RETRY_DEFERRED);
// Read radio
// ----------
read_radio();
// IMU DCM Algorithm
// --------------------
read_AHRS();
// custom code/exceptions for flight modes
// ---------------------------------------
update_yaw_mode();
update_roll_pitch_mode();
// write out the servo PWM values
// ------------------------------
set_servos_4();
// 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++;
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
if(g.compass_enabled){
if (compass.read()) {
// Calculate heading
Matrix3f m = ahrs.get_dcm_matrix();
compass.calculate(m);
compass.null_offsets();
}
}
#endif
// auto_trim, uses an auto_level algorithm
auto_trim();
// record throttle output
// ------------------------------
throttle_integrator += g.rc_3.servo_out;
break;
// This case performs some navigation computations
//------------------------------------------------
case 1:
medium_loopCounter++;
// calculate the copter's desired bearing and WP distance
// ------------------------------------------------------
if(nav_ok){
// clear nav flag
nav_ok = false;
// calculate distance, angles to target
navigate();
// update flight control system
update_navigation();
// update log
if (g.log_bitmask & MASK_LOG_NTUN && motors.armed()){
Log_Write_Nav_Tuning();
}
}
break;
// command processing
//-------------------
case 2:
medium_loopCounter++;
// Read altitude from sensors
// --------------------------
//#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
//update_altitude();
//#endif
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(home_is_set == true && g.command_total > 1){
update_commands();
}
}
if(motors.armed()){
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED)
Log_Write_Attitude();
if (g.log_bitmask & MASK_LOG_MOTORS)
Log_Write_Motors();
}
break;
// This case controls the slow loop
//---------------------------------
case 4:
medium_loopCounter = 0;
if (g.battery_monitoring != 0){
read_battery();
}
// Accel trims = hold > 2 seconds
// Throttle cruise = switch less than 1 second
// --------------------------------------------
read_trim_switch();
// Check for engine arming
// -----------------------
arm_motors();
// Do an extra baro read for Temp sensing
// ---------------------------------------
#if HIL_MODE != HIL_MODE_ATTITUDE
barometer.read();
#endif
// agmatthews - USERHOOKS
#ifdef USERHOOK_MEDIUMLOOP
USERHOOK_MEDIUMLOOP
#endif
#if COPTER_LEDS == ENABLED
update_copter_leds();
#endif
slow_loop();
break;
default:
// this is just a catch all
// ------------------------
medium_loopCounter = 0;
break;
}
}
// stuff that happens at 50 hz
// ---------------------------
static void fifty_hz_loop()
{
// read altitude sensors or estimate altitude
// ------------------------------------------
update_altitude_est();
// moved to slower loop
// --------------------
update_throttle_mode();
// Read Sonar
// ----------
# if CONFIG_SONAR == ENABLED
if(g.sonar_enabled){
sonar_alt = sonar.read();
}
#endif
// syncronise optical flow reads with altitude reads
#ifdef OPTFLOW_ENABLED
if(g.optflow_enabled){
update_optical_flow();
}
#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 HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed())
Log_Write_Attitude();
if (g.log_bitmask & MASK_LOG_RAW && motors.armed())
Log_Write_Raw();
#endif
camera_stabilization();
// kick the GCS to process uplink data
gcs_update();
gcs_data_stream_send();
}
static void slow_loop()
{
// This is the slow (3 1/3 Hz) loop pieces
//----------------------------------------
switch (slow_loopCounter){
case 0:
slow_loopCounter++;
superslow_loopCounter++;
// update throttle hold every 20 seconds
if(superslow_loopCounter > 60){
update_throttle_cruise();
}
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
}
// check the user hasn't updated the frame orientation
if( !motors.armed() ) {
motors.set_frame_orientation(g.frame_orientation);
}
break;
case 1:
slow_loopCounter++;
// Read 3-position switch on radio
// -------------------------------
read_control_switch();
// 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_ARMING_DELAY 60
// 1Hz loop
static void super_slow_loop()
{
if (g.log_bitmask & MASK_LOG_CUR && 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 30s
// 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_ARMING_DELAY){
init_disarm_motors();
}else if (auto_disarming_counter > AUTO_ARMING_DELAY){
auto_disarming_counter = AUTO_ARMING_DELAY + 1;
}
}else{
auto_disarming_counter = 0;
}
gcs_send_message(MSG_HEARTBEAT);
// agmatthews - USERHOOKS
#ifdef USERHOOK_SUPERSLOWLOOP
USERHOOK_SUPERSLOWLOOP
#endif
/*
//Serial.printf("alt %d, next.alt %d, alt_err: %d, cruise: %d, Alt_I:%1.2f, wp_dist %d, tar_bear %d, home_d %d, homebear %d\n",
current_loc.alt,
next_WP.alt,
altitude_error,
g.throttle_cruise.get(),
g.pi_alt_hold.get_integrator(),
wp_distance,
target_bearing,
home_distance,
home_to_copter_bearing);
*/
}
// updated at 10 Hz
#ifdef OPTFLOW_ENABLED
static void update_optical_flow(void)
{
static int log_counter = 0;
optflow.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
log_counter++;
if( log_counter >= 5 ) {
log_counter = 0;
if (g.log_bitmask & MASK_LOG_OPTFLOW){
Log_Write_Optflow();
}
}
/*if(g.optflow_enabled && current_loc.alt < 500){
if(GPS_enabled){
// if we have a GPS, we add some detail to the GPS
// XXX this may not ne right
current_loc.lng += optflow.vlon;
current_loc.lat += optflow.vlat;
// some sort of error correction routine
//current_loc.lng -= ERR_GAIN * (float)(current_loc.lng - x_GPS_speed); // error correction
//current_loc.lng -= ERR_GAIN * (float)(current_loc.lng - x_GPS_speed); // error correction
}else{
// if we do not have a GPS, use relative from 0 for lat and lon
current_loc.lng = optflow.vlon;
current_loc.lat = optflow.vlat;
}
// OK to run the nav routines
nav_ok = true;
}*/
}
#endif
// 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 byte ground_start_count = 10;
g_gps->update();
update_GPS_light();
if(gps_watchdog < 30){
gps_watchdog++;
}else{
// after 12 reads we guess we may have lost GPS signal, stop navigating
// we have lost GPS signal for a moment. Reduce our error to avoid flyaways
auto_roll >>= 1;
auto_pitch >>= 1;
}
if (g_gps->new_data && g_gps->fix) {
// clear new data flag
g_gps->new_data = false;
// check for duiplicate GPS messages
if(last_gps_time != g_gps->time){
// look for broken GPS
// ---------------
gps_watchdog = 0;
// OK to run the nav routines
// ---------------
nav_ok = true;
// for performance monitoring
// --------------------------
gps_fix_count++;
// used to calculate speed in X and Y, iterms
// ------------------------------------------
dTnav = (float)(millis() - nav_loopTimer)/ 1000.0;
nav_loopTimer = millis();
// prevent runup from bad GPS
// --------------------------
dTnav = min(dTnav, 1.0);
if(ground_start_count > 1){
ground_start_count--;
} else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes
// so that the altitude is more accurate
// -------------------------------------
if (current_loc.lat == 0) {
ground_start_count = 5;
}else{
if (g.compass_enabled) {
// Set compass declination automatically
compass.set_initial_location(g_gps->latitude, g_gps->longitude);
}
// save home to eeprom (we must have a good fix to have reached this point)
init_home();
ground_start_count = 0;
}
}
current_loc.lng = g_gps->longitude; // Lon * 10 * *7
current_loc.lat = g_gps->latitude; // Lat * 10 * *7
calc_XY_velocity();
if (g.log_bitmask & MASK_LOG_GPS && motors.armed()){
Log_Write_GPS();
}
#if HIL_MODE == HIL_MODE_ATTITUDE // only execute in HIL mode
//update_altitude();
alt_sensor_flag = true;
#endif
}
// save GPS time so we don't get duplicate reads
last_gps_time = g_gps->time;
}
}
void update_yaw_mode(void)
{
switch(yaw_mode){
case YAW_ACRO:
g.rc_4.servo_out = get_acro_yaw(g.rc_4.control_in);
return;
break;
case YAW_HOLD:
// calcualte new nav_yaw offset
if (control_mode <= STABILIZE){
nav_yaw = get_nav_yaw_offset(g.rc_4.control_in, g.rc_3.control_in);
}else{
nav_yaw = get_nav_yaw_offset(g.rc_4.control_in, 1);
}
break;
case YAW_LOOK_AT_HOME:
//nav_yaw updated in update_navigation()
break;
case YAW_AUTO:
nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -20, 20); // 40 deg a second
//Serial.printf("nav_yaw %d ", nav_yaw);
nav_yaw = wrap_360(nav_yaw);
break;
}
// Yaw control
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
//Serial.printf("4: %d\n",g.rc_4.servo_out);
}
void update_roll_pitch_mode(void)
{
int control_roll, control_pitch;
// hack to do auto_flip - need to remove, no one is using.
#if CH7_OPTION == CH7_FLIP
if (do_flip){
roll_flip();
return;
}
#endif
switch(roll_pitch_mode){
case ROLL_PITCH_ACRO:
if(g.axis_enabled){
roll_axis += (float)g.rc_1.control_in * g.axis_lock_p;
pitch_axis += (float)g.rc_2.control_in * g.axis_lock_p;
roll_axis = wrap_360(roll_axis);
pitch_axis = wrap_360(pitch_axis);
// in this mode, nav_roll and nav_pitch = the iterm
g.rc_1.servo_out = get_stabilize_roll(roll_axis);
g.rc_2.servo_out = get_stabilize_pitch(pitch_axis);
if (g.rc_3.control_in == 0){
roll_axis = 0;
pitch_axis = 0;
}
}else{
// ACRO does not get SIMPLE mode ability
g.rc_1.servo_out = get_acro_roll(g.rc_1.control_in);
g.rc_2.servo_out = get_acro_pitch(g.rc_2.control_in);
}
break;
case ROLL_PITCH_STABLE:
// apply SIMPLE mode transform
if(do_simple && new_radio_frame){
update_simple_mode();
}
// in this mode, nav_roll and nav_pitch = the iterm
g.rc_1.servo_out = get_stabilize_roll(g.rc_1.control_in);
g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
break;
case ROLL_PITCH_AUTO:
// apply SIMPLE mode transform
if(do_simple && new_radio_frame){
update_simple_mode();
}
// mix in user control with Nav control
nav_roll += constrain(wrap_180(auto_roll - nav_roll), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
nav_pitch += constrain(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
control_roll = g.rc_1.control_mix(nav_roll);
control_pitch = g.rc_2.control_mix(nav_pitch);
g.rc_1.servo_out = get_stabilize_roll(control_roll);
g.rc_2.servo_out = get_stabilize_pitch(control_pitch);
break;
case ROLL_PITCH_STABLE_OF:
// apply SIMPLE mode transform
if(do_simple && new_radio_frame){
update_simple_mode();
}
// mix in user control with optical flow
g.rc_1.servo_out = get_stabilize_roll(get_of_roll(g.rc_1.control_in));
g.rc_2.servo_out = get_stabilize_pitch(get_of_pitch(g.rc_2.control_in));
break;
}
if(g.rc_3.control_in == 0 && roll_pitch_mode <= ROLL_PITCH_ACRO){
reset_rate_I();
reset_stability_I();
}
if(takeoff_complete == false){
// reset these I terms to prevent awkward tipping on takeoff
//reset_rate_I();
//reset_stability_I();
}
if(new_radio_frame){
// clear new radio frame info
new_radio_frame = false;
// These values can be used to scale the PID gains
// This allows for a simple gain scheduling implementation
roll_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_1.control_in);
roll_scale_d = (1 - (roll_scale_d / 4500.0));
roll_scale_d = constrain(roll_scale_d, 0, 1) * g.stabilize_d;
pitch_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_2.control_in);
pitch_scale_d = (1 - (pitch_scale_d / 4500.0));
pitch_scale_d = constrain(pitch_scale_d, 0, 1) * g.stabilize_d;
}
}
// new radio frame is used to make sure we only call this at 50hz
void update_simple_mode(void)
{
static float simple_sin_y=0, simple_cos_x=0;
// used to manage state machine
// which improves speed of function
simple_counter++;
int delta = wrap_360(ahrs.yaw_sensor - initial_simple_bearing)/100;
if (simple_counter == 1){
// roll
simple_cos_x = sin(radians(90 - delta));
}else if (simple_counter > 2){
// pitch
simple_sin_y = cos(radians(90 - delta));
simple_counter = 0;
}
// Rotate input by the initial bearing
int control_roll = g.rc_1.control_in * simple_cos_x + g.rc_2.control_in * simple_sin_y;
int control_pitch = -(g.rc_1.control_in * simple_sin_y - g.rc_2.control_in * simple_cos_x);
g.rc_1.control_in = control_roll;
g.rc_2.control_in = control_pitch;
}
#define THROTTLE_FILTER_SIZE 2
// 50 hz update rate
// controls all throttle behavior
void update_throttle_mode(void)
{
int16_t throttle_out;
#if AUTO_THROTTLE_HOLD != 0
static float throttle_avg = 0; // this is initialised to g.throttle_cruise later
#endif
switch(throttle_mode){
case THROTTLE_MANUAL:
if (g.rc_3.control_in > 0){
#if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(g.rc_3.control_in);
#else
if (control_mode == ACRO){
g.rc_3.servo_out = g.rc_3.control_in;
}else{
angle_boost = get_angle_boost(g.rc_3.control_in);
g.rc_3.servo_out = g.rc_3.control_in + angle_boost;
}
#endif
#if AUTO_THROTTLE_HOLD != 0
// ensure throttle_avg has been initialised
if( throttle_avg == 0 ) {
throttle_avg = g.throttle_cruise;
}
// calc average throttle
if ((g.rc_3.control_in > MINIMUM_THROTTLE) && abs(climb_rate) < 60){
throttle_avg = throttle_avg * .98 + (float)g.rc_3.control_in * .02;
g.throttle_cruise = throttle_avg;
}
#endif
// Code to manage the Copter state
if ((millis() - takeoff_timer) > 5000){
// we must be in the air by now
takeoff_complete = true;
}
}else{
// we are on the ground
takeoff_complete = false;
// reset baro data if we are near home
if(home_distance < 400 || GPS_enabled == false){ // 4m from home
// causes Baro to do a quick recalibration
// XXX commented until further testing
// reset_baro();
}
// remember our time since takeoff
// -------------------------------
takeoff_timer = millis();
// make sure we also request 0 throttle out
// so the props stop ... properly
// ----------------------------------------
g.rc_3.servo_out = 0;
}
break;
case THROTTLE_HOLD:
// allow interactive changing of atitude
adjust_altitude();
// fall through
case THROTTLE_AUTO:
// calculate angle boost
angle_boost = get_angle_boost(g.throttle_cruise);
// manual command up or down?
if(manual_boost != 0){
#if FRAME_CONFIG == HELI_FRAME
throttle_out = heli_get_angle_boost(g.throttle_cruise + manual_boost);
#else
throttle_out = g.throttle_cruise + angle_boost + manual_boost;
#endif
//force a reset of the altitude change
clear_new_altitude();
/*
int16_t iterm = g.pi_alt_hold.get_integrator();
Serial.printf("tar_alt: %d, actual_alt: %d \talt_err: %d, \t manb: %d, iterm %d\n",
next_WP.alt,
current_loc.alt,
altitude_error,
manual_boost,
iterm);
//*/
// this lets us know we need to update the altitude after manual throttle control
reset_throttle_flag = true;
}else{
// we are under automatic throttle control
// ---------------------------------------
if(reset_throttle_flag) {
force_new_altitude(max(current_loc.alt, 100));
reset_throttle_flag = false;
update_throttle_cruise();
}
// 10hz, don't run up i term
if(motors.auto_armed() == true){
// how far off are we
altitude_error = get_altitude_error();
// get the AP throttle
nav_throttle = get_nav_throttle(altitude_error);
/*
Serial.printf("tar_alt: %d, actual_alt: %d \talt_err: %d, \tnav_thr: %d, \talt Int: %d\n",
next_WP.alt,
current_loc.alt,
altitude_error,
nav_throttle,
(int16_t)g.pi_alt_hold.get_integrator());
//*/
}
// hack to remove the influence of the ground effect
if(g.sonar_enabled && current_loc.alt < 100 && landing_boost != 0) {
nav_throttle = min(nav_throttle, 0);
}
#if FRAME_CONFIG == HELI_FRAME
throttle_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping() - landing_boost);
#else
throttle_out = g.throttle_cruise + nav_throttle + angle_boost + get_z_damping() - landing_boost;
#endif
}
// light filter of output
//g.rc_3.servo_out = (g.rc_3.servo_out * (THROTTLE_FILTER_SIZE - 1) + throttle_out) / THROTTLE_FILTER_SIZE;
// no filter
g.rc_3.servo_out = throttle_out;
break;
}
}
// called after a GPS read
static void update_navigation()
{
// wp_distance is in CM
// --------------------
switch(control_mode){
case AUTO:
// note: wp_control is handled by commands_logic
verify_commands();
// calculates desired Yaw
update_auto_yaw();
// calculates the desired Roll and Pitch
update_nav_wp();
break;
case GUIDED:
wp_control = WP_MODE;
// check if we are close to point > loiter
wp_verify_byte = 0;
verify_nav_wp();
if (wp_control == WP_MODE) {
update_auto_yaw();
} else {
set_mode(LOITER);
}
update_nav_wp();
break;
case RTL:
// We have reached Home
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
// if loiter_timer value > 0, we are set to trigger auto_land or approach after 20 seconds
set_mode(LOITER);
if(g.rtl_land_enabled || failsafe)
loiter_timer = millis();
else
loiter_timer = 0;
break;
}
wp_control = WP_MODE;
slow_wp = true;
// calculates desired Yaw
#if FRAME_CONFIG == HELI_FRAME
update_auto_yaw();
#endif
// calculates the desired Roll and Pitch
update_nav_wp();
break;
// switch passthrough to LOITER
case LOITER:
case POSITION:
// This feature allows us to reposition the quad when the user lets
// go of the sticks
if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 500){
loiter_override = true;
}
// Allow the user to take control temporarily,
if(loiter_override){
// this sets the copter to not try and nav while we control it
wp_control = NO_NAV_MODE;
// reset LOITER to current position
next_WP.lat = current_loc.lat;
next_WP.lng = current_loc.lng;
if( g.rc_2.control_in == 0 && g.rc_1.control_in == 0 ){
loiter_override = false;
wp_control = LOITER_MODE;
}
}else{
wp_control = LOITER_MODE;
}
if(loiter_timer != 0){
// If we have a safe approach alt set and we have been loitering for 20 seconds(default), begin approach
if(g.rtl_approach_alt >= 1 && (millis() - loiter_timer) > (RTL_APPROACH_DELAY * 1000)){
// just to make sure we clear the timer
loiter_timer = 0;
set_mode(APPROACH);
}
// Kick us out of loiter and begin landing if the loiter_timer is set
else if((millis() - loiter_timer) > (uint32_t)g.auto_land_timeout.get()){
// just to make sure we clear the timer
loiter_timer = 0;
set_mode(LAND);
}
}
// calculates the desired Roll and Pitch
update_nav_wp();
break;
case LAND:
if(g.sonar_enabled)
verify_land_sonar();
else
verify_land_baro();
// calculates the desired Roll and Pitch
update_nav_wp();
break;
case APPROACH:
// calculates the desired Roll and Pitch
update_nav_wp();
break;
case CIRCLE:
yaw_tracking = MAV_ROI_WPNEXT;
wp_control = CIRCLE_MODE;
// calculates desired Yaw
update_auto_yaw();
update_nav_wp();
break;
case STABILIZE:
wp_control = NO_NAV_MODE;
update_nav_wp();
break;
}
// are we in SIMPLE mode?
if(do_simple && g.super_simple){
// get distance to home
if(home_distance > 1000){ // 10m from home
// we reset the angular offset to be a vector from home to the quad
initial_simple_bearing = home_to_copter_bearing;
//Serial.printf("ISB: %d\n", initial_simple_bearing);
}
}
if(yaw_mode == YAW_LOOK_AT_HOME){
if(home_is_set){
//nav_yaw = point_at_home_yaw();
nav_yaw = get_bearing(&current_loc, &home);
} else {
nav_yaw = 0;
}
}
}
static void read_AHRS(void)
{
// Perform IMU calculations and get attitude info
//-----------------------------------------------
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before ahrs update
gcs_update();
#endif
ahrs.update();
omega = imu.get_gyro();
}
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
//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,
}
// updated at 10hz
static void update_altitude()
{
static int16_t old_sonar_alt = 0;
static int32_t old_baro_alt = 0;
#if HIL_MODE == HIL_MODE_ATTITUDE
// we are in the SIM, fake out the baro and Sonar
int fake_relative_alt = g_gps->altitude - gps_base_alt;
baro_alt = fake_relative_alt;
sonar_alt = fake_relative_alt;
baro_rate = (baro_alt - old_baro_alt) * 5; // 5hz
old_baro_alt = baro_alt;
#else
// This is real life
// read in Actual Baro Altitude
baro_alt = read_barometer();
//Serial.printf("baro_alt: %d \n", baro_alt);
// calc the vertical accel rate
int temp = (baro_alt - old_baro_alt) * 10;
baro_rate = (temp + baro_rate) >> 1;
baro_rate = constrain(baro_rate, -300, 300);
old_baro_alt = baro_alt;
// Note: sonar_alt is calculated in a faster loop and filtered with a mode filter
#endif
if(g.sonar_enabled){
// filter out offset
float scale;
// calc rate of change for Sonar
#if HIL_MODE == HIL_MODE_ATTITUDE
// we are in the SIM, fake outthe Sonar rate
sonar_rate = baro_rate;
#else
// This is real life
// calc the vertical accel rate
// positive = going up.
sonar_rate = (sonar_alt - old_sonar_alt) * 10;
sonar_rate = constrain(sonar_rate, -150, 150);
old_sonar_alt = sonar_alt;
#endif
if(baro_alt < 800){
#if SONAR_TILT_CORRECTION == 1
// correct alt for angle of the sonar
float temp = cos_pitch_x * cos_roll_x;
temp = max(temp, 0.707);
sonar_alt = (float)sonar_alt * temp;
#endif
scale = (float)(sonar_alt - 400) / 200.0;
scale = constrain(scale, 0.0, 1.0);
// solve for a blended altitude
current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale) + home.alt;
// solve for a blended climb_rate
climb_rate_actual = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale;
}else{
// we must be higher than sonar (>800), don't get tricked by bad sonar reads
current_loc.alt = baro_alt + home.alt; // home alt = 0
// dont blend, go straight baro
climb_rate_actual = baro_rate;
}
}else{
// NO Sonar case
current_loc.alt = baro_alt + home.alt;
climb_rate_actual = baro_rate;
}
// update the target altitude
next_WP.alt = get_new_altitude();
// calc error
climb_rate_error = (climb_rate_actual - climb_rate) / 5;
}
static void update_altitude_est()
{
if(alt_sensor_flag){
update_altitude();
alt_sensor_flag = false;
if(g.log_bitmask & MASK_LOG_CTUN && motors.armed()){
Log_Write_Control_Tuning();
}
}else{
// simple dithering of climb rate
climb_rate += climb_rate_error;
current_loc.alt += (climb_rate / 50);
}
//Serial.printf(" %d, %d, %d, %d\n", climb_rate_actual, climb_rate_error, climb_rate, current_loc.alt);
}
#define THROTTLE_ADJUST 225
static void
adjust_altitude()
{
if(g.rc_3.control_in <= (MINIMUM_THROTTLE + THROTTLE_ADJUST)){
// we remove 0 to 100 PWM from hover
manual_boost = (g.rc_3.control_in - MINIMUM_THROTTLE) - THROTTLE_ADJUST;
manual_boost = max(-THROTTLE_ADJUST, manual_boost);
}else if (g.rc_3.control_in >= (MAXIMUM_THROTTLE - THROTTLE_ADJUST)){
// we add 0 to 100 PWM to hover
manual_boost = g.rc_3.control_in - (MAXIMUM_THROTTLE - THROTTLE_ADJUST);
manual_boost = min(THROTTLE_ADJUST, manual_boost);
}else {
manual_boost = 0;
}
}
static void tuning(){
tuning_value = (float)g.rc_6.control_in / 1000.0;
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_DAMP:
case CH6_STABILIZE_KD:
g.stabilize_d = 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_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_I:
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;
case CH6_AHRS_YAW_KP:
ahrs._kp_yaw.set(tuning_value);
break;
}
}
// Outputs Nav_Pitch and Nav_Roll
static void update_nav_wp()
{
if(wp_control == LOITER_MODE){
// calc error to target
calc_location_error(&next_WP);
// use error as the desired rate towards the target
calc_loiter(long_error, lat_error);
// rotate pitch and roll to the copter frame of reference
calc_loiter_pitch_roll();
}else if(wp_control == CIRCLE_MODE){
// check if we have missed the WP
int loiter_delta = (target_bearing - old_target_bearing)/100;
// reset the old value
old_target_bearing = target_bearing;
// wrap values
if (loiter_delta > 180) loiter_delta -= 360;
if (loiter_delta < -180) loiter_delta += 360;
// sum the angle around the WP
loiter_sum += loiter_delta;
// create a virtual waypoint that circles the next_WP
// Count the degrees we have circulated the WP
//int circle_angle = wrap_360(target_bearing + 3000 + 18000) / 100;
circle_angle += (circle_rate * dTnav);
//1° = 0.0174532925 radians
// wrap
if (circle_angle > 6.28318531)
circle_angle -= 6.28318531;
circle_WP.lng = next_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
circle_WP.lat = next_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle));
// calc the lat and long error to the target
calc_location_error(&circle_WP);
// use error as the desired rate towards the target
// nav_lon, nav_lat is calculated
calc_loiter(long_error, lat_error);
//CIRCLE: angle:29, dist:0, lat:400, lon:242
// rotate pitch and roll to the copter frame of reference
calc_loiter_pitch_roll();
// debug
//int angleTest = degrees(circle_angle);
//int nroll = nav_roll;
//int npitch = nav_pitch;
//Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll);
}else if(wp_control == WP_MODE){
// calc error to target
calc_location_error(&next_WP);
int16_t speed = calc_desired_speed(g.waypoint_speed_max, slow_wp);
// use error as the desired rate towards the target
calc_nav_rate(speed);
// rotate pitch and roll to the copter frame of reference
calc_loiter_pitch_roll();
}else if(wp_control == NO_NAV_MODE){
// clear out our nav so we can do things like land straight down
// or change Loiter position
// We bring copy over our Iterms for wind control, but we don't navigate
nav_lon = g.pid_loiter_rate_lon.get_integrator();
nav_lat = g.pid_loiter_rate_lon.get_integrator();
nav_lon = constrain(nav_lon, -2000, 2000); // 20°
nav_lat = constrain(nav_lat, -2000, 2000); // 20°
// rotate pitch and roll to the copter frame of reference
calc_loiter_pitch_roll();
}
}
static void update_auto_yaw()
{
// If we Loiter, don't start Yawing, allow Yaw control
if(wp_control == LOITER_MODE)
return;
// this tracks a location so the copter is always pointing towards it.
if(yaw_tracking == MAV_ROI_LOCATION){
auto_yaw = get_bearing(&current_loc, &target_WP);
}else if(yaw_tracking == MAV_ROI_WPNEXT){
// Point towards next WP
auto_yaw = target_bearing;
}
//Serial.printf("auto_yaw %d ", auto_yaw);
// MAV_ROI_NONE = basic Yaw hold
}
Reference in New Issue View Git Blame Copy Permalink