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ardupilot/ArduSub/Sub.h
Lucas De Marchi 7eba6572ea ArduSub: move version to a static member 
We should never include version.h or ap_version.h headers directly
on a header since this will trigger a complete rebuild of the
codebase when we commit to the repository. The ap_version.h header
is auto-generated containing information from the current commit.

If we include it in a header, every other file that ends up including
that header (directly or indirectly) will need to be rebuilt. No
ccache's cache beats having to do nothing when the header is just
not included.

version.h contains information that is kept on a struct inside
each vehicle. Rather than using the macros from each vehicle,
the getter should be preferred, which returns an AP_FWVersion
referente.
2017-09-23 21:37:45 -07:00

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
This is the main Sub class
*/
////////////////////////////////////////////////////////////////////////////////
// Header includes
////////////////////////////////////////////////////////////////////////////////
#include <cmath>
#include <stdio.h>
#include <stdarg.h>
#include <AP_HAL/AP_HAL.h>
// Common dependencies
#include <AP_Common/AP_Common.h>
#include <AP_Common/Location.h>
#include <AP_Param/AP_Param.h>
#include <StorageManager/StorageManager.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
// Application dependencies
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
#include <DataFlash/DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_InertialSensor/AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_AHRS/AP_AHRS.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include <AP_Mission/AP_Mission.h> // Mission command library
#include <AC_PID/AC_PID.h> // PID library
#include <AC_PID/AC_PI_2D.h> // PID library (2-axis)
#include <AC_PID/AC_P.h> // P library
#include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
#include <AC_AttitudeControl/AC_PosControl_Sub.h> // Position control library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <AP_Motors/AP_Motors.h> // AP Motors library
#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
#include <Filter/Filter.h> // Filter library
#include <AP_Relay/AP_Relay.h> // APM relay
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Mount/AP_Mount.h> // Camera/Antenna mount
#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
#include <AP_InertialNav/AP_InertialNav.h> // ArduPilot Mega inertial navigation library
#include <AC_WPNav/AC_WPNav.h> // Waypoint navigation library
#include <AC_WPNav/AC_Circle.h> // circle navigation library
#include <AC_Fence/AC_Fence.h> // Fence library
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_Notify/AP_Notify.h> // Notify library
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
#include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_JSButton/AP_JSButton.h> // Joystick/gamepad button function assignment
#include <AP_LeakDetector/AP_LeakDetector.h> // Leak detector
#include <AP_TemperatureSensor/TSYS01.h>
// Local modules
#include "defines.h"
#include "config.h"
#include "GCS_Mavlink.h"
#include "Parameters.h"
#include "AP_Arming_Sub.h"
#include "GCS_Sub.h"
// libraries which are dependent on #defines in defines.h and/or config.h
#if OPTFLOW == ENABLED
#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
#endif
#if RCMAP_ENABLED == ENABLED
#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
#endif
#if RPM_ENABLED == ENABLED
#include <AP_RPM/AP_RPM.h>
#endif
#if GRIPPER_ENABLED == ENABLED
#include <AP_Gripper/AP_Gripper.h> // gripper stuff
#endif
#if PROXIMITY_ENABLED == ENABLED
#include <AP_Proximity/AP_Proximity.h>
#endif
#if AVOIDANCE_ENABLED == ENABLED
#include <AC_Avoidance/AC_Avoid.h> // Stop at fence library
#endif
#if AC_RALLY == ENABLED
#include <AP_Rally/AP_Rally.h> // Rally point library
#endif
#if CAMERA == ENABLED
#include <AP_Camera/AP_Camera.h> // Photo or video camera
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
#endif
class Sub : public AP_HAL::HAL::Callbacks {
public:
friend class GCS_MAVLINK_Sub;
friend class GCS_Sub;
friend class Parameters;
friend class ParametersG2;
friend class AP_Arming_Sub;
Sub(void);
// HAL::Callbacks implementation.
void setup() override;
void loop() override;
private:
static const AP_FWVersion fwver;
// key aircraft parameters passed to multiple libraries
AP_Vehicle::MultiCopter aparm;
// Global parameters are all contained within the 'g' class.
Parameters g;
ParametersG2 g2;
// main loop scheduler
AP_Scheduler scheduler;
// AP_Notify instance
AP_Notify notify;
// primary input control channels
RC_Channel *channel_roll;
RC_Channel *channel_pitch;
RC_Channel *channel_throttle;
RC_Channel *channel_yaw;
RC_Channel *channel_forward;
RC_Channel *channel_lateral;
// Dataflash
DataFlash_Class DataFlash;
AP_GPS gps;
AP_LeakDetector leak_detector;
TSYS01 celsius;
AP_Baro barometer;
Compass compass;
AP_InertialSensor ins;
RangeFinder rangefinder {serial_manager, ROTATION_PITCH_270};
struct {
bool enabled:1;
bool alt_healthy:1; // true if we can trust the altitude from the rangefinder
int16_t alt_cm; // tilt compensated altitude (in cm) from rangefinder
uint32_t last_healthy_ms;
LowPassFilterFloat alt_cm_filt; // altitude filter
} rangefinder_state = { false, false, 0, 0 };
#if RPM_ENABLED == ENABLED
AP_RPM rpm_sensor;
#endif
// Inertial Navigation EKF
NavEKF2 EKF2 {&ahrs, barometer, rangefinder};
NavEKF3 EKF3 {&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl;
#endif
// Mission library
AP_Mission mission;
// Optical flow sensor
#if OPTFLOW == ENABLED
OpticalFlow optflow {ahrs};
#endif
// gnd speed limit required to observe optical flow sensor limits
float ekfGndSpdLimit;
// scale factor applied to velocity controller gain to prevent optical flow noise causing excessive angle demand noise
float ekfNavVelGainScaler;
// system time in milliseconds of last recorded yaw reset from ekf
uint32_t ekfYawReset_ms = 0;
// GCS selection
AP_SerialManager serial_manager;
GCS_Sub _gcs; // avoid using this; use gcs()
GCS_Sub &gcs() { return _gcs; }
// User variables
#ifdef USERHOOK_VARIABLES
# include USERHOOK_VARIABLES
#endif
// Documentation of Globals:
union {
struct {
uint8_t pre_arm_check : 1; // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
uint8_t logging_started : 1; // true if dataflash logging has started
uint8_t compass_mot : 1; // true if we are currently performing compassmot calibration
uint8_t motor_test : 1; // true if we are currently performing the motors test
uint8_t initialised : 1; // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
uint8_t system_time_set : 1; // true if the system time has been set from the GPS
uint8_t gps_base_pos_set : 1; // true when the gps base position has been set (used for RTK gps only)
enum HomeState home_state : 2; // home status (unset, set, locked)
uint8_t at_bottom : 1; // true if we are at the bottom
uint8_t at_surface : 1; // true if we are at the surface
uint8_t depth_sensor_present: 1; // true if there is a depth sensor detected at boot
uint8_t compass_init_location:1; // true when the compass's initial location has been set
};
uint32_t value;
} ap;
// This is the state of the flight control system
// There are multiple states defined such as STABILIZE, ACRO,
control_mode_t control_mode;
mode_reason_t control_mode_reason = MODE_REASON_UNKNOWN;
control_mode_t prev_control_mode;
mode_reason_t prev_control_mode_reason = MODE_REASON_UNKNOWN;
#if RCMAP_ENABLED == ENABLED
RCMapper rcmap;
#endif
// board specific config
AP_BoardConfig BoardConfig;
#if HAL_WITH_UAVCAN
// board specific config for CAN bus
AP_BoardConfig_CAN BoardConfig_CAN;
#endif
// Failsafe
struct {
uint8_t pilot_input : 1; // true if pilot input failsafe is active, handles things like joystick being disconnected during operation
uint8_t battery : 1; // 2 // A status flag for the battery failsafe
uint8_t gcs : 1; // 4 // A status flag for the ground station failsafe
uint8_t ekf : 1; // 5 // true if ekf failsafe has occurred
uint8_t terrain : 1; // 6 // true if the missing terrain data failsafe has occurred
uint8_t leak : 1; // true if leak recently detected
uint8_t internal_pressure : 1; // true if internal pressure is over threshold
uint8_t internal_temperature : 1; // true if temperature is over threshold
uint8_t crash : 1; // true if we are crashed
uint8_t sensor_health : 1; // true if at least one sensor has triggered a failsafe (currently only used for depth in depth enabled modes)
uint32_t last_leak_warn_ms; // last time a leak warning was sent to gcs
uint32_t last_gcs_warn_ms;
uint32_t last_heartbeat_ms; // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
uint32_t last_pilot_input_ms; // last time we received pilot input in the form of MANUAL_CONTROL or RC_CHANNELS_OVERRIDE messages
uint32_t terrain_first_failure_ms; // the first time terrain data access failed - used to calculate the duration of the failure
uint32_t terrain_last_failure_ms; // the most recent time terrain data access failed
uint32_t last_battery_warn_ms; // last time a battery failsafe warning was sent to gcs
uint32_t last_crash_warn_ms; // last time a crash warning was sent to gcs
uint32_t last_ekf_warn_ms; // last time an ekf warning was sent to gcs
} failsafe;
// sensor health for logging
struct {
uint8_t baro : 1; // true if any single baro is healthy
uint8_t depth : 1; // true if depth sensor is healthy
uint8_t compass : 1; // true if compass is healthy
} sensor_health;
// Baro sensor instance index of the external water pressure sensor
uint8_t depth_sensor_idx;
AP_Motors6DOF motors;
// GPS variables
// Sometimes we need to remove the scaling for distance calcs
float scaleLongDown;
// Auto
AutoMode auto_mode; // controls which auto controller is run
// Guided
GuidedMode guided_mode; // controls which controller is run (pos or vel)
// Circle
bool circle_pilot_yaw_override; // true if pilot is overriding yaw
// Stores initial bearing when armed
int32_t initial_armed_bearing;
// Throttle variables
int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
// Loiter control
uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
uint32_t loiter_time; // How long have we been loitering - The start time in millis
// Delay the next navigation command
int32_t nav_delay_time_max; // used for delaying the navigation commands
uint32_t nav_delay_time_start;
// Battery Sensors
AP_BattMonitor battery;
AP_Arming_Sub arming {ahrs, barometer, compass, battery};
// Altitude
// The cm/s we are moving up or down based on filtered data - Positive = UP
int16_t climb_rate;
float target_rangefinder_alt; // desired altitude in cm above the ground
// Turn counter
int32_t quarter_turn_count;
uint8_t last_turn_state;
// Input gain
float gain;
// Flag indicating if we are currently using input hold
bool input_hold_engaged;
// 3D Location vectors
// Current location of the Sub (altitude is relative to home)
Location_Class current_loc;
// Navigation Yaw control
// auto flight mode's yaw mode
uint8_t auto_yaw_mode;
// Yaw will point at this location if auto_yaw_mode is set to AUTO_YAW_ROI
Vector3f roi_WP;
// bearing from current location to the yaw_look_at_WP
float yaw_look_at_WP_bearing;
float yaw_xtrack_correct_heading;
// yaw used for YAW_LOOK_AT_HEADING yaw_mode
int32_t yaw_look_at_heading;
// Deg/s we should turn
int16_t yaw_look_at_heading_slew;
// heading when in yaw_look_ahead_bearing
float yaw_look_ahead_bearing;
// Delay Mission Scripting Command
int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
uint32_t condition_start;
// IMU variables
// Integration time (in seconds) for the gyros (DCM algorithm)
// Updated with the fast loop
float G_Dt;
// Inertial Navigation
AP_InertialNav_NavEKF inertial_nav;
AP_AHRS_View ahrs_view;
// Attitude, Position and Waypoint navigation objects
// To-Do: move inertial nav up or other navigation variables down here
AC_AttitudeControl_Sub attitude_control;
AC_PosControl_Sub pos_control;
#if AVOIDANCE_ENABLED == ENABLED
AC_Avoid avoid;
#endif
AC_WPNav wp_nav;
AC_Circle circle_nav;
// Performance monitoring
int16_t pmTest1;
// System Timers
// --------------
// Time in microseconds of main control loop
uint32_t fast_loopTimer;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
uint16_t mainLoop_count;
// Reference to the relay object
AP_Relay relay;
// handle repeated servo and relay events
AP_ServoRelayEvents ServoRelayEvents;
// Reference to the camera object (it uses the relay object inside it)
#if CAMERA == ENABLED
AP_Camera camera;
#endif
// Camera/Antenna mount tracking and stabilisation stuff
#if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
AP_Mount camera_mount;
#endif
// AC_Fence library to reduce fly-aways
#if AC_FENCE == ENABLED
AC_Fence fence;
#endif
// Rally library
#if AC_RALLY == ENABLED
AP_Rally rally;
#endif
// terrain handling
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
AP_Terrain terrain;
#endif
// use this to prevent recursion during sensor init
bool in_mavlink_delay;
// Top-level logic
// setup the var_info table
AP_Param param_loader;
uint32_t last_pilot_heading;
uint32_t last_pilot_yaw_input_ms;
uint32_t fs_terrain_recover_start_ms = 0;
static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[];
void compass_accumulate(void);
void compass_cal_update(void);
void barometer_accumulate(void);
void perf_update(void);
void fast_loop();
void fifty_hz_loop();
void update_mount();
void update_batt_compass(void);
void ten_hz_logging_loop();
void twentyfive_hz_logging();
void three_hz_loop();
void one_hz_loop();
void update_GPS(void);
void update_turn_counter();
void read_AHRS(void);
void update_altitude();
void set_home_state(enum HomeState new_home_state);
bool home_is_set();
float get_smoothing_gain();
void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
float get_pilot_desired_yaw_rate(int16_t stick_angle);
void check_ekf_yaw_reset();
float get_roi_yaw();
float get_look_ahead_yaw();
float get_pilot_desired_climb_rate(float throttle_control);
float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
void update_poscon_alt_max();
void rotate_body_frame_to_NE(float &x, float &y);
void gcs_send_heartbeat(void);
void gcs_send_deferred(void);
void send_heartbeat(mavlink_channel_t chan);
void send_attitude(mavlink_channel_t chan);
void send_limits_status(mavlink_channel_t chan);
void send_extended_status1(mavlink_channel_t chan);
void send_location(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan);
void send_simstate(mavlink_channel_t chan);
void send_radio_out(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);
#if RPM_ENABLED == ENABLED
void send_rpm(mavlink_channel_t chan);
void rpm_update();
#endif
void send_temperature(mavlink_channel_t chan);
bool send_info(mavlink_channel_t chan);
void send_pid_tuning(mavlink_channel_t chan);
void gcs_data_stream_send(void);
void gcs_check_input(void);
void do_erase_logs(void);
void Log_Write_Current();
void Log_Write_Optflow();
void Log_Write_Nav_Tuning();
void Log_Write_Control_Tuning();
void Log_Write_Performance();
void Log_Write_Attitude();
void Log_Write_MotBatt();
void Log_Write_Event(uint8_t id);
void Log_Write_Data(uint8_t id, int32_t value);
void Log_Write_Data(uint8_t id, uint32_t value);
void Log_Write_Data(uint8_t id, int16_t value);
void Log_Write_Data(uint8_t id, uint16_t value);
void Log_Write_Data(uint8_t id, float value);
void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
void Log_Write_Baro(void);
void Log_Write_Home_And_Origin();
void Log_Sensor_Health();
void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
void Log_Write_Vehicle_Startup_Messages();
void load_parameters(void);
void userhook_init();
void userhook_FastLoop();
void userhook_50Hz();
void userhook_MediumLoop();
void userhook_SlowLoop();
void userhook_SuperSlowLoop();
void update_home_from_EKF();
void set_home_to_current_location_inflight();
bool set_home_to_current_location(bool lock);
bool set_home(const Location& loc, bool lock);
void set_ekf_origin(const Location& loc);
bool far_from_EKF_origin(const Location& loc);
void set_system_time_from_GPS();
void exit_mission();
bool verify_loiter_unlimited();
bool verify_loiter_time();
bool verify_wait_delay();
bool verify_within_distance();
bool verify_yaw();
bool acro_init(void);
void acro_run();
void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out);
bool althold_init(void);
void althold_run();
bool auto_init(void);
void auto_run();
void auto_wp_start(const Vector3f& destination);
void auto_wp_start(const Location_Class& dest_loc);
void auto_wp_run();
void auto_spline_run();
void auto_circle_movetoedge_start(const Location_Class &circle_center, float radius_m);
void auto_circle_start();
void auto_circle_run();
void auto_nav_guided_start();
void auto_nav_guided_run();
bool auto_loiter_start();
void auto_loiter_run();
uint8_t get_default_auto_yaw_mode(bool rtl);
void set_auto_yaw_mode(uint8_t yaw_mode);
void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle);
void set_auto_yaw_roi(const Location &roi_location);
float get_auto_heading(void);
bool circle_init(void);
void circle_run();
bool guided_init(bool ignore_checks = false);
void guided_pos_control_start();
void guided_vel_control_start();
void guided_posvel_control_start();
void guided_angle_control_start();
bool guided_set_destination(const Vector3f& destination);
bool guided_set_destination(const Location_Class& dest_loc);
void guided_set_velocity(const Vector3f& velocity);
void guided_set_destination_posvel(const Vector3f& destination, const Vector3f& velocity);
void guided_set_angle(const Quaternion &q, float climb_rate_cms);
void guided_run();
void guided_pos_control_run();
void guided_vel_control_run();
void guided_posvel_control_run();
void guided_angle_control_run();
void guided_limit_clear();
void guided_limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm);
void guided_limit_init_time_and_pos();
bool guided_limit_check();
bool poshold_init(void);
void poshold_run();
bool stabilize_init(void);
void stabilize_run();
bool manual_init(void);
void manual_run();
void failsafe_sensors_check(void);
void failsafe_crash_check();
void failsafe_ekf_check(void);
void failsafe_battery_check(void);
void failsafe_gcs_check();
void failsafe_pilot_input_check(void);
void set_neutral_controls(void);
void failsafe_terrain_check();
void failsafe_terrain_set_status(bool data_ok);
void failsafe_terrain_on_event();
void mainloop_failsafe_enable();
void mainloop_failsafe_disable();
void fence_check();
void fence_send_mavlink_status(mavlink_channel_t chan);
bool set_mode(control_mode_t mode, mode_reason_t reason);
void update_flight_mode();
void exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode);
bool mode_requires_GPS(control_mode_t mode);
bool mode_has_manual_throttle(control_mode_t mode);
bool mode_allows_arming(control_mode_t mode, bool arming_from_gcs);
void notify_flight_mode(control_mode_t mode);
void read_inertia();
void update_surface_and_bottom_detector();
void set_surfaced(bool at_surface);
void set_bottomed(bool at_bottom);
void update_notify();
bool init_arm_motors(bool arming_from_gcs);
void init_disarm_motors();
void motors_output();
void perf_info_reset();
void perf_ignore_this_loop();
void perf_info_check_loop_time(uint32_t time_in_micros);
uint16_t perf_info_get_num_loops();
uint32_t perf_info_get_max_time();
uint32_t perf_info_get_min_time();
uint16_t perf_info_get_num_long_running();
uint32_t perf_info_get_num_dropped();
Vector3f pv_location_to_vector(const Location& loc);
float pv_alt_above_origin(float alt_above_home_cm);
float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination);
float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination);
void init_rc_in();
void init_rc_out();
void enable_motor_output();
void init_joystick();
void transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons);
void handle_jsbutton_press(uint8_t button,bool shift=false,bool held=false);
JSButton* get_button(uint8_t index);
void default_js_buttons(void);
void init_barometer(bool save);
void read_barometer(void);
void init_rangefinder(void);
void read_rangefinder(void);
bool rangefinder_alt_ok(void);
void init_compass();
#if OPTFLOW == ENABLED
void init_optflow();
void update_optical_flow(void);
#endif
void read_battery(void);
#if GRIPPER_ENABLED == ENABLED
void gripper_update();
#endif
void terrain_update();
void terrain_logging();
bool terrain_use();
void init_ardupilot();
void startup_INS_ground();
bool calibrate_gyros();
bool position_ok();
bool ekf_position_ok();
bool optflow_position_ok();
bool should_log(uint32_t mask);
bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd);
bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
bool do_guided(const AP_Mission::Mission_Command& cmd);
void do_nav_wp(const AP_Mission::Mission_Command& cmd);
void do_surface(const AP_Mission::Mission_Command& cmd);
void do_RTL(void);
void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
void do_circle(const AP_Mission::Mission_Command& cmd);
void do_loiter_time(const AP_Mission::Mission_Command& cmd);
void do_spline_wp(const AP_Mission::Mission_Command& cmd);
#if NAV_GUIDED == ENABLED
void do_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
void do_guided_limits(const AP_Mission::Mission_Command& cmd);
#endif
void do_nav_delay(const AP_Mission::Mission_Command& cmd);
void do_wait_delay(const AP_Mission::Mission_Command& cmd);
void do_within_distance(const AP_Mission::Mission_Command& cmd);
void do_yaw(const AP_Mission::Mission_Command& cmd);
void do_change_speed(const AP_Mission::Mission_Command& cmd);
void do_set_home(const AP_Mission::Mission_Command& cmd);
void do_roi(const AP_Mission::Mission_Command& cmd);
void do_mount_control(const AP_Mission::Mission_Command& cmd);
#if CAMERA == ENABLED
void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
void do_digicam_control(const AP_Mission::Mission_Command& cmd);
void update_trigger();
#endif
#if GRIPPER_ENABLED == ENABLED
void do_gripper(const AP_Mission::Mission_Command& cmd);
#endif
bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
bool verify_surface(const AP_Mission::Mission_Command& cmd);
bool verify_RTL(void);
bool verify_circle(const AP_Mission::Mission_Command& cmd);
bool verify_spline_wp(const AP_Mission::Mission_Command& cmd);
#if NAV_GUIDED == ENABLED
bool verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
#endif
bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
void auto_spline_start(const Location_Class& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location_Class& next_destination);
void log_init(void);
void init_capabilities(void);
void dataflash_periodic(void);
void accel_cal_update(void);
void failsafe_leak_check();
void failsafe_internal_pressure_check();
void failsafe_internal_temperature_check();
void failsafe_terrain_act(void);
bool auto_terrain_recover_start(void);
void auto_terrain_recover_run(void);
void translate_wpnav_rp(float &lateral_out, float &forward_out);
void translate_circle_nav_rp(float &lateral_out, float &forward_out);
void translate_pos_control_rp(float &lateral_out, float &forward_out);
bool surface_init(void);
void surface_run();
void convert_old_parameters(void);
public:
void mavlink_delay_cb();
void mainloop_failsafe_check();
};
extern const AP_HAL::HAL& hal;
extern Sub sub;
using AP_HAL::millis;
using AP_HAL::micros;
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