mirror of https://github.com/ArduPilot/ardupilot
711 lines
26 KiB
C++
711 lines
26 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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/*
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This is the main Sub class
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Header includes
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////////////////////////////////////////////////////////////////////////////////
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#include <cmath>
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#include <stdio.h>
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#include <stdarg.h>
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#include <AP_HAL/AP_HAL.h>
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// Common dependencies
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#include <AP_Common/AP_Common.h>
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#include <AP_Common/Location.h>
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#include <AP_Param/AP_Param.h>
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#include <StorageManager/StorageManager.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
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// Application dependencies
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
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#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
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#include <AP_Logger/AP_Logger.h> // ArduPilot Mega Flash Memory Library
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#include <AP_Baro/AP_Baro.h>
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#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_InertialSensor/AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_NavEKF2/AP_NavEKF2.h>
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#include <AP_NavEKF3/AP_NavEKF3.h>
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#include <AP_Mission/AP_Mission.h> // Mission command library
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#include <AC_PID/AC_P.h> // P library
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#include <AC_PID/AC_PID.h> // PID library
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#include <AC_PID/AC_PI_2D.h> // PI library (2-axis)
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#include <AC_PID/AC_PID_2D.h> // PID library (2-axis)
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#include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
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#include <AC_AttitudeControl/AC_PosControl_Sub.h> // Position control library
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#include <AP_Motors/AP_Motors.h> // AP Motors library
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#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
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#include <Filter/Filter.h> // Filter library
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#include <AP_Relay/AP_Relay.h> // APM relay
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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#include <AP_Mount/AP_Mount.h> // Camera/Antenna mount
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#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
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#include <AP_InertialNav/AP_InertialNav.h> // ArduPilot Mega inertial navigation library
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#include <AC_WPNav/AC_WPNav.h> // Waypoint navigation library
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#include <AC_WPNav/AC_Loiter.h>
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#include <AC_WPNav/AC_Circle.h> // circle navigation library
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#include <AC_Fence/AC_Fence.h> // Fence library
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#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
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#include <AP_Scheduler/PerfInfo.h> // loop perf monitoring
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
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#include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library
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#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_JSButton/AP_JSButton.h> // Joystick/gamepad button function assignment
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#include <AP_LeakDetector/AP_LeakDetector.h> // Leak detector
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#include <AP_TemperatureSensor/TSYS01.h>
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#include <AP_Common/AP_FWVersion.h>
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// Local modules
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#include "defines.h"
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#include "config.h"
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#include "GCS_Mavlink.h"
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#include "RC_Channel.h" // RC Channel Library
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#include "Parameters.h"
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#include "AP_Arming_Sub.h"
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#include "GCS_Sub.h"
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// libraries which are dependent on #defines in defines.h and/or config.h
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#if OPTFLOW == ENABLED
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#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
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#endif
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#if RCMAP_ENABLED == ENABLED
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#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
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#endif
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#if RPM_ENABLED == ENABLED
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#include <AP_RPM/AP_RPM.h>
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#endif
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#if GRIPPER_ENABLED == ENABLED
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#include <AP_Gripper/AP_Gripper.h> // gripper stuff
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#endif
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#if PROXIMITY_ENABLED == ENABLED
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#include <AP_Proximity/AP_Proximity.h>
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#endif
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#if AVOIDANCE_ENABLED == ENABLED
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#include <AC_Avoidance/AC_Avoid.h> // Stop at fence library
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#endif
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#if AC_RALLY == ENABLED
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#include <AP_Rally/AP_Rally.h> // Rally point library
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#endif
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#if CAMERA == ENABLED
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#include <AP_Camera/AP_Camera.h> // Photo or video camera
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#endif
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#ifdef ENABLE_SCRIPTING
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#include <AP_Scripting/AP_Scripting.h>
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <SITL/SITL.h>
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#endif
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class Sub : public AP_HAL::HAL::Callbacks {
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public:
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friend class GCS_MAVLINK_Sub;
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friend class GCS_Sub;
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friend class Parameters;
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friend class ParametersG2;
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friend class AP_Arming_Sub;
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friend class RC_Channels_Sub;
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Sub(void);
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// HAL::Callbacks implementation.
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void setup() override;
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void loop() override;
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private:
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static const AP_FWVersion fwver;
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// key aircraft parameters passed to multiple libraries
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AP_Vehicle::MultiCopter aparm;
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// Global parameters are all contained within the 'g' class.
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Parameters g;
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ParametersG2 g2;
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// main loop scheduler
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AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&Sub::fast_loop, void)};
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// AP_Notify instance
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AP_Notify notify;
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// primary input control channels
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RC_Channel *channel_roll;
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RC_Channel *channel_pitch;
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RC_Channel *channel_throttle;
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RC_Channel *channel_yaw;
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RC_Channel *channel_forward;
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RC_Channel *channel_lateral;
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AP_Logger logger;
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AP_GPS gps;
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AP_LeakDetector leak_detector;
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TSYS01 celsius;
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AP_Baro barometer;
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Compass compass;
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AP_InertialSensor ins;
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RangeFinder rangefinder{serial_manager};
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struct {
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bool enabled:1;
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bool alt_healthy:1; // true if we can trust the altitude from the rangefinder
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int16_t alt_cm; // tilt compensated altitude (in cm) from rangefinder
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uint32_t last_healthy_ms;
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LowPassFilterFloat alt_cm_filt; // altitude filter
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} rangefinder_state = { false, false, 0, 0 };
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#if RPM_ENABLED == ENABLED
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AP_RPM rpm_sensor;
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#endif
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// Inertial Navigation EKF
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NavEKF2 EKF2{&ahrs, rangefinder};
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NavEKF3 EKF3{&ahrs, rangefinder};
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AP_AHRS_NavEKF ahrs{EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SITL::SITL sitl;
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#endif
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// Mission library
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AP_Mission mission{
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FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)};
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// Optical flow sensor
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#if OPTFLOW == ENABLED
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OpticalFlow optflow;
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#endif
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// system time in milliseconds of last recorded yaw reset from ekf
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uint32_t ekfYawReset_ms = 0;
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AP_SerialManager serial_manager;
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// GCS selection
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GCS_Sub _gcs; // avoid using this; use gcs()
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GCS_Sub &gcs() { return _gcs; }
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// User variables
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#ifdef USERHOOK_VARIABLES
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# include USERHOOK_VARIABLES
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#endif
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// Documentation of Globals:
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union {
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struct {
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uint8_t pre_arm_check : 1; // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
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uint8_t logging_started : 1; // true if logging has started
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uint8_t compass_mot : 1; // true if we are currently performing compassmot calibration
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uint8_t motor_test : 1; // true if we are currently performing the motors test
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uint8_t initialised : 1; // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
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uint8_t gps_base_pos_set : 1; // true when the gps base position has been set (used for RTK gps only)
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uint8_t at_bottom : 1; // true if we are at the bottom
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uint8_t at_surface : 1; // true if we are at the surface
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uint8_t depth_sensor_present: 1; // true if there is a depth sensor detected at boot
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uint8_t compass_init_location:1; // true when the compass's initial location has been set
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};
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uint32_t value;
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} ap;
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// This is the state of the flight control system
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// There are multiple states defined such as STABILIZE, ACRO,
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control_mode_t control_mode;
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mode_reason_t control_mode_reason = MODE_REASON_UNKNOWN;
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control_mode_t prev_control_mode;
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mode_reason_t prev_control_mode_reason = MODE_REASON_UNKNOWN;
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#if RCMAP_ENABLED == ENABLED
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RCMapper rcmap;
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#endif
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// board specific config
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AP_BoardConfig BoardConfig;
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#if HAL_WITH_UAVCAN
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// board specific config for CAN bus
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AP_BoardConfig_CAN BoardConfig_CAN;
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#endif
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// Failsafe
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struct {
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uint32_t last_leak_warn_ms; // last time a leak warning was sent to gcs
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uint32_t last_gcs_warn_ms;
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uint32_t last_heartbeat_ms; // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
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uint32_t last_pilot_input_ms; // last time we received pilot input in the form of MANUAL_CONTROL or RC_CHANNELS_OVERRIDE messages
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uint32_t terrain_first_failure_ms; // the first time terrain data access failed - used to calculate the duration of the failure
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uint32_t terrain_last_failure_ms; // the most recent time terrain data access failed
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uint32_t last_crash_warn_ms; // last time a crash warning was sent to gcs
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uint32_t last_ekf_warn_ms; // last time an ekf warning was sent to gcs
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uint8_t pilot_input : 1; // true if pilot input failsafe is active, handles things like joystick being disconnected during operation
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uint8_t gcs : 1; // A status flag for the ground station failsafe
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uint8_t ekf : 1; // true if ekf failsafe has occurred
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uint8_t terrain : 1; // true if the missing terrain data failsafe has occurred
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uint8_t leak : 1; // true if leak recently detected
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uint8_t internal_pressure : 1; // true if internal pressure is over threshold
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uint8_t internal_temperature : 1; // true if temperature is over threshold
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uint8_t crash : 1; // true if we are crashed
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uint8_t sensor_health : 1; // true if at least one sensor has triggered a failsafe (currently only used for depth in depth enabled modes)
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} failsafe;
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bool any_failsafe_triggered() const {
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return (failsafe.pilot_input || battery.has_failsafed() || failsafe.gcs || failsafe.ekf || failsafe.terrain);
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}
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// sensor health for logging
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struct {
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uint8_t baro : 1; // true if any single baro is healthy
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uint8_t depth : 1; // true if depth sensor is healthy
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uint8_t compass : 1; // true if compass is healthy
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} sensor_health;
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// Baro sensor instance index of the external water pressure sensor
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uint8_t depth_sensor_idx;
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AP_Motors6DOF motors;
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// GPS variables
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// Sometimes we need to remove the scaling for distance calcs
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float scaleLongDown;
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// Auto
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AutoMode auto_mode; // controls which auto controller is run
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// Guided
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GuidedMode guided_mode; // controls which controller is run (pos or vel)
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// Circle
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bool circle_pilot_yaw_override; // true if pilot is overriding yaw
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// Stores initial bearing when armed
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int32_t initial_armed_bearing;
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// Throttle variables
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int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
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// Loiter control
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uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
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uint32_t loiter_time; // How long have we been loitering - The start time in millis
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// Delay the next navigation command
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int32_t nav_delay_time_max; // used for delaying the navigation commands
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uint32_t nav_delay_time_start;
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// Battery Sensors
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AP_BattMonitor battery{MASK_LOG_CURRENT,
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FUNCTOR_BIND_MEMBER(&Sub::handle_battery_failsafe, void, const char*, const int8_t),
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_failsafe_priorities};
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AP_Arming_Sub arming;
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// Altitude
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// The cm/s we are moving up or down based on filtered data - Positive = UP
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int16_t climb_rate;
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float target_rangefinder_alt; // desired altitude in cm above the ground
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// Turn counter
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int32_t quarter_turn_count;
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uint8_t last_turn_state;
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// Input gain
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float gain;
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// Flag indicating if we are currently using input hold
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bool input_hold_engaged;
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// 3D Location vectors
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// Current location of the Sub (altitude is relative to home)
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Location current_loc;
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// Navigation Yaw control
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// auto flight mode's yaw mode
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uint8_t auto_yaw_mode;
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// Yaw will point at this location if auto_yaw_mode is set to AUTO_YAW_ROI
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Vector3f roi_WP;
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// bearing from current location to the yaw_look_at_WP
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float yaw_look_at_WP_bearing;
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float yaw_xtrack_correct_heading;
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// yaw used for YAW_LOOK_AT_HEADING yaw_mode
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int32_t yaw_look_at_heading;
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// Deg/s we should turn
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int16_t yaw_look_at_heading_slew;
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// heading when in yaw_look_ahead_bearing
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float yaw_look_ahead_bearing;
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// Delay Mission Scripting Command
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int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
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uint32_t condition_start;
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// IMU variables
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// Integration time (in seconds) for the gyros (DCM algorithm)
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// Updated with the fast loop
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float G_Dt;
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// Inertial Navigation
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AP_InertialNav_NavEKF inertial_nav;
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AP_AHRS_View ahrs_view;
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// Attitude, Position and Waypoint navigation objects
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// To-Do: move inertial nav up or other navigation variables down here
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AC_AttitudeControl_Sub attitude_control;
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AC_PosControl_Sub pos_control;
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AC_WPNav wp_nav;
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AC_Loiter loiter_nav;
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AC_Circle circle_nav;
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// Reference to the relay object
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AP_Relay relay;
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// handle repeated servo and relay events
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AP_ServoRelayEvents ServoRelayEvents{relay};
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// Camera
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#if CAMERA == ENABLED
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AP_Camera camera{&relay, MASK_LOG_CAMERA, current_loc, ahrs};
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#endif
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// Camera/Antenna mount tracking and stabilisation stuff
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#if MOUNT == ENABLED
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// current_loc uses the baro/gps soloution for altitude rather than gps only.
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AP_Mount camera_mount{current_loc};
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#endif
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// AC_Fence library to reduce fly-aways
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#if AC_FENCE == ENABLED
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AC_Fence fence;
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#endif
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#if AVOIDANCE_ENABLED == ENABLED
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AC_Avoid avoid;
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#endif
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// Rally library
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#if AC_RALLY == ENABLED
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AP_Rally rally;
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#endif
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// terrain handling
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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AP_Terrain terrain{mission};
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#endif
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// used to allow attitude and depth control without a position system
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struct attitude_no_gps_struct {
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uint32_t last_message_ms;
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mavlink_set_attitude_target_t packet;
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};
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attitude_no_gps_struct set_attitude_target_no_gps {0};
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// Top-level logic
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// setup the var_info table
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AP_Param param_loader;
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uint32_t last_pilot_heading;
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uint32_t last_pilot_yaw_input_ms;
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uint32_t fs_terrain_recover_start_ms;
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static const AP_Scheduler::Task scheduler_tasks[];
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static const AP_Param::Info var_info[];
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static const struct LogStructure log_structure[];
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void init_compass_location();
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void fast_loop();
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void fifty_hz_loop();
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void update_batt_compass(void);
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void ten_hz_logging_loop();
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void twentyfive_hz_logging();
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void three_hz_loop();
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void one_hz_loop();
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void update_GPS(void);
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void update_turn_counter();
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void read_AHRS(void);
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void update_altitude();
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float get_smoothing_gain();
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void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
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float get_pilot_desired_yaw_rate(int16_t stick_angle);
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void check_ekf_yaw_reset();
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float get_roi_yaw();
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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();
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|
void rotate_body_frame_to_NE(float &x, float &y);
|
|
void send_heartbeat(mavlink_channel_t chan);
|
|
#if RPM_ENABLED == ENABLED
|
|
void rpm_update();
|
|
#endif
|
|
void Log_Write_Control_Tuning();
|
|
void Log_Write_Performance();
|
|
void Log_Write_Attitude();
|
|
void Log_Write_MotBatt();
|
|
void Log_Write_Event(Log_Event 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_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) WARN_IF_UNUSED;
|
|
bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED;
|
|
bool far_from_EKF_origin(const Location& loc);
|
|
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& dest_loc);
|
|
void auto_wp_run();
|
|
void auto_spline_run();
|
|
void auto_circle_movetoedge_start(const Location &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& dest_loc);
|
|
void guided_set_velocity(const Vector3f& velocity);
|
|
bool 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 handle_battery_failsafe(const char* type_str, const int8_t action);
|
|
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();
|
|
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 motors_output();
|
|
Vector3f pv_location_to_vector(const Location& loc);
|
|
float pv_alt_above_origin(float alt_above_home_cm);
|
|
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);
|
|
void handle_jsbutton_release(uint8_t button, bool shift);
|
|
JSButton* get_button(uint8_t index);
|
|
void default_js_buttons(void);
|
|
void clear_input_hold();
|
|
void read_barometer(void);
|
|
void init_rangefinder(void);
|
|
void read_rangefinder(void);
|
|
bool rangefinder_alt_ok(void);
|
|
#if OPTFLOW == ENABLED
|
|
void init_optflow();
|
|
#endif
|
|
void terrain_update();
|
|
void terrain_logging();
|
|
bool terrain_use();
|
|
void init_ardupilot();
|
|
void startup_INS_ground();
|
|
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);
|
|
|
|
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& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location& next_destination);
|
|
void log_init(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();
|
|
|
|
uint16_t get_pilot_speed_dn();
|
|
|
|
void convert_old_parameters(void);
|
|
bool handle_do_motor_test(mavlink_command_long_t command);
|
|
bool init_motor_test();
|
|
bool verify_motor_test();
|
|
|
|
uint32_t last_do_motor_test_fail_ms = 0;
|
|
uint32_t last_do_motor_test_ms = 0;
|
|
|
|
bool control_check_barometer();
|
|
|
|
enum Failsafe_Action {
|
|
Failsafe_Action_None = 0,
|
|
Failsafe_Action_Warn = 1,
|
|
Failsafe_Action_Disarm = 2,
|
|
Failsafe_Action_Surface = 3
|
|
};
|
|
|
|
static constexpr int8_t _failsafe_priorities[] = {
|
|
Failsafe_Action_Disarm,
|
|
Failsafe_Action_Surface,
|
|
Failsafe_Action_Warn,
|
|
Failsafe_Action_None,
|
|
-1 // the priority list must end with a sentinel of -1
|
|
};
|
|
|
|
static_assert(_failsafe_priorities[ARRAY_SIZE(_failsafe_priorities) - 1] == -1,
|
|
"_failsafe_priorities is missing the sentinel");
|
|
|
|
|
|
public:
|
|
void mavlink_delay_cb();
|
|
void mainloop_failsafe_check();
|
|
};
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
extern Sub sub;
|