mirror of https://github.com/ArduPilot/ardupilot
594 lines
17 KiB
C++
594 lines
17 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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/*
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This is the APMrover2 firmware. It was originally derived from
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ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
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AP_HAL merge by Andrew Tridgell
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Maintainer: Grant Morphett
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin, Grant Morphett
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Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier
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APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
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Please contribute your ideas! See http://dev.ardupilot.org for details
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*/
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#include "Rover.h"
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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Rover rover;
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros)
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/*
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scheduler table - all regular tasks should be listed here, along
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with how often they should be called (in 20ms units) and the maximum
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time they are expected to take (in microseconds)
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*/
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const AP_Scheduler::Task Rover::scheduler_tasks[] = {
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SCHED_TASK(read_radio, 50, 1000),
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SCHED_TASK(ahrs_update, 50, 6400),
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SCHED_TASK(read_sonars, 50, 2000),
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SCHED_TASK(update_current_mode, 50, 1500),
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SCHED_TASK(set_servos, 50, 1500),
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SCHED_TASK(update_GPS_50Hz, 50, 2500),
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SCHED_TASK(update_GPS_10Hz, 10, 2500),
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SCHED_TASK(update_alt, 10, 3400),
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SCHED_TASK(navigate, 10, 1600),
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SCHED_TASK(update_compass, 10, 2000),
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SCHED_TASK(update_commands, 10, 1000),
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SCHED_TASK(update_logging1, 10, 1000),
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SCHED_TASK(update_logging2, 10, 1000),
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SCHED_TASK(gcs_retry_deferred, 50, 1000),
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SCHED_TASK(gcs_update, 50, 1700),
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SCHED_TASK(gcs_data_stream_send, 50, 3000),
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SCHED_TASK(read_control_switch, 7, 1000),
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SCHED_TASK(read_trim_switch, 10, 1000),
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SCHED_TASK(read_battery, 10, 1000),
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SCHED_TASK(read_receiver_rssi, 10, 1000),
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SCHED_TASK(update_events, 50, 1000),
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SCHED_TASK(check_usb_mux, 3, 1000),
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SCHED_TASK(mount_update, 50, 600),
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SCHED_TASK(update_trigger, 50, 600),
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SCHED_TASK(gcs_failsafe_check, 10, 600),
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SCHED_TASK(compass_accumulate, 50, 900),
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SCHED_TASK(update_notify, 50, 300),
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SCHED_TASK(one_second_loop, 1, 3000),
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SCHED_TASK(compass_cal_update, 50, 100),
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SCHED_TASK(accel_cal_update, 10, 100),
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SCHED_TASK(dataflash_periodic, 50, 300),
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SCHED_TASK(button_update, 5, 100),
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SCHED_TASK(stats_update, 1, 100),
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SCHED_TASK(crash_check, 10, 1000),
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#if ADVANCED_FAILSAFE == ENABLED
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SCHED_TASK(afs_fs_check, 10, 100),
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#endif
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};
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/*
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update AP_Stats
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*/
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void Rover::stats_update(void)
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{
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g2.stats.set_flying(motor_active());
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g2.stats.update();
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}
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/*
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setup is called when the sketch starts
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*/
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void Rover::setup()
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{
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cliSerial = hal.console;
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// load the default values of variables listed in var_info[]
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AP_Param::setup_sketch_defaults();
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in_auto_reverse = false;
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rssi.init();
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init_ardupilot();
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// initialise the main loop scheduler
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scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
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}
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/*
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loop() is called rapidly while the sketch is running
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*/
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void Rover::loop()
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{
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// wait for an INS sample
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ins.wait_for_sample();
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const uint32_t timer = AP_HAL::micros();
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delta_us_fast_loop = timer - fast_loopTimer_us;
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G_Dt = delta_us_fast_loop * 1.0e-6f;
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fast_loopTimer_us = timer;
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if (delta_us_fast_loop > G_Dt_max) {
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G_Dt_max = delta_us_fast_loop;
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}
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mainLoop_count++;
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// tell the scheduler one tick has passed
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scheduler.tick();
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// run all the tasks that are due to run. Note that we only
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// have to call this once per loop, as the tasks are scheduled
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// in multiples of the main loop tick. So if they don't run on
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// the first call to the scheduler they won't run on a later
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// call until scheduler.tick() is called again
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uint32_t remaining = (timer + 20000) - micros();
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if (remaining > 19500) {
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remaining = 19500;
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}
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scheduler.run(remaining);
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}
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void Rover::update_soft_armed()
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{
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hal.util->set_soft_armed(arming.is_armed() &&
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hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
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DataFlash.set_vehicle_armed(hal.util->get_soft_armed());
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}
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// update AHRS system
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void Rover::ahrs_update()
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{
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update_soft_armed();
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#if HIL_MODE != HIL_MODE_DISABLED
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// update hil before AHRS update
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gcs_update();
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#endif
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// when in reverse we need to tell AHRS not to assume we are a
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// 'fly forward' vehicle, otherwise it will see a large
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// discrepancy between the mag and the GPS heading and will try to
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// correct for it, leading to a large yaw error
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ahrs.set_fly_forward(!in_reverse);
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ahrs.update();
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// if using the EKF get a speed update now (from accelerometers)
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Vector3f velocity;
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if (ahrs.get_velocity_NED(velocity)) {
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ground_speed = norm(velocity.x, velocity.y);
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}
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if (should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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}
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if (should_log(MASK_LOG_IMU)) {
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DataFlash.Log_Write_IMU(ins);
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}
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}
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/*
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update camera mount - 50Hz
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*/
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void Rover::mount_update(void)
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{
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#if MOUNT == ENABLED
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camera_mount.update();
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#endif
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}
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/*
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update camera trigger - 50Hz
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*/
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void Rover::update_trigger(void)
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{
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#if CAMERA == ENABLED
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camera.trigger_pic_cleanup();
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if (camera.check_trigger_pin()) {
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gcs_send_message(MSG_CAMERA_FEEDBACK);
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if (should_log(MASK_LOG_CAMERA)) {
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DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
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}
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}
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#endif
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}
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void Rover::update_alt()
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{
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barometer.update();
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Baro();
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}
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}
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/*
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check for GCS failsafe - 10Hz
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*/
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void Rover::gcs_failsafe_check(void)
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{
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if (g.fs_gcs_enabled) {
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failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000);
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}
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}
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/*
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if the compass is enabled then try to accumulate a reading
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*/
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void Rover::compass_accumulate(void)
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{
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if (g.compass_enabled) {
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compass.accumulate();
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}
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}
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/*
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check for new compass data - 10Hz
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*/
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void Rover::update_compass(void)
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{
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if (g.compass_enabled && compass.read()) {
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ahrs.set_compass(&compass);
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// update offsets
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compass.learn_offsets();
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if (should_log(MASK_LOG_COMPASS)) {
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DataFlash.Log_Write_Compass(compass);
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}
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} else {
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ahrs.set_compass(nullptr);
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}
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}
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/*
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log some key data - 10Hz
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*/
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void Rover::update_logging1(void)
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{
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if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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}
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if (should_log(MASK_LOG_CTUN)) {
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Log_Write_Control_Tuning();
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}
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if (should_log(MASK_LOG_NTUN)) {
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Log_Write_Nav_Tuning();
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}
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}
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/*
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log some key data - 10Hz
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*/
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void Rover::update_logging2(void)
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{
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if (should_log(MASK_LOG_STEERING)) {
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if (control_mode == STEERING || control_mode == AUTO || control_mode == RTL || control_mode == GUIDED) {
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Log_Write_Steering();
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}
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}
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if (should_log(MASK_LOG_RC)) {
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Log_Write_RC();
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}
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if (should_log(MASK_LOG_IMU)) {
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DataFlash.Log_Write_Vibration(ins);
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}
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}
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/*
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update aux servo mappings
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*/
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void Rover::update_aux(void)
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{
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SRV_Channels::enable_aux_servos();
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}
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/*
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once a second events
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*/
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void Rover::one_second_loop(void)
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{
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if (should_log(MASK_LOG_CURRENT)) {
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Log_Write_Current();
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}
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// send a heartbeat
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gcs_send_message(MSG_HEARTBEAT);
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// allow orientation change at runtime to aid config
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ahrs.set_orientation();
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set_control_channels();
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// cope with changes to aux functions
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update_aux();
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// update notify flags
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AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
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AP_Notify::flags.pre_arm_gps_check = true;
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AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
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// cope with changes to mavlink system ID
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mavlink_system.sysid = g.sysid_this_mav;
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static uint8_t counter;
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counter++;
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// write perf data every 20s
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if (counter % 10 == 0) {
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if (scheduler.debug() != 0) {
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hal.console->printf("G_Dt_max=%u\n", G_Dt_max);
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}
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if (should_log(MASK_LOG_PM)) {
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Log_Write_Performance();
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}
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G_Dt_max = 0;
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resetPerfData();
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}
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// save compass offsets once a minute
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if (counter >= 60) {
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if (g.compass_enabled) {
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compass.save_offsets();
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}
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counter = 0;
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}
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ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
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// update error mask of sensors and subsystems. The mask uses the
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// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
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// indicates that the sensor or subsystem is present but not
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// functioning correctly
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update_sensor_status_flags();
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}
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void Rover::dataflash_periodic(void)
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{
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DataFlash.periodic_tasks();
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}
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void Rover::update_GPS_50Hz(void)
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{
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static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
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gps.update();
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for (uint8_t i=0; i < gps.num_sensors(); i++) {
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if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
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last_gps_reading[i] = gps.last_message_time_ms(i);
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if (should_log(MASK_LOG_GPS)) {
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DataFlash.Log_Write_GPS(gps, i);
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}
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}
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}
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}
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void Rover::update_GPS_10Hz(void)
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{
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have_position = ahrs.get_position(current_loc);
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if (gps.last_message_time_ms() != last_gps_msg_ms && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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last_gps_msg_ms = gps.last_message_time_ms();
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if (ground_start_count > 1) {
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ground_start_count--;
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} else if (ground_start_count == 1) {
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// We countdown N number of good GPS fixes
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// so that the altitude is more accurate
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// -------------------------------------
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if (current_loc.lat == 0 && current_loc.lng == 0) {
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ground_start_count = 20;
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} else {
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init_home();
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// set system clock for log timestamps
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const uint64_t gps_timestamp = gps.time_epoch_usec();
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hal.util->set_system_clock(gps_timestamp);
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// update signing timestamp
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GCS_MAVLINK::update_signing_timestamp(gps_timestamp);
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if (g.compass_enabled) {
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// Set compass declination automatically
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compass.set_initial_location(gps.location().lat, gps.location().lng);
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}
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ground_start_count = 0;
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}
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}
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// get ground speed estimate from AHRS
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ground_speed = ahrs.groundspeed();
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#if CAMERA == ENABLED
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if (camera.update_location(current_loc, rover.ahrs) == true) {
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do_take_picture();
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}
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#endif
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if (!hal.util->get_soft_armed()) {
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update_home();
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}
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}
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}
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void Rover::update_current_mode(void)
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{
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switch (control_mode) {
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case AUTO:
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case RTL:
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if (!in_auto_reverse) {
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set_reverse(false);
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}
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calc_lateral_acceleration();
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calc_nav_steer();
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calc_throttle(g.speed_cruise);
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break;
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case GUIDED: {
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if (!in_auto_reverse) {
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set_reverse(false);
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}
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switch (guided_mode) {
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case Guided_Angle:
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nav_set_yaw_speed();
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break;
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case Guided_WP:
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if (rtl_complete || verify_RTL()) {
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// we have reached destination so stop where we are
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if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) != g.throttle_min.get()) {
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gcs_send_mission_item_reached_message(0);
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}
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
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SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
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lateral_acceleration = 0;
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} else {
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calc_lateral_acceleration();
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calc_nav_steer();
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calc_throttle(g.speed_cruise);
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Log_Write_GuidedTarget(guided_mode, Vector3f(guided_WP.lat, guided_WP.lng, guided_WP.alt),
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Vector3f(g.speed_cruise, SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), 0));
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}
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break;
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default:
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gcs_send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode");
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break;
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}
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break;
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}
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case STEERING: {
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/*
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in steering mode we control lateral acceleration
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directly. We first calculate the maximum lateral
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acceleration at full steering lock for this speed. That is
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V^2/R where R is the radius of turn. We get the radius of
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turn from half the STEER2SRV_P.
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*/
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float max_g_force = ground_speed * ground_speed / steerController.get_turn_radius();
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// constrain to user set TURN_MAX_G
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max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);
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lateral_acceleration = max_g_force * (channel_steer->get_control_in()/4500.0f);
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calc_nav_steer();
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// and throttle gives speed in proportion to cruise speed, up
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// to 50% throttle, then uses nudging above that.
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float target_speed = channel_throttle->get_control_in() * 0.01f * 2 * g.speed_cruise;
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set_reverse(target_speed < 0);
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if (in_reverse) {
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target_speed = constrain_float(target_speed, -g.speed_cruise, 0);
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} else {
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target_speed = constrain_float(target_speed, 0, g.speed_cruise);
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}
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calc_throttle(target_speed);
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break;
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}
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case LEARNING:
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case MANUAL:
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/*
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in both MANUAL and LEARNING we pass through the
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controls. Setting servo_out here actually doesn't matter, as
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we set the exact value in set_servos(), but it helps for
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logging
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*/
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in());
|
|
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, channel_steer->get_control_in());
|
|
|
|
// mark us as in_reverse when using a negative throttle to
|
|
// stop AHRS getting off
|
|
set_reverse(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0);
|
|
break;
|
|
|
|
case HOLD:
|
|
// hold position - stop motors and center steering
|
|
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
|
|
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
|
|
if (!in_auto_reverse) {
|
|
set_reverse(false);
|
|
}
|
|
break;
|
|
|
|
case INITIALISING:
|
|
break;
|
|
}
|
|
}
|
|
|
|
void Rover::update_navigation()
|
|
{
|
|
switch (control_mode) {
|
|
case MANUAL:
|
|
case HOLD:
|
|
case LEARNING:
|
|
case STEERING:
|
|
case INITIALISING:
|
|
break;
|
|
|
|
case AUTO:
|
|
mission.update();
|
|
break;
|
|
|
|
case RTL:
|
|
// no loitering around the wp with the rover, goes direct to the wp position
|
|
calc_lateral_acceleration();
|
|
calc_nav_steer();
|
|
if (verify_RTL()) {
|
|
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
|
|
set_mode(HOLD);
|
|
}
|
|
break;
|
|
|
|
case GUIDED:
|
|
switch (guided_mode) {
|
|
case Guided_Angle:
|
|
nav_set_yaw_speed();
|
|
break;
|
|
|
|
case Guided_WP:
|
|
// no loitering around the wp with the rover, goes direct to the wp position
|
|
calc_lateral_acceleration();
|
|
calc_nav_steer();
|
|
if (rtl_complete || verify_RTL()) {
|
|
// we have reached destination so stop where we are
|
|
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
|
|
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
|
|
lateral_acceleration = 0;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
gcs_send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode");
|
|
break;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
AP_HAL_MAIN_CALLBACKS(&rover);
|