mirror of https://github.com/ArduPilot/ardupilot
374 lines
9.8 KiB
C++
374 lines
9.8 KiB
C++
/*****************************************************************************
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The init_ardupilot function processes everything we need for an in - air restart
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We will determine later if we are actually on the ground and process a
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ground start in that case.
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*****************************************************************************/
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#include "Rover.h"
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static void mavlink_delay_cb_static()
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{
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rover.mavlink_delay_cb();
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}
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static void failsafe_check_static()
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{
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rover.failsafe_check();
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}
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void Rover::init_ardupilot()
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{
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// initialise console serial port
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serial_manager.init_console();
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hal.console->printf("\n\nInit %s"
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"\n\nFree RAM: %u\n",
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AP::fwversion().fw_string,
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(unsigned)hal.util->available_memory());
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init_capabilities();
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//
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// Check the EEPROM format version before loading any parameters from EEPROM.
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//
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load_parameters();
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#if STATS_ENABLED == ENABLED
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// initialise stats module
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g2.stats.init();
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#endif
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mavlink_system.sysid = g.sysid_this_mav;
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// initialise serial ports
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serial_manager.init();
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// setup first port early to allow BoardConfig to report errors
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gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
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// Register mavlink_delay_cb, which will run anytime you have
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// more than 5ms remaining in your call to hal.scheduler->delay
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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BoardConfig.init();
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#if HAL_WITH_UAVCAN
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BoardConfig_CAN.init();
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#endif
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// initialise notify system
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notify.init();
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notify_mode(control_mode);
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battery.init();
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// Initialise RPM sensor
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rpm_sensor.init();
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rssi.init();
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g2.airspeed.init();
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g2.windvane.init();
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// init baro before we start the GCS, so that the CLI baro test works
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barometer.init();
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// setup telem slots with serial ports
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gcs().setup_uarts(serial_manager);
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// setup frsky telemetry
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#if FRSKY_TELEM_ENABLED == ENABLED
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frsky_telemetry.init(serial_manager, (is_boat() ? MAV_TYPE_SURFACE_BOAT : MAV_TYPE_GROUND_ROVER));
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#endif
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#if DEVO_TELEM_ENABLED == ENABLED
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devo_telemetry.init(serial_manager);
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#endif
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#if OSD_ENABLED == ENABLED
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osd.init();
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#endif
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#if LOGGING_ENABLED == ENABLED
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log_init();
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#endif
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// initialise compass
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init_compass();
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// initialise rangefinder
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rangefinder.init();
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// init proximity sensor
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init_proximity();
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// init beacons used for non-gps position estimation
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init_beacon();
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// init visual odometry
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init_visual_odom();
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// and baro for EKF
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barometer.set_log_baro_bit(MASK_LOG_IMU);
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barometer.calibrate();
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// Do GPS init
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gps.set_log_gps_bit(MASK_LOG_GPS);
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gps.init(serial_manager);
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ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
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set_control_channels(); // setup radio channels and ouputs ranges
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init_rc_in(); // sets up rc channels deadzone
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g2.motors.init(); // init motors including setting servo out channels ranges
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init_rc_out(); // enable output
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// init wheel encoders
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g2.wheel_encoder.init();
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relay.init();
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#if MOUNT == ENABLED
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// initialise camera mount
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camera_mount.init(serial_manager);
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#endif
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/*
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setup the 'main loop is dead' check. Note that this relies on
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the RC library being initialised.
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*/
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hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
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// give AHRS the range beacon sensor
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ahrs.set_beacon(&g2.beacon);
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// initialize SmartRTL
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g2.smart_rtl.init();
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startup_ground();
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Mode *initial_mode = mode_from_mode_num((enum Mode::Number)g.initial_mode.get());
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if (initial_mode == nullptr) {
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initial_mode = &mode_initializing;
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}
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set_mode(*initial_mode, MODE_REASON_INITIALISED);
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// initialise rc channels
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rc().init();
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// disable safety if requested
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BoardConfig.init_safety();
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// flag that initialisation has completed
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initialised = true;
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}
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//*********************************************************************************
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// This function does all the calibrations, etc. that we need during a ground start
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//*********************************************************************************
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void Rover::startup_ground(void)
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{
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set_mode(mode_initializing, MODE_REASON_INITIALISED);
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gcs().send_text(MAV_SEVERITY_INFO, "<startup_ground> Ground start");
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#if(GROUND_START_DELAY > 0)
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gcs().send_text(MAV_SEVERITY_NOTICE, "<startup_ground> With delay");
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delay(GROUND_START_DELAY * 1000);
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#endif
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// IMU ground start
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//------------------------
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//
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startup_INS_ground();
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// initialise mission library
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mode_auto.mission.init();
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// initialise AP_Logger library
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#if LOGGING_ENABLED == ENABLED
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logger.setVehicle_Startup_Writer(
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FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
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);
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#endif
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// we don't want writes to the serial port to cause us to pause
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// so set serial ports non-blocking once we are ready to drive
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serial_manager.set_blocking_writes_all(false);
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gcs().send_text(MAV_SEVERITY_INFO, "Ready to drive");
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}
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// update the ahrs flyforward setting which can allow
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// the vehicle's movements to be used to estimate heading
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void Rover::update_ahrs_flyforward()
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{
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bool flyforward = false;
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// boats never use movement to estimate heading
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if (!is_boat()) {
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// throttle threshold is 15% or 1/2 cruise throttle
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bool throttle_over_thresh = g2.motors.get_throttle() > MIN(g.throttle_cruise * 0.50f, 15.0f);
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// desired speed threshold of 1m/s
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bool desired_speed_over_thresh = g2.attitude_control.speed_control_active() && (g2.attitude_control.get_desired_speed() > 0.5f);
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if (throttle_over_thresh || (is_positive(g2.motors.get_throttle()) && desired_speed_over_thresh)) {
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uint32_t now = AP_HAL::millis();
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// if throttle over threshold start timer
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if (flyforward_start_ms == 0) {
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flyforward_start_ms = now;
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}
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// if throttle over threshold for 2 seconds set flyforward to true
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flyforward = (now - flyforward_start_ms > 2000);
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} else {
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// reset timer
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flyforward_start_ms = 0;
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}
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}
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ahrs.set_fly_forward(flyforward);
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}
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bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
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{
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if (control_mode == &new_mode) {
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// don't switch modes if we are already in the correct mode.
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return true;
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}
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Mode &old_mode = *control_mode;
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if (!new_mode.enter()) {
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// Log error that we failed to enter desired flight mode
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Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE, new_mode.mode_number());
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gcs().send_text(MAV_SEVERITY_WARNING, "Flight mode change failed");
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return false;
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}
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control_mode = &new_mode;
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// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
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// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
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// but it should be harmless to disable the fence temporarily in these situations as well
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g2.fence.manual_recovery_start();
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#if FRSKY_TELEM_ENABLED == ENABLED
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frsky_telemetry.update_control_mode(control_mode->mode_number());
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#endif
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#if DEVO_TELEM_ENABLED == ENABLED
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devo_telemetry.update_control_mode(control_mode->mode_number());
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#endif
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#if CAMERA == ENABLED
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camera.set_is_auto_mode(control_mode->mode_number() == Mode::Number::AUTO);
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#endif
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old_mode.exit();
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control_mode_reason = reason;
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logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
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notify_mode(control_mode);
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return true;
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}
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void Rover::startup_INS_ground(void)
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{
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gcs().send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
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hal.scheduler->delay(100);
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ahrs.init();
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// say to EKF that rover only move by goind forward
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ahrs.set_fly_forward(true);
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ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
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ins.init(scheduler.get_loop_rate_hz());
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ahrs.reset();
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}
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// update notify with mode change
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void Rover::notify_mode(const Mode *mode)
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{
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notify.flags.flight_mode = mode->mode_number();
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notify.set_flight_mode_str(mode->name4());
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}
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/*
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check a digitial pin for high,low (1/0)
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*/
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uint8_t Rover::check_digital_pin(uint8_t pin)
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{
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// ensure we are in input mode
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hal.gpio->pinMode(pin, HAL_GPIO_INPUT);
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// enable pullup
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hal.gpio->write(pin, 1);
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return hal.gpio->read(pin);
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}
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/*
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should we log a message type now?
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*/
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bool Rover::should_log(uint32_t mask)
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{
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return logger.should_log(mask);
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}
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/*
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update AHRS soft arm state and log as needed
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*/
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void Rover::change_arm_state(void)
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{
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Log_Write_Arm_Disarm();
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update_soft_armed();
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}
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/*
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arm motors
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*/
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bool Rover::arm_motors(AP_Arming::ArmingMethod method)
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{
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if (!arming.arm(method)) {
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AP_Notify::events.arming_failed = true;
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return false;
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}
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// Set the SmartRTL home location. If activated, SmartRTL will ultimately try to land at this point
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g2.smart_rtl.set_home(true);
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// initialize simple mode heading
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rover.mode_simple.init_heading();
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// save home heading for use in sail vehicles
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rover.g2.windvane.record_home_heading();
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change_arm_state();
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return true;
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}
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/*
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disarm motors
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*/
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bool Rover::disarm_motors(void)
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{
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if (!arming.disarm()) {
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return false;
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}
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if (control_mode != &mode_auto) {
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// reset the mission on disarm if we are not in auto
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mode_auto.mission.reset();
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}
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// only log if disarming was successful
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change_arm_state();
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return true;
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}
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// returns true if vehicle is a boat
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// this affects whether the vehicle tries to maintain position after reaching waypoints
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bool Rover::is_boat() const
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{
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return ((enum frame_class)g2.frame_class.get() == FRAME_BOAT);
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}
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