mirror of https://github.com/ArduPilot/ardupilot
555 lines
16 KiB
Plaintext
555 lines
16 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*****************************************************************************
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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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#if CLI_ENABLED == ENABLED
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// Functions called from the top-level menu
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static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
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static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
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static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
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static int8_t planner_mode(uint8_t argc, const Menu::arg *argv); // in planner.pde
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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// printf_P is a version of print_f that reads from flash memory
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static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("Commands:\n"
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" logs log readback/setup mode\n"
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" setup setup mode\n"
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" test test mode\n"
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"\n"
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"Move the slide switch and reset to FLY.\n"
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"\n"));
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return(0);
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}
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// Command/function table for the top-level menu.
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static const struct Menu::command main_menu_commands[] PROGMEM = {
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// command function called
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// ======= ===============
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{"logs", process_logs},
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{"setup", setup_mode},
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{"test", test_mode},
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{"help", main_menu_help},
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{"planner", planner_mode}
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};
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// Create the top-level menu object.
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MENU(main_menu, THISFIRMWARE, main_menu_commands);
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// the user wants the CLI. It never exits
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static void run_cli(void)
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{
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while (1) {
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main_menu.run();
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}
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}
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#endif // CLI_ENABLED
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static void init_ardupilot()
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{
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#if USB_MUX_PIN > 0
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// on the APM2 board we have a mux thet switches UART0 between
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// USB and the board header. If the right ArduPPM firmware is
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// installed we can detect if USB is connected using the
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// USB_MUX_PIN
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pinMode(USB_MUX_PIN, INPUT);
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usb_connected = !digitalRead(USB_MUX_PIN);
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if (!usb_connected) {
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// USB is not connected, this means UART0 may be a Xbee, with
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// its darned bricking problem. We can't write to it for at
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// least one second after powering up. Simplest solution for
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// now is to delay for 1 second. Something more elegant may be
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// added later
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delay(1000);
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}
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#endif
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// Console serial port
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//
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// The console port buffers are defined to be sufficiently large to support
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// the console's use as a logging device, optionally as the GPS port when
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// GPS_PROTOCOL_IMU is selected, and as the telemetry port.
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//
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// XXX This could be optimised to reduce the buffer sizes in the cases
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// where they are not otherwise required.
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//
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Serial.begin(SERIAL0_BAUD, 128, 128);
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// GPS serial port.
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//
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// XXX currently the EM406 (SiRF receiver) is nominally configured
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// at 57600, however it's not been supported to date. We should
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// probably standardise on 38400.
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//
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// XXX the 128 byte receive buffer may be too small for NMEA, depending
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// on the message set configured.
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//
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// standard gps running
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Serial1.begin(38400, 128, 16);
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Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
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"\n\nFree RAM: %u\n"),
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memcheck_available_memory());
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//
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// Initialize the ISR registry.
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//
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isr_registry.init();
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//
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// Initialize the timer scheduler to use the ISR registry.
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//
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#if HIL_MODE != HIL_MODE_ATTITUDE
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timer_scheduler.init( & isr_registry );
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#endif
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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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if (!g.format_version.load() ||
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g.format_version != Parameters::k_format_version) {
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// erase all parameters
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Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
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delay(100); // wait for serial send
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AP_Var::erase_all();
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// erase DataFlash on format version change
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#if LOGGING_ENABLED == ENABLED
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DataFlash.Init();
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erase_logs(NULL, NULL);
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#endif
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// save the current format version
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g.format_version.set_and_save(Parameters::k_format_version);
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Serial.println_P(PSTR("done."));
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} else {
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unsigned long before = micros();
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// Load all auto-loaded EEPROM variables
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AP_Var::load_all();
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Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
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Serial.printf_P(PSTR("using %u bytes of memory (%u resets)\n"),
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AP_Var::get_memory_use(), (unsigned)g.num_resets);
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}
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// keep a record of how many resets have happened. This can be
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// used to detect in-flight resets
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g.num_resets.set_and_save(g.num_resets+1);
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// init the GCS
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gcs0.init(&Serial);
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#if USB_MUX_PIN > 0
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if (!usb_connected) {
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// we are not connected via USB, re-init UART0 with right
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// baud rate
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Serial.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
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}
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#else
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// we have a 2nd serial port for telemetry
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Serial3.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
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gcs3.init(&Serial3);
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#endif
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mavlink_system.sysid = g.sysid_this_mav;
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#if HIL_MODE != HIL_MODE_ATTITUDE
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adc.Init(&timer_scheduler); // APM ADC library initialization
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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barometer.Init(1, true);
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#else
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barometer.Init(1, false);
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#endif
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if (g.compass_enabled==true) {
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compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
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if (!compass.init()) {
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Serial.println_P(PSTR("Compass initialisation failed!"));
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g.compass_enabled = false;
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} else {
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dcm.set_compass(&compass);
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compass.get_offsets(); // load offsets to account for airframe magnetic interference
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}
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}
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#endif
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#if LOGGING_ENABLED == ENABLED
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DataFlash.Init(); // DataFlash log initialization
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#endif
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// Do GPS init
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g_gps = &g_gps_driver;
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g_gps->init(); // GPS Initialization
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g_gps->callback = mavlink_delay;
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//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
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mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
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mavlink_system.type = MAV_FIXED_WING;
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rc_override_active = APM_RC.setHIL(rc_override); // Set initial values for no override
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RC_Channel::set_apm_rc( &APM_RC ); // Provide reference to RC outputs.
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init_rc_in(); // sets up rc channels from radio
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init_rc_out(); // sets up the timer libs
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pinMode(C_LED_PIN, OUTPUT); // GPS status LED
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pinMode(A_LED_PIN, OUTPUT); // GPS status LED
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pinMode(B_LED_PIN, OUTPUT); // GPS status LED
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#if SLIDE_SWITCH_PIN > 0
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pinMode(SLIDE_SWITCH_PIN, INPUT); // To enter interactive mode
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#endif
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#if CONFIG_PUSHBUTTON == ENABLED
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pinMode(PUSHBUTTON_PIN, INPUT); // unused
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#endif
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#if CONFIG_RELAY == ENABLED
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DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
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#endif
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// If the switch is in 'menu' mode, run the main menu.
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//
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// Since we can't be sure that the setup or test mode won't leave
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// the system in an odd state, we don't let the user exit the top
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// menu; they must reset in order to fly.
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//
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#if CLI_ENABLED == ENABLED && CLI_SLIDER_ENABLED == ENABLED
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if (digitalRead(SLIDE_SWITCH_PIN) == 0) {
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digitalWrite(A_LED_PIN,LED_ON); // turn on setup-mode LED
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Serial.printf_P(PSTR("\n"
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"Entering interactive setup mode...\n"
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"\n"
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"If using the Arduino Serial Monitor, ensure Line Ending is set to Carriage Return.\n"
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"Type 'help' to list commands, 'exit' to leave a submenu.\n"
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"Visit the 'setup' menu for first-time configuration.\n"));
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Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
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run_cli();
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}
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#else
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Serial.printf_P(PSTR("\nPress ENTER 3 times to start interactive setup\n\n"));
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#endif // CLI_ENABLED
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if(g.log_bitmask != 0){
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start_new_log();
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}
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// read in the flight switches
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update_servo_switches();
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if (ENABLE_AIR_START == 1) {
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// Perform an air start and get back to flying
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gcs_send_text_P(SEVERITY_LOW,PSTR("<init_ardupilot> AIR START"));
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// Get necessary data from EEPROM
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//----------------
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//read_EEPROM_airstart_critical();
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#if HIL_MODE != HIL_MODE_ATTITUDE
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imu.init(IMU::WARM_START, mavlink_delay, &timer_scheduler);
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dcm.set_centripetal(1);
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#endif
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// This delay is important for the APM_RC library to work.
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// We need some time for the comm between the 328 and 1280 to be established.
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int old_pulse = 0;
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while (millis()<=1000 && (abs(old_pulse - APM_RC.InputCh(g.flight_mode_channel)) > 5 ||
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APM_RC.InputCh(g.flight_mode_channel) == 1000 ||
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APM_RC.InputCh(g.flight_mode_channel) == 1200)) {
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old_pulse = APM_RC.InputCh(g.flight_mode_channel);
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delay(25);
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}
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GPS_enabled = false;
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g_gps->update();
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if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED) GPS_enabled = true;
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if (g.log_bitmask & MASK_LOG_CMD)
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Log_Write_Startup(TYPE_AIRSTART_MSG);
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reload_commands_airstart(); // Get set to resume AUTO from where we left off
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}else {
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startup_ground();
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if (g.log_bitmask & MASK_LOG_CMD)
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Log_Write_Startup(TYPE_GROUNDSTART_MSG);
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}
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set_mode(MANUAL);
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// set the correct flight mode
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// ---------------------------
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reset_control_switch();
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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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static void startup_ground(void)
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{
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set_mode(INITIALISING);
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
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#if(GROUND_START_DELAY > 0)
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
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delay(GROUND_START_DELAY * 1000);
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#endif
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// Makes the servos wiggle
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// step 1 = 1 wiggle
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// -----------------------
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demo_servos(1);
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//IMU ground start
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//------------------------
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//
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startup_IMU_ground();
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// read the radio to set trims
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// ---------------------------
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trim_radio(); // This was commented out as a HACK. Why? I don't find a problem.
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// Save the settings for in-air restart
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// ------------------------------------
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//save_EEPROM_groundstart();
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// initialize commands
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// -------------------
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init_commands();
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// Read in the GPS - see if one is connected
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GPS_enabled = false;
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for (byte counter = 0; ; counter++) {
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g_gps->update();
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if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED){
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GPS_enabled = true;
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break;
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}
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if (counter >= 2) {
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GPS_enabled = false;
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break;
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}
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}
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// Makes the servos wiggle - 3 times signals ready to fly
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// -----------------------
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demo_servos(3);
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gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
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}
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static void set_mode(byte mode)
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{
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if(control_mode == mode){
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// don't switch modes if we are already in the correct mode.
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return;
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}
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if(g.auto_trim > 0 && control_mode == MANUAL)
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trim_control_surfaces();
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control_mode = mode;
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crash_timer = 0;
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switch(control_mode)
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{
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case INITIALISING:
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case MANUAL:
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case CIRCLE:
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case STABILIZE:
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case FLY_BY_WIRE_A:
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case FLY_BY_WIRE_B:
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break;
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case AUTO:
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update_auto();
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break;
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case RTL:
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do_RTL();
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break;
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case LOITER:
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do_loiter_at_location();
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break;
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case GUIDED:
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set_guided_WP();
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break;
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default:
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do_RTL();
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break;
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}
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if (g.log_bitmask & MASK_LOG_MODE)
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Log_Write_Mode(control_mode);
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}
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static void check_long_failsafe()
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{
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// only act on changes
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// -------------------
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if(failsafe != FAILSAFE_LONG && failsafe != FAILSAFE_GCS){
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if(rc_override_active && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
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failsafe = FAILSAFE_LONG;
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failsafe_long_on_event();
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}
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if(! rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
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failsafe = FAILSAFE_LONG;
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failsafe_long_on_event();
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}
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if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
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failsafe = FAILSAFE_GCS;
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failsafe_long_on_event();
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}
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} else {
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// We do not change state but allow for user to change mode
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if(failsafe == FAILSAFE_GCS && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
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if(failsafe == FAILSAFE_LONG && rc_override_active && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
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if(failsafe == FAILSAFE_LONG && !rc_override_active && !ch3_failsafe) failsafe = FAILSAFE_NONE;
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}
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}
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static void check_short_failsafe()
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{
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// only act on changes
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// -------------------
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if(failsafe == FAILSAFE_NONE){
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if(ch3_failsafe) { // The condition is checked and the flag ch3_failsafe is set in radio.pde
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failsafe_short_on_event();
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}
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}
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if(failsafe == FAILSAFE_SHORT){
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if(!ch3_failsafe) {
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failsafe_short_off_event();
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}
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}
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}
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static void startup_IMU_ground(void)
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{
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#if HIL_MODE != HIL_MODE_ATTITUDE
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gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
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mavlink_delay(500);
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// Makes the servos wiggle twice - about to begin IMU calibration - HOLD LEVEL AND STILL!!
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// -----------------------
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demo_servos(2);
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gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane"));
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mavlink_delay(1000);
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imu.init(IMU::COLD_START, mavlink_delay, &timer_scheduler);
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imu.init_accel(mavlink_delay);
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dcm.set_centripetal(1);
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// read Baro pressure at ground
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//-----------------------------
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init_barometer();
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if (g.airspeed_enabled == true) {
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// initialize airspeed sensor
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// --------------------------
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zero_airspeed();
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> zero airspeed calibrated"));
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} else {
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gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> NO airspeed"));
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}
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#endif // HIL_MODE_ATTITUDE
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digitalWrite(B_LED_PIN, LED_ON); // Set LED B high to indicate IMU ready
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digitalWrite(A_LED_PIN, LED_OFF);
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digitalWrite(C_LED_PIN, LED_OFF);
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}
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static void update_GPS_light(void)
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{
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// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
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// ---------------------------------------------------------------------
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switch (g_gps->status()) {
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case(2):
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digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix.
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break;
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case(1):
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if (g_gps->valid_read == true){
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GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
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if (GPS_light){
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digitalWrite(C_LED_PIN, LED_OFF);
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} else {
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digitalWrite(C_LED_PIN, LED_ON);
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}
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g_gps->valid_read = false;
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}
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break;
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default:
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digitalWrite(C_LED_PIN, LED_OFF);
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break;
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}
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}
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static void resetPerfData(void) {
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mainLoop_count = 0;
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G_Dt_max = 0;
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dcm.gyro_sat_count = 0;
|
|
imu.adc_constraints = 0;
|
|
dcm.renorm_sqrt_count = 0;
|
|
dcm.renorm_blowup_count = 0;
|
|
gps_fix_count = 0;
|
|
pmTest1 = 0;
|
|
perf_mon_timer = millis();
|
|
}
|
|
|
|
|
|
/*
|
|
map from a 8 bit EEPROM baud rate to a real baud rate
|
|
*/
|
|
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
|
|
{
|
|
switch (rate) {
|
|
case 9: return 9600;
|
|
case 19: return 19200;
|
|
case 38: return 38400;
|
|
case 57: return 57600;
|
|
case 111: return 111100;
|
|
case 115: return 115200;
|
|
}
|
|
Serial.println_P(PSTR("Invalid SERIAL3_BAUD"));
|
|
return default_baud;
|
|
}
|
|
|
|
|
|
#if USB_MUX_PIN > 0
|
|
static void check_usb_mux(void)
|
|
{
|
|
bool usb_check = !digitalRead(USB_MUX_PIN);
|
|
if (usb_check == usb_connected) {
|
|
return;
|
|
}
|
|
|
|
// the user has switched to/from the telemetry port
|
|
usb_connected = usb_check;
|
|
if (usb_connected) {
|
|
Serial.begin(SERIAL0_BAUD, 128, 128);
|
|
} else {
|
|
Serial.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
|
|
}
|
|
}
|
|
#endif
|