mirror of https://github.com/ArduPilot/ardupilot
398 lines
12 KiB
C++
398 lines
12 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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/*
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this header holds a parameter structure for each vehicle type for
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parameters needed by multiple libraries
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*/
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#include "ModeReason.h" // reasons can't be defined in this header due to circular loops
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#include <AP_Baro/AP_Baro.h>
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#include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library
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#include <AP_CANManager/AP_CANManager.h>
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#include <AP_Button/AP_Button.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Generator/AP_Generator.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_Param/AP_Param.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_Relay/AP_Relay.h> // APM relay
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#include <AP_RSSI/AP_RSSI.h> // RSSI Library
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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#include <AP_Camera/AP_RunCam.h>
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#include <AP_Hott_Telem/AP_Hott_Telem.h>
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#include <AP_ESC_Telem/AP_ESC_Telem.h>
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#include <AP_GyroFFT/AP_GyroFFT.h>
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#include <AP_VisualOdom/AP_VisualOdom.h>
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#include <AP_VideoTX/AP_VideoTX.h>
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#include <AP_MSP/AP_MSP.h>
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#include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
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#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
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#include <AP_VideoTX/AP_SmartAudio.h>
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class AP_Vehicle : public AP_HAL::HAL::Callbacks {
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public:
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AP_Vehicle() {
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if (_singleton) {
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AP_HAL::panic("Too many Vehicles");
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}
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AP_Param::setup_object_defaults(this, var_info);
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_singleton = this;
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}
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/* Do not allow copies */
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AP_Vehicle(const AP_Vehicle &other) = delete;
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AP_Vehicle &operator=(const AP_Vehicle&) = delete;
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static AP_Vehicle *get_singleton();
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// setup() is called once during vehicle startup to initialise the
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// vehicle object and the objects it contains. The
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// AP_HAL_MAIN_CALLBACKS pragma creates a main(...) function
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// referencing an object containing setup() and loop() functions.
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// A vehicle is not expected to override setup(), but
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// subclass-specific initialisation can be done in init_ardupilot
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// which is called from setup().
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void setup(void) override final;
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// HAL::Callbacks implementation.
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void loop() override final;
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// set_mode *must* set control_mode_reason
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virtual bool set_mode(const uint8_t new_mode, const ModeReason reason) = 0;
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virtual uint8_t get_mode() const = 0;
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ModeReason get_control_mode_reason() const {
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return control_mode_reason;
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}
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// perform any notifications required to indicate a mode change
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// failed due to a bad mode number being supplied. This can
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// happen for many reasons - bad mavlink packet and bad mode
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// parameters for example.
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void notify_no_such_mode(uint8_t mode_number);
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/*
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common parameters for fixed wing aircraft
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*/
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struct FixedWing {
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AP_Int8 throttle_min;
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AP_Int8 throttle_max;
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AP_Int8 throttle_slewrate;
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AP_Int8 throttle_cruise;
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AP_Int8 takeoff_throttle_max;
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AP_Int16 airspeed_min;
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AP_Int16 airspeed_max;
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AP_Int32 airspeed_cruise_cm;
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AP_Int32 min_gndspeed_cm;
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AP_Int8 crash_detection_enable;
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AP_Int16 roll_limit_cd;
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AP_Int16 pitch_limit_max_cd;
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AP_Int16 pitch_limit_min_cd;
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AP_Int8 autotune_level;
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AP_Int8 stall_prevention;
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AP_Int16 loiter_radius;
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struct Rangefinder_State {
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bool in_range:1;
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bool have_initial_reading:1;
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bool in_use:1;
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float initial_range;
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float correction;
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float initial_correction;
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float last_stable_correction;
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uint32_t last_correction_time_ms;
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uint8_t in_range_count;
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float height_estimate;
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float last_distance;
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};
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// stages of flight
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enum FlightStage {
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FLIGHT_TAKEOFF = 1,
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FLIGHT_VTOL = 2,
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FLIGHT_NORMAL = 3,
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FLIGHT_LAND = 4,
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FLIGHT_ABORT_LAND = 7
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};
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};
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/*
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common parameters for multicopters
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*/
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struct MultiCopter {
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AP_Int16 angle_max;
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};
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void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);
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// implementations *MUST* fill in all passed-in fields or we get
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// Valgrind errors
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virtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0;
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/*
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set the "likely flying" flag. This is not guaranteed to be
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accurate, but is the vehicle codes best guess as to the whether
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the vehicle is currently flying
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*/
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void set_likely_flying(bool b) {
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if (b && !likely_flying) {
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_last_flying_ms = AP_HAL::millis();
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}
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likely_flying = b;
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}
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/*
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get the likely flying status. Returns true if the vehicle code
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thinks we are flying at the moment. Not guaranteed to be
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accurate
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*/
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bool get_likely_flying(void) const {
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return likely_flying;
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}
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/*
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return time in milliseconds since likely_flying was set
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true. Returns zero if likely_flying is currently false
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*/
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uint32_t get_time_flying_ms(void) const {
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if (!likely_flying) {
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return 0;
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}
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return AP_HAL::millis() - _last_flying_ms;
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}
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// returns true if the vehicle has crashed
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virtual bool is_crashed() const;
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#ifdef ENABLE_SCRIPTING
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/*
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methods to control vehicle for use by scripting
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*/
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virtual bool start_takeoff(float alt) { return false; }
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virtual bool set_target_location(const Location& target_loc) { return false; }
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virtual bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) { return false; }
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virtual bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) { return false; }
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virtual bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }
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virtual bool set_target_velocity_NED(const Vector3f& vel_ned) { return false; }
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virtual bool set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }
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virtual bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) { return false; }
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// get target location (for use by scripting)
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virtual bool get_target_location(Location& target_loc) { return false; }
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// circle mode controls (only used by scripting with Copter)
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virtual bool get_circle_radius(float &radius_m) { return false; }
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virtual bool set_circle_rate(float rate_dps) { return false; }
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// set steering and throttle (-1 to +1) (for use by scripting with Rover)
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virtual bool set_steering_and_throttle(float steering, float throttle) { return false; }
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#endif // ENABLE_SCRIPTING
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// control outputs enumeration
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enum class ControlOutput {
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Roll = 1,
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Pitch = 2,
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Throttle = 3,
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Yaw = 4,
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Lateral = 5,
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MainSail = 6,
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WingSail = 7,
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Walking_Height = 8,
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Last_ControlOutput // place new values before this
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};
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// get control output (for use in scripting)
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// returns true on success and control_value is set to a value in the range -1 to +1
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virtual bool get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value) { return false; }
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// write out harmonic notch log messages
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void write_notch_log_messages() const;
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// update the harmonic notch
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virtual void update_dynamic_notch() {};
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// zeroing the RC outputs can prevent unwanted motor movement:
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virtual bool should_zero_rc_outputs_on_reboot() const { return false; }
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// reboot the vehicle in an orderly manner, doing various cleanups
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// and flashing LEDs as appropriate
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void reboot(bool hold_in_bootloader);
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/*
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get the distance to next wp in meters
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return false if failed or n/a
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*/
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virtual bool get_wp_distance_m(float &distance) const { return false; }
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/*
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get the current wp bearing in degrees
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return false if failed or n/a
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*/
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virtual bool get_wp_bearing_deg(float &bearing) const { return false; }
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/*
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get the current wp crosstrack error in meters
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return false if failed or n/a
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*/
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virtual bool get_wp_crosstrack_error_m(float &xtrack_error) const { return false; }
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#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
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AP_Frsky_Parameters frsky_parameters;
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#endif
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/*
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Returns the pan and tilt for use by onvif camera in scripting
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*/
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virtual bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const { return false; }
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#if OSD_ENABLED
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// Returns roll and pitch for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing TRIM_PITCH_CD
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virtual void get_osd_roll_pitch_rad(float &roll, float &pitch) const;
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#endif
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protected:
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virtual void init_ardupilot() = 0;
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virtual void load_parameters() = 0;
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virtual void set_control_channels() {}
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// board specific config
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AP_BoardConfig BoardConfig;
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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// board specific config for CAN bus
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AP_CANManager can_mgr;
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#endif
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// main loop scheduler
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AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&AP_Vehicle::fast_loop, void)};
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virtual void fast_loop();
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// IMU variables
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// Integration time; time last loop took to run
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float G_Dt;
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// sensor drivers
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AP_GPS gps;
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AP_Baro barometer;
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Compass compass;
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AP_InertialSensor ins;
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#if HAL_BUTTON_ENABLED
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AP_Button button;
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#endif
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RangeFinder rangefinder;
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AP_RSSI rssi;
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#if HAL_RUNCAM_ENABLED
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AP_RunCam runcam;
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#endif
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#if HAL_GYROFFT_ENABLED
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AP_GyroFFT gyro_fft;
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#endif
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AP_VideoTX vtx;
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AP_SerialManager serial_manager;
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AP_Relay relay;
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AP_ServoRelayEvents ServoRelayEvents;
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// notification object for LEDs, buzzers etc (parameter set to
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// false disables external leds)
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AP_Notify notify;
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// Inertial Navigation EKF
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AP_AHRS ahrs;
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#if HAL_HOTT_TELEM_ENABLED
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AP_Hott_Telem hott_telem;
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#endif
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#if HAL_VISUALODOM_ENABLED
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AP_VisualOdom visual_odom;
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#endif
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#if HAL_WITH_ESC_TELEM
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AP_ESC_Telem esc_telem;
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#endif
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#if HAL_MSP_ENABLED
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AP_MSP msp;
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#endif
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#if HAL_GENERATOR_ENABLED
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AP_Generator generator;
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#endif
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#if HAL_EXTERNAL_AHRS_ENABLED
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AP_ExternalAHRS externalAHRS;
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#endif
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#if HAL_SMARTAUDIO_ENABLED
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AP_SmartAudio smartaudio;
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#endif
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static const struct AP_Param::GroupInfo var_info[];
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static const struct AP_Scheduler::Task scheduler_tasks[];
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#if OSD_ENABLED
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void publish_osd_info();
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#endif
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// update accel calibration
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void accel_cal_update();
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ModeReason control_mode_reason = ModeReason::UNKNOWN;
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private:
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// delay() callback that processing MAVLink packets
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static void scheduler_delay_callback();
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// if there's been a watchdog reset, notify the world via a
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// statustext:
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void send_watchdog_reset_statustext();
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// run notch update at either loop rate or 200Hz
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void update_dynamic_notch_at_specified_rate();
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bool likely_flying; // true if vehicle is probably flying
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uint32_t _last_flying_ms; // time when likely_flying last went true
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uint32_t _last_notch_update_ms; // last time update_dynamic_notch() was run
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static AP_Vehicle *_singleton;
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bool done_safety_init;
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uint32_t _last_internal_errors; // backup of AP_InternalError::internal_errors bitmask
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};
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namespace AP {
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AP_Vehicle *vehicle();
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};
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extern const AP_HAL::HAL& hal;
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extern const AP_Param::Info vehicle_var_info[];
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#include "AP_Vehicle_Type.h"
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