mirror of https://github.com/ArduPilot/ardupilot
905 lines
29 KiB
Plaintext
905 lines
29 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduRover v2.30"
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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: Andrew Tridgell
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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
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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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Please contribute your ideas!
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APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
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This firmware is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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// Radio setup:
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// APM INPUT (Rec = receiver)
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// Rec ch1: Steering
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// Rec ch2: not used
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// Rec ch3: Throttle
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// Rec ch4: not used
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// Rec ch5: not used
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// Rec ch6: not used
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// Rec ch7: Option channel to 2 position switch
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// Rec ch8: Mode channel to 6 position switch
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// APM OUTPUT
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// Ch1: Wheel servo (direction)
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// Ch2: not used
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// Ch3: to the motor ESC
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// Ch4: not used
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//
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Header includes
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////////////////////////////////////////////////////////////////////////////////
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#include <math.h>
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#include <stdarg.h>
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#include <stdio.h>
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// Libraries
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_Menu.h>
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#include <AP_Param.h>
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_ADC_AnalogSource.h>
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#include <AP_Baro.h>
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
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#include <AP_AHRS.h> // ArduPilot Mega DCM Library
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#include <PID.h> // PID library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_RangeFinder.h> // Range finder library
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#include <Filter.h> // Filter library
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#include <Butter.h> // Filter library - butterworth filter
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#include <AP_Buffer.h> // FIFO buffer library
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#include <ModeFilter.h> // Mode Filter from Filter library
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#include <AverageFilter.h> // Mode Filter from Filter library
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#include <AP_Relay.h> // APM relay
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#include <AP_Mount.h> // Camera/Antenna mount
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <AP_Airspeed.h> // needed for AHRS build
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#include <memcheck.h>
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#include <DataFlash.h>
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#include <SITL.h>
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#include <stdarg.h>
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include <AP_HAL_PX4.h>
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#include <AP_HAL_Empty.h>
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#include "compat.h"
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// Configuration
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#include "config.h"
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// Local modules
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#include "defines.h"
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#include "Parameters.h"
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#include "GCS.h"
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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AP_HAL::BetterStream* cliSerial;
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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// this sets up the parameter table, and sets the default values. This
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// must be the first AP_Param variable declared to ensure its
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// constructor runs before the constructors of the other AP_Param
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// variables
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AP_Param param_loader(var_info, WP_START_BYTE);
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////////////////////////////////////////////////////////////////////////////////
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// the rate we run the main loop at
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////////////////////////////////////////////////////////////////////////////////
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static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
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////////////////////////////////////////////////////////////////////////////////
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// Parameters
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////////////////////////////////////////////////////////////////////////////////
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//
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// Global parameters are all contained within the 'g' class.
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//
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static Parameters g;
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////////////////////////////////////////////////////////////////////////////////
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// prototypes
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static void update_events(void);
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////////////////////////////////////////////////////////////////////////////////
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// DataFlash
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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DataFlash_APM1 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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DataFlash_APM2 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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DataFlash_SITL DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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DataFlash_Empty DataFlash;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Sensors
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////////////////////////////////////////////////////////////////////////////////
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//
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// There are three basic options related to flight sensor selection.
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//
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// - Normal driving mode. Real sensors are used.
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// - HIL Attitude mode. Most sensors are disabled, as the HIL
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// protocol supplies attitude information directly.
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// - HIL Sensors mode. Synthetic sensors are configured that
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// supply data from the simulation.
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//
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// All GPS access should be through this pointer.
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static GPS *g_gps;
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// flight modes convenience array
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static AP_Int8 *modes = &g.mode1;
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#if CONFIG_ADC == ENABLED
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static AP_ADC_ADS7844 adc;
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#endif
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#if CONFIG_COMPASS == AP_COMPASS_PX4
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static AP_Compass_PX4 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
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static AP_Compass_HMC5843 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HIL
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static AP_Compass_HIL compass;
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#else
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#error Unrecognized CONFIG_COMPASS setting
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#endif
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// GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&g_gps);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19
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AP_GPS_MTK19 g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_HIL
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AP_GPS_HIL g_gps_driver;
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#else
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#error Unrecognised GPS_PROTOCOL setting.
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#endif // GPS PROTOCOL
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#if CONFIG_INS_TYPE == CONFIG_INS_MPU6000
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AP_InertialSensor_MPU6000 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
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AP_InertialSensor_PX4 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_STUB
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AP_InertialSensor_Stub ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
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AP_InertialSensor_Oilpan ins( &adc );
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#else
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#error Unrecognised CONFIG_INS_TYPE setting.
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#endif // CONFIG_INS_TYPE
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#if HIL_MODE == HIL_MODE_ATTITUDE
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AP_AHRS_HIL ahrs(&ins, g_gps);
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#else
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AP_AHRS_DCM ahrs(&ins, g_gps);
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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SITL sitl;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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////////////////////////////////////////////////////////////////////////////////
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//
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GCS_MAVLINK gcs0;
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GCS_MAVLINK gcs3;
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// a pin for reading the receiver RSSI voltage. The scaling by 0.25
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// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
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AP_HAL::AnalogSource *rssi_analog_source;
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AP_HAL::AnalogSource *vcc_pin;
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AP_HAL::AnalogSource * batt_volt_pin;
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AP_HAL::AnalogSource * batt_curr_pin;
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////////////////////////////////////////////////////////////////////////////////
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// SONAR selection
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////////////////////////////////////////////////////////////////////////////////
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//
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static AP_RangeFinder_analog sonar;
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// relay support
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AP_Relay relay;
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// Camera/Antenna mount tracking and stabilisation stuff
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// --------------------------------------
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#if MOUNT == ENABLED
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AP_Mount camera_mount(g_gps, &dcm);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Global variables
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////////////////////////////////////////////////////////////////////////////////
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// APM2 only
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#if USB_MUX_PIN > 0
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static bool usb_connected;
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#endif
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/* Radio values
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Channel assignments
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1 Steering
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2 ---
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3 Throttle
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4 ---
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5 Aux5
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6 Aux6
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7 Aux7
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8 Aux8/Mode
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Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
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See libraries/RC_Channel/RC_Channel_aux.h for more information
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Radio
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////////////////////////////////////////////////////////////////////////////////
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// This is the state of the flight control system
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// There are multiple states defined such as MANUAL, FBW-A, AUTO
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enum mode control_mode = INITIALISING;
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// Used to maintain the state of the previous control switch position
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// This is set to -1 when we need to re-read the switch
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uint8_t oldSwitchPosition;
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// These are values received from the GCS if the user is using GCS joystick
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// control and are substituted for the values coming from the RC radio
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static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
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// A flag if GCS joystick control is in use
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static bool rc_override_active = false;
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////////////////////////////////////////////////////////////////////////////////
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// Failsafe
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////////////////////////////////////////////////////////////////////////////////
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// A tracking variable for type of failsafe active
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// Used for failsafe based on loss of RC signal or GCS signal
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static int16_t failsafe;
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// Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold
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// RC receiver should be set up to output a low throttle value when signal is lost
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static bool ch3_failsafe;
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// A timer used to track how long since we have received the last GCS heartbeat or rc override message
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static uint32_t rc_override_fs_timer = 0;
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// A timer used to track how long we have been in a "short failsafe" condition due to loss of RC signal
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static uint32_t ch3_failsafe_timer = 0;
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////////////////////////////////////////////////////////////////////////////////
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// LED output
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////////////////////////////////////////////////////////////////////////////////
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// state of the GPS light (on/off)
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static bool GPS_light;
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////////////////////////////////////////////////////////////////////////////////
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// GPS variables
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////////////////////////////////////////////////////////////////////////////////
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// This is used to scale GPS values for EEPROM storage
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// 10^7 times Decimal GPS means 1 == 1cm
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// This approximation makes calculations integer and it's easy to read
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static const float t7 = 10000000.0;
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// We use atan2 and other trig techniques to calaculate angles
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// A counter used to count down valid gps fixes to allow the gps estimate to settle
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// before recording our home position (and executing a ground start if we booted with an air start)
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static uint8_t ground_start_count = 5;
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// Used to compute a speed estimate from the first valid gps fixes to decide if we are
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// on the ground or in the air. Used to decide if a ground start is appropriate if we
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// booted with an air start.
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static int16_t ground_start_avg;
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static int32_t gps_base_alt;
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////////////////////////////////////////////////////////////////////////////////
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// Location & Navigation
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////////////////////////////////////////////////////////////////////////////////
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// Constants
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const float radius_of_earth = 6378100; // meters
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// true if we have a position estimate from AHRS
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static bool have_position;
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// This is the currently calculated direction to fly.
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// deg * 100 : 0 to 360
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static int32_t nav_bearing;
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// This is the direction to the next waypoint
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// deg * 100 : 0 to 360
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static int32_t target_bearing;
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//This is the direction from the last waypoint to the next waypoint
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// deg * 100 : 0 to 360
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static int32_t crosstrack_bearing;
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// A gain scaler to account for ground speed/headwind/tailwind
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static float nav_gain_scaler = 1.0f;
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static bool rtl_complete = false;
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// There may be two active commands in Auto mode.
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// This indicates the active navigation command by index number
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static uint8_t nav_command_index;
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// This indicates the active non-navigation command by index number
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static uint8_t non_nav_command_index;
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// This is the command type (eg navigate to waypoint) of the active navigation command
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static uint8_t nav_command_ID = NO_COMMAND;
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static uint8_t non_nav_command_ID = NO_COMMAND;
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// ground speed error in m/s
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static float groundspeed_error;
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// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
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static int16_t throttle_nudge = 0;
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// receiver RSSI
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static uint8_t receiver_rssi;
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// the time when the last HEARTBEAT message arrived from a GCS
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static uint32_t last_heartbeat_ms;
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// Set to true when an obstacle is detected
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static bool obstacle = false;
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// time when we last detected an obstacle, in milliseconds
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static uint32_t obstacle_detected_time_ms;
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////////////////////////////////////////////////////////////////////////////////
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// Ground speed
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////////////////////////////////////////////////////////////////////////////////
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// The amount current ground speed is below min ground speed. meters per second
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static float ground_speed = 0;
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static int16_t throttle_last = 0, throttle = 500;
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////////////////////////////////////////////////////////////////////////////////
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// Location Errors
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////////////////////////////////////////////////////////////////////////////////
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// Difference between current bearing and desired bearing. in centi-degrees
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static int32_t bearing_error_cd;
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// Distance perpandicular to the course line that we are off trackline. Meters
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static float crosstrack_error;
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////////////////////////////////////////////////////////////////////////////////
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// CH7 control
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////////////////////////////////////////////////////////////////////////////////
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// Used to track the CH7 toggle state.
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// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true
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// This allows advanced functionality to know when to execute
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static bool ch7_flag;
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// This register tracks the current Mission Command index when writing
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// a mission using CH7 in flight
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static int8_t CH7_wp_index;
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float tuning_value;
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////////////////////////////////////////////////////////////////////////////////
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// Battery Sensors
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////////////////////////////////////////////////////////////////////////////////
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// Battery pack 1 voltage. Initialized above the low voltage threshold to pre-load the filter and prevent low voltage events at startup.
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static float battery_voltage1 = LOW_VOLTAGE * 1.05;
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// Battery pack 1 instantaneous currrent draw. Amperes
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static float current_amps1;
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// Totalized current (Amp-hours) from battery 1
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static float current_total1;
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////////////////////////////////////////////////////////////////////////////////
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// Navigation control variables
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////////////////////////////////////////////////////////////////////////////////
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// The instantaneous desired steering angle. Hundredths of a degree
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static int32_t nav_steer;
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////////////////////////////////////////////////////////////////////////////////
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// Waypoint distances
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////////////////////////////////////////////////////////////////////////////////
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// Distance between rover and next waypoint. Meters
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static float wp_distance;
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// Distance between previous and next waypoint. Meters
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static int32_t wp_totalDistance;
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////////////////////////////////////////////////////////////////////////////////
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// repeating event control
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////////////////////////////////////////////////////////////////////////////////
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// Flag indicating current event type
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static uint8_t event_id;
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// when the event was started in ms
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static int32_t event_timer;
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// how long to delay the next firing of event in millis
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static uint16_t event_delay;
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// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
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static int16_t event_repeat = 0;
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// per command value, such as PWM for servos
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static int16_t event_value;
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// the value used to cycle events (alternate value to event_value)
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static int16_t event_undo_value;
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////////////////////////////////////////////////////////////////////////////////
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// Conditional command
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////////////////////////////////////////////////////////////////////////////////
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// A value used in condition commands (eg delay, change alt, etc.)
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// For example in a change altitude command, it is the altitude to change to.
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static int32_t condition_value;
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// A starting value used to check the status of a conditional command.
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// For example in a delay command the condition_start records that start time for the delay
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static int32_t condition_start;
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// A value used in condition commands. For example the rate at which to change altitude.
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static int16_t condition_rate;
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////////////////////////////////////////////////////////////////////////////////
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// 3D Location vectors
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// Location structure defined in AP_Common
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////////////////////////////////////////////////////////////////////////////////
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// The home location used for RTL. The location is set when we first get stable GPS lock
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static struct Location home;
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// Flag for if we have g_gps lock and have set the home location
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static bool home_is_set;
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// The location of the previous waypoint. Used for track following and altitude ramp calculations
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static struct Location prev_WP;
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// The rover's current location
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static struct Location current_loc;
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// The location of the current/active waypoint. Used for track following
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static struct Location next_WP;
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// The location of the active waypoint in Guided mode.
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static struct Location guided_WP;
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// The location structure information from the Nav command being processed
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static struct Location next_nav_command;
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// The location structure information from the Non-Nav command being processed
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static struct Location next_nonnav_command;
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////////////////////////////////////////////////////////////////////////////////
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// IMU variables
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////////////////////////////////////////////////////////////////////////////////
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// The main loop execution time. Seconds
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//This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
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static float G_Dt = 0.02;
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////////////////////////////////////////////////////////////////////////////////
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// Performance monitoring
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////////////////////////////////////////////////////////////////////////////////
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// Timer used to accrue data and trigger recording of the performanc monitoring log message
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static int32_t perf_mon_timer;
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// The maximum main loop execution time recorded in the current performance monitoring interval
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static int16_t G_Dt_max = 0;
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// The number of gps fixes recorded in the current performance monitoring interval
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static uint8_t gps_fix_count = 0;
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// A variable used by developers to track performanc metrics.
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// Currently used to record the number of GCS heartbeat messages received
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static int16_t pmTest1 = 0;
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////////////////////////////////////////////////////////////////////////////////
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// System Timers
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////////////////////////////////////////////////////////////////////////////////
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// Time in miliseconds of start of main control loop. Milliseconds
|
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static uint32_t fast_loopTimer;
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// Time Stamp when fast loop was complete. Milliseconds
|
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static uint32_t fast_loopTimeStamp;
|
|
// Number of milliseconds used in last main loop cycle
|
|
static uint8_t delta_ms_fast_loop;
|
|
// Counter of main loop executions. Used for performance monitoring and failsafe processing
|
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static uint16_t mainLoop_count;
|
|
|
|
// Time in miliseconds of start of medium control loop. Milliseconds
|
|
static uint32_t medium_loopTimer;
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// Counters for branching from main control loop to slower loops
|
|
static uint8_t medium_loopCounter;
|
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// Number of milliseconds used in last medium loop cycle
|
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static uint8_t delta_ms_medium_loop;
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|
|
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// Counters for branching from medium control loop to slower loops
|
|
static uint8_t slow_loopCounter;
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// Counter to trigger execution of very low rate processes
|
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static uint8_t superslow_loopCounter;
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// Counter to trigger execution of 1 Hz processes
|
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static uint8_t counter_one_herz;
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|
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// % MCU cycles used
|
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static float load;
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|
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////////////////////////////////////////////////////////////////////////////////
|
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// Top-level logic
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////////////////////////////////////////////////////////////////////////////////
|
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|
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void setup() {
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memcheck_init();
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cliSerial = hal.console;
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|
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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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rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE, 1.0);
|
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vcc_pin = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
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batt_volt_pin = hal.analogin->channel(g.battery_volt_pin);
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batt_curr_pin = hal.analogin->channel(g.battery_curr_pin);
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|
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init_ardupilot();
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}
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void loop()
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{
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// We want this to execute at 50Hz, but synchronised with the gyro/accel
|
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uint16_t num_samples = ins.num_samples_available();
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if (num_samples >= 1) {
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delta_ms_fast_loop = millis() - fast_loopTimer;
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load = (float)(fast_loopTimeStamp - fast_loopTimer)/delta_ms_fast_loop;
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G_Dt = (float)delta_ms_fast_loop / 1000.f;
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fast_loopTimer = millis();
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mainLoop_count++;
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// Execute the fast loop
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// ---------------------
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fast_loop();
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// Execute the medium loop
|
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// -----------------------
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medium_loop();
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counter_one_herz++;
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if(counter_one_herz == 50){
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one_second_loop();
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counter_one_herz = 0;
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}
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if (millis() - perf_mon_timer > 20000) {
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if (mainLoop_count != 0) {
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if (g.log_bitmask & MASK_LOG_PM)
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#if HIL_MODE != HIL_MODE_ATTITUDE
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Log_Write_Performance();
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#endif
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resetPerfData();
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}
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}
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fast_loopTimeStamp = millis();
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} else if (millis() - fast_loopTimeStamp < 19) {
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// less than 19ms has passed. We have at least one millisecond
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// of free time. The most useful thing to do with that time is
|
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// to accumulate some sensor readings, specifically the
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// compass, which is often very noisy but is not interrupt
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// driven, so it can't accumulate readings by itself
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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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// Main loop 50Hz
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static void fast_loop()
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{
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// This is the fast loop - we want it to execute at 50Hz if possible
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// -----------------------------------------------------------------
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if (delta_ms_fast_loop > G_Dt_max)
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G_Dt_max = delta_ms_fast_loop;
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|
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// Read radio
|
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// ----------
|
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read_radio();
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// try to send any deferred messages if the serial port now has
|
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// some space available
|
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gcs_send_message(MSG_RETRY_DEFERRED);
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|
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#if HIL_MODE == HIL_MODE_SENSORS
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// update hil before dcm update
|
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gcs_update();
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#endif
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|
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ahrs.update();
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|
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// Read Sonar
|
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// ----------
|
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if (g.sonar_enabled) {
|
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float sonar_dist_cm = sonar.distance_cm();
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if (sonar_dist_cm <= g.sonar_trigger_cm) {
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// obstacle detected in front
|
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obstacle = true;
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obstacle_detected_time_ms = hal.scheduler->millis();
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} else if (obstacle == true &&
|
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hal.scheduler->millis() > obstacle_detected_time_ms + g.sonar_turn_time*1000) {
|
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obstacle = false;
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}
|
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} else {
|
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// this makes it possible to disable sonar at runtime
|
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obstacle = false;
|
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}
|
|
|
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// uses the yaw from the DCM to give more accurate turns
|
|
calc_bearing_error();
|
|
|
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# if HIL_MODE == HIL_MODE_DISABLED
|
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if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
|
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Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor);
|
|
|
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if (g.log_bitmask & MASK_LOG_IMU)
|
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Log_Write_IMU();
|
|
#endif
|
|
|
|
// custom code/exceptions for flight modes
|
|
// ---------------------------------------
|
|
update_current_mode();
|
|
|
|
// write out the servo PWM values
|
|
// ------------------------------
|
|
set_servos();
|
|
|
|
gcs_update();
|
|
gcs_data_stream_send();
|
|
}
|
|
|
|
static void medium_loop()
|
|
{
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_position();
|
|
#endif
|
|
|
|
// This is the start of the medium (10 Hz) loop pieces
|
|
// -----------------------------------------
|
|
switch(medium_loopCounter) {
|
|
|
|
// This case deals with the GPS
|
|
//-------------------------------
|
|
case 0:
|
|
medium_loopCounter++;
|
|
update_GPS();
|
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
if (g.compass_enabled && compass.read()) {
|
|
ahrs.set_compass(&compass);
|
|
// Calculate heading
|
|
compass.null_offsets();
|
|
} else {
|
|
ahrs.set_compass(NULL);
|
|
}
|
|
#endif
|
|
break;
|
|
|
|
// This case performs some navigation computations
|
|
//------------------------------------------------
|
|
case 1:
|
|
medium_loopCounter++;
|
|
navigate();
|
|
break;
|
|
|
|
// command processing
|
|
//------------------------------
|
|
case 2:
|
|
medium_loopCounter++;
|
|
|
|
read_receiver_rssi();
|
|
|
|
// perform next command
|
|
// --------------------
|
|
update_commands();
|
|
break;
|
|
|
|
// This case deals with sending high rate telemetry
|
|
//-------------------------------------------------
|
|
case 3:
|
|
medium_loopCounter++;
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
|
|
Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor);
|
|
|
|
if (g.log_bitmask & MASK_LOG_CTUN)
|
|
Log_Write_Control_Tuning();
|
|
#endif
|
|
|
|
if (g.log_bitmask & MASK_LOG_NTUN)
|
|
Log_Write_Nav_Tuning();
|
|
|
|
if (g.log_bitmask & MASK_LOG_GPS)
|
|
Log_Write_GPS(g_gps->time, current_loc.lat, current_loc.lng, g_gps->altitude, current_loc.alt, g_gps->ground_speed, g_gps->ground_course, g_gps->fix, g_gps->num_sats);
|
|
break;
|
|
|
|
// This case controls the slow loop
|
|
//---------------------------------
|
|
case 4:
|
|
medium_loopCounter = 0;
|
|
delta_ms_medium_loop = millis() - medium_loopTimer;
|
|
medium_loopTimer = millis();
|
|
|
|
if (g.battery_monitoring != 0){
|
|
read_battery();
|
|
}
|
|
|
|
read_trim_switch();
|
|
|
|
slow_loop();
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void slow_loop()
|
|
{
|
|
// This is the slow (3 1/3 Hz) loop pieces
|
|
//----------------------------------------
|
|
switch (slow_loopCounter){
|
|
case 0:
|
|
slow_loopCounter++;
|
|
check_long_failsafe();
|
|
superslow_loopCounter++;
|
|
if(superslow_loopCounter >=200) { // 200 = Execute every minute
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
if(g.compass_enabled) {
|
|
compass.save_offsets();
|
|
}
|
|
#endif
|
|
superslow_loopCounter = 0;
|
|
}
|
|
break;
|
|
|
|
case 1:
|
|
slow_loopCounter++;
|
|
|
|
// Read 3-position switch on radio
|
|
// -------------------------------
|
|
read_control_switch();
|
|
|
|
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
|
|
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_type();
|
|
#endif
|
|
break;
|
|
|
|
case 2:
|
|
slow_loopCounter = 0;
|
|
|
|
update_events();
|
|
|
|
mavlink_system.sysid = g.sysid_this_mav; // This is just an ugly hack to keep mavlink_system.sysid sync'd with our parameter
|
|
|
|
#if USB_MUX_PIN > 0
|
|
check_usb_mux();
|
|
#endif
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void one_second_loop()
|
|
{
|
|
if (g.log_bitmask & MASK_LOG_CURRENT)
|
|
Log_Write_Current();
|
|
// send a heartbeat
|
|
gcs_send_message(MSG_HEARTBEAT);
|
|
}
|
|
|
|
static void update_GPS(void)
|
|
{
|
|
g_gps->update();
|
|
update_GPS_light();
|
|
|
|
have_position = ahrs.get_position(¤t_loc);
|
|
|
|
if (g_gps->new_data && g_gps->status() == GPS::GPS_OK) {
|
|
gps_fix_count++;
|
|
|
|
if(ground_start_count > 1){
|
|
ground_start_count--;
|
|
ground_start_avg += g_gps->ground_speed;
|
|
|
|
} else if (ground_start_count == 1) {
|
|
// We countdown N number of good GPS fixes
|
|
// so that the altitude is more accurate
|
|
// -------------------------------------
|
|
if (current_loc.lat == 0) {
|
|
ground_start_count = 5;
|
|
|
|
} else {
|
|
init_home();
|
|
if (g.compass_enabled) {
|
|
// Set compass declination automatically
|
|
compass.set_initial_location(g_gps->latitude, g_gps->longitude);
|
|
}
|
|
ground_start_count = 0;
|
|
}
|
|
}
|
|
ground_speed = g_gps->ground_speed * 0.01;
|
|
}
|
|
}
|
|
|
|
static void update_current_mode(void)
|
|
{
|
|
switch (control_mode){
|
|
case AUTO:
|
|
case RTL:
|
|
case GUIDED:
|
|
calc_nav_steer();
|
|
calc_throttle(g.speed_cruise);
|
|
break;
|
|
|
|
case STEERING:
|
|
/*
|
|
in steering mode we control the bearing error, which gives
|
|
the same type of steering control as auto mode. The throttle
|
|
controls the target speed, in proportion to the throttle
|
|
*/
|
|
bearing_error_cd = g.channel_steer.pwm_to_angle();
|
|
calc_nav_steer();
|
|
|
|
/* we need to reset the I term or it will build up */
|
|
g.pidNavSteer.reset_I();
|
|
calc_throttle(g.channel_throttle.pwm_to_angle() * 0.01 * g.speed_cruise);
|
|
break;
|
|
|
|
case LEARNING:
|
|
case MANUAL:
|
|
/*
|
|
in both MANUAL and LEARNING we pass through the
|
|
controls. Setting servo_out here actually doesn't matter, as
|
|
we set the exact value in set_servos(), but it helps for
|
|
logging
|
|
*/
|
|
g.channel_throttle.servo_out = g.channel_throttle.radio_in;
|
|
g.channel_steer.servo_out = g.channel_steer.pwm_to_angle();
|
|
break;
|
|
|
|
case INITIALISING:
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void update_navigation()
|
|
{
|
|
switch (control_mode) {
|
|
case MANUAL:
|
|
case LEARNING:
|
|
case STEERING:
|
|
case INITIALISING:
|
|
break;
|
|
|
|
case AUTO:
|
|
verify_commands();
|
|
break;
|
|
|
|
case RTL:
|
|
case GUIDED:
|
|
// no loitering around the wp with the rover, goes direct to the wp position
|
|
calc_nav_steer();
|
|
calc_bearing_error();
|
|
if (verify_RTL()) {
|
|
g.channel_throttle.servo_out = g.throttle_min.get();
|
|
set_mode(MANUAL);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
AP_HAL_MAIN();
|