mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
9ae9f84498
This fixes a bug in the G_Dt calculation which is used in the motors library and PID controllers. The issue occurred in cases where the ahrs_update was not being run which could happen because it's estimated time was too long. This also properly runs the critical functions (update ahrs, run flight mode code, send outputs to motors) at up to 400hz
322 lines
9.5 KiB
C++
322 lines
9.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This is the APMrover2 firmware. It was originally derived from
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ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
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AP_HAL merge by Andrew Tridgell
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Maintainer: Grant Morphett
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin, Grant Morphett
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Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier
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APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
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Please contribute your ideas! See http://dev.ardupilot.org for details
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*/
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#include "Rover.h"
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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Rover rover;
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros)
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/*
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scheduler table - all regular tasks are listed here, along with how
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often they should be called (in Hz) and the maximum time
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they are expected to take (in microseconds)
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*/
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const AP_Scheduler::Task Rover::scheduler_tasks[] = {
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// Function name, Hz, us,
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SCHED_TASK(read_radio, 50, 200),
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SCHED_TASK(ahrs_update, 400, 400),
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SCHED_TASK(read_rangefinders, 50, 200),
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SCHED_TASK(update_current_mode, 400, 200),
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SCHED_TASK(set_servos, 400, 200),
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SCHED_TASK(update_GPS, 50, 300),
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SCHED_TASK_CLASS(AP_Baro, &rover.barometer, update, 10, 200),
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SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200),
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SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 200),
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SCHED_TASK(update_visual_odom, 50, 200),
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SCHED_TASK(update_wheel_encoder, 20, 200),
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SCHED_TASK(update_compass, 10, 200),
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SCHED_TASK(update_mission, 50, 200),
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SCHED_TASK(update_logging1, 10, 200),
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SCHED_TASK(update_logging2, 10, 200),
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SCHED_TASK(gcs_retry_deferred, 50, 500),
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SCHED_TASK(gcs_update, 50, 500),
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SCHED_TASK(gcs_data_stream_send, 50, 1000),
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SCHED_TASK(read_mode_switch, 7, 200),
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SCHED_TASK(read_aux_all, 10, 200),
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SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 300),
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SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events, 50, 200),
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#if MOUNT == ENABLED
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SCHED_TASK_CLASS(AP_Mount, &rover.camera_mount, update, 50, 200),
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#endif
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#if CAMERA == ENABLED
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SCHED_TASK_CLASS(AP_Camera, &rover.camera, update_trigger, 50, 200),
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#endif
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SCHED_TASK(gcs_failsafe_check, 10, 200),
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SCHED_TASK(fence_check, 10, 200),
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SCHED_TASK_CLASS(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 200),
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SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300),
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SCHED_TASK(one_second_loop, 1, 1500),
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SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90),
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SCHED_TASK(compass_cal_update, 50, 200),
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SCHED_TASK(compass_save, 0.1, 200),
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SCHED_TASK(accel_cal_update, 10, 200),
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#if LOGGING_ENABLED == ENABLED
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SCHED_TASK_CLASS(DataFlash_Class, &rover.DataFlash, periodic_tasks, 50, 300),
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#endif
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SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 400, 200),
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SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200),
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SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 200),
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#if STATS_ENABLED == ENABLED
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SCHED_TASK(stats_update, 1, 200),
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#endif
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SCHED_TASK(crash_check, 10, 200),
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SCHED_TASK(cruise_learn_update, 50, 200),
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#if ADVANCED_FAILSAFE == ENABLED
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SCHED_TASK(afs_fs_check, 10, 200),
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#endif
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};
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void Rover::read_mode_switch()
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{
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rover.g2.rc_channels.read_mode_switch();
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}
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void Rover::read_aux_all()
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{
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rover.g2.rc_channels.read_aux_all();
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}
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constexpr int8_t Rover::_failsafe_priorities[7];
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#if STATS_ENABLED == ENABLED
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/*
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update AP_Stats
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*/
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void Rover::stats_update(void)
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{
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g2.stats.set_flying(g2.motors.active());
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g2.stats.update();
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}
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#endif
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/*
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setup is called when the sketch starts
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*/
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void Rover::setup()
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{
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// load the default values of variables listed in var_info[]
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AP_Param::setup_sketch_defaults();
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init_ardupilot();
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// initialise the main loop scheduler
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scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), MASK_LOG_PM);
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}
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/*
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loop() is called rapidly while the sketch is running
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*/
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void Rover::loop()
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{
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scheduler.loop();
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G_Dt = scheduler.get_last_loop_time_s();
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}
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void Rover::update_soft_armed()
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{
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hal.util->set_soft_armed(arming.is_armed() &&
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hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
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DataFlash.set_vehicle_armed(hal.util->get_soft_armed());
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}
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// update AHRS system
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void Rover::ahrs_update()
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{
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update_soft_armed();
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#if HIL_MODE != HIL_MODE_DISABLED
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// update hil before AHRS update
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gcs_update();
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#endif
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// AHRS may use movement to calculate heading
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update_ahrs_flyforward();
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ahrs.update();
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// update position
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have_position = ahrs.get_position(current_loc);
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// update home from EKF if necessary
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update_home_from_EKF();
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// if using the EKF get a speed update now (from accelerometers)
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Vector3f velocity;
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if (ahrs.get_velocity_NED(velocity)) {
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ground_speed = norm(velocity.x, velocity.y);
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} else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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ground_speed = ahrs.groundspeed();
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}
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if (should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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}
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if (should_log(MASK_LOG_IMU)) {
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DataFlash.Log_Write_IMU();
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}
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}
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/*
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check for GCS failsafe - 10Hz
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*/
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void Rover::gcs_failsafe_check(void)
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{
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if (g.fs_gcs_enabled) {
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failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000);
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}
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}
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/*
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check for new compass data - 10Hz
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*/
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void Rover::update_compass(void)
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{
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if (g.compass_enabled && compass.read()) {
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ahrs.set_compass(&compass);
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// update offsets
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if (should_log(MASK_LOG_COMPASS)) {
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DataFlash.Log_Write_Compass();
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}
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}
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}
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/*
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log some key data - 10Hz
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*/
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void Rover::update_logging1(void)
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{
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if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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}
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if (should_log(MASK_LOG_THR)) {
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Log_Write_Throttle();
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DataFlash.Log_Write_Beacon(g2.beacon);
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Log_Write_Proximity();
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}
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if (should_log(MASK_LOG_NTUN)) {
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Log_Write_Nav_Tuning();
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}
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}
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/*
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log some key data - 10Hz
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*/
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void Rover::update_logging2(void)
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{
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if (should_log(MASK_LOG_STEERING)) {
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Log_Write_Steering();
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}
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if (should_log(MASK_LOG_RC)) {
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Log_Write_RC();
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Log_Write_WheelEncoder();
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}
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if (should_log(MASK_LOG_IMU)) {
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DataFlash.Log_Write_Vibration();
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}
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}
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/*
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update aux servo mappings
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*/
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void Rover::update_aux(void)
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{
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SRV_Channels::enable_aux_servos();
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}
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/*
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once a second events
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*/
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void Rover::one_second_loop(void)
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{
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// send a heartbeat
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gcs().send_message(MSG_HEARTBEAT);
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// allow orientation change at runtime to aid config
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ahrs.set_orientation();
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set_control_channels();
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// cope with changes to aux functions
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update_aux();
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// update notify flags
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AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
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AP_Notify::flags.pre_arm_gps_check = true;
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AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
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// cope with changes to mavlink system ID
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mavlink_system.sysid = g.sysid_this_mav;
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// update home position if not soft armed and gps position has
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// changed. Update every 1s at most
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if (!hal.util->get_soft_armed() &&
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gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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update_home();
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}
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// init compass location for declination
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init_compass_location();
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// update error mask of sensors and subsystems. The mask uses the
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// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
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// indicates that the sensor or subsystem is present but not
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// functioning correctly
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update_sensor_status_flags();
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}
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void Rover::update_GPS(void)
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{
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gps.update();
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if (gps.last_message_time_ms() != last_gps_msg_ms) {
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last_gps_msg_ms = gps.last_message_time_ms();
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#if CAMERA == ENABLED
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camera.update();
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#endif
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}
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}
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void Rover::update_current_mode(void)
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{
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control_mode->update();
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}
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AP_HAL_MAIN_CALLBACKS(&rover);
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