mirror of https://github.com/ArduPilot/ardupilot
1607 lines
44 KiB
Plaintext
1607 lines
44 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduCopter V2.1.0 Alpha"
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/*
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ArduCopter Version 2.0 Beta
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Authors: Jason Short
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Based on code and ideas from the Arducopter team: Jose Julio, Randy Mackay, Jani Hirvinen
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Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier
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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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Special Thanks for Contributors:
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Hein Hollander :Octo Support
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Dani Saez :V Ocoto Support
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Max Levine :Tri Support, Graphics
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Jose Julio :Stabilization Control laws
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Randy MacKay :Heli Support
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Jani Hiriven :Testing feedback
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Andrew Tridgell :Mavlink Support
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James Goppert :Mavlink Support
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Doug Weibel :Libraries
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Mike Smith :Libraries, Coding support
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HappyKillmore :Mavlink GCS
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Michael Oborne :Mavlink GCS
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Jack Dunkle :Alpha testing
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Christof Schmid :Alpha testing
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Oliver :Piezo support
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Guntars :Arming safety suggestion
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And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Header includes
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////////////////////////////////////////////////////////////////////////////////
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// AVR runtime
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#include <avr/io.h>
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#include <avr/eeprom.h>
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#include <avr/pgmspace.h>
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#include <math.h>
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// Libraries
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <Wire.h> // Arduino I2C lib
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#include <SPI.h> // Arduino SPI lib
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_AnalogSource.h>
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#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
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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> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
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#include <AP_IMU.h> // ArduPilot Mega IMU Library
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#include <AP_PeriodicProcess.h> // Parent header of Timer and TimerAperiodic
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// (only included for makefile libpath to work)
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#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads.
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#include <AP_TimerAperiodicProcess.h> // TimerAperiodicProcess is the scheduler for ADC reads.
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#include <AP_DCM.h> // ArduPilot Mega DCM Library
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#include <APM_PI.h> // PI 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 <AP_OpticalFlow.h> // Optical Flow library
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#include <ModeFilter.h>
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#include <AP_Relay.h> // APM relay
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <memcheck.h>
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// Configuration
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#include "defines.h"
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#include "config.h"
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// Local modules
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#include "Parameters.h"
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#include "GCS.h"
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////////////////////////////////////////////////////////////////////////////////
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// Serial ports
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////////////////////////////////////////////////////////////////////////////////
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//
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// Note that FastSerial port buffers are allocated at ::begin time,
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// so there is not much of a penalty to defining ports that we don't
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// use.
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//
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FastSerialPort0(Serial); // FTDI/console
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FastSerialPort1(Serial1); // GPS port
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FastSerialPort3(Serial3); // Telemetry port
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Arduino_Mega_ISR_Registry isr_registry;
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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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// RC Hardware
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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APM_RC_APM2 APM_RC;
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#else
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APM_RC_APM1 APM_RC;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Dataflash
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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DataFlash_APM2 DataFlash;
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#else
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DataFlash_APM1 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 flight 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 *flight_modes = &g.flight_mode1;
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#if HIL_MODE == HIL_MODE_DISABLED
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// real sensors
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#if CONFIG_ADC == ENABLED
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AP_ADC_ADS7844 adc;
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#endif
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#ifdef DESKTOP_BUILD
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APM_BMP085_HIL_Class barometer;
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AP_Compass_HIL compass;
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#else
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APM_BMP085_Class barometer;
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AP_Compass_HMC5843 compass(Parameters::k_param_compass);
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#endif
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#ifdef OPTFLOW_ENABLED
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AP_OpticalFlow_ADNS3080 optflow;
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#endif
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// real GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
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AP_GPS_MTK16 g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None g_gps_driver(NULL);
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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_IMU_TYPE == CONFIG_IMU_MPU6000
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AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
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#else
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AP_InertialSensor_Oilpan ins(&adc);
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#endif
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AP_IMU_INS imu(&ins, Parameters::k_param_IMU_calibration);
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AP_DCM dcm(&imu, g_gps);
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AP_TimerProcess timer_scheduler;
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#elif HIL_MODE == HIL_MODE_SENSORS
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// sensor emulators
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AP_ADC_HIL adc;
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APM_BMP085_HIL_Class barometer;
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AP_Compass_HIL compass;
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AP_GPS_HIL g_gps_driver(NULL);
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AP_IMU_Shim imu;
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AP_DCM dcm(&imu, g_gps);
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AP_PeriodicProcessStub timer_scheduler;
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AP_InertialSensor_Stub ins;
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static int32_t gps_base_alt;
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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AP_ADC_HIL adc;
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AP_DCM_HIL dcm;
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AP_GPS_HIL g_gps_driver(NULL);
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AP_Compass_HIL compass; // never used
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AP_IMU_Shim imu; // never used
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AP_InertialSensor_Stub ins;
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AP_PeriodicProcessStub timer_scheduler;
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#ifdef OPTFLOW_ENABLED
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AP_OpticalFlow_ADNS3080 optflow;
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#endif
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static int32_t gps_base_alt;
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#else
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#error Unrecognised HIL_MODE setting.
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#endif // HIL MODE
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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////////////////////////////////////////////////////////////////////////////////
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GCS_MAVLINK gcs0(Parameters::k_param_streamrates_port0);
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GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3);
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////////////////////////////////////////////////////////////////////////////////
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// SONAR selection
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////////////////////////////////////////////////////////////////////////////////
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//
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ModeFilter sonar_mode_filter;
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#if CONFIG_SONAR == ENABLED
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
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#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
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AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
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#endif
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#if SONAR_TYPE == MAX_SONAR_XL
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AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
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#else
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#error Unrecognised SONAR_TYPE setting.
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#endif
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#endif
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// agmatthews USERHOOKS
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////////////////////////////////////////////////////////////////////////////////
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// User variables
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////////////////////////////////////////////////////////////////////////////////
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#ifdef USERHOOK_VARIABLES
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#include USERHOOK_VARIABLES
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Global variables
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////////////////////////////////////////////////////////////////////////////////
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static const char *comma = ",";
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static const char* flight_mode_strings[] = {
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"STABILIZE",
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"ACRO",
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"ALT_HOLD",
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"AUTO",
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"GUIDED",
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"LOITER",
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"RTL",
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"CIRCLE",
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"POSITION",
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"LAND"};
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/* Radio values
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Channel assignments
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1 Ailerons (rudder if no ailerons)
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2 Elevator
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3 Throttle
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4 Rudder (if we have ailerons)
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5 Mode - 3 position switch
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6 User assignable
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7 trainer switch - sets throttle nominal (toggle switch), sets accels to Level (hold > 1 second)
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8 TBD
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*/
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// temp
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static int16_t y_actual_speed;
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static int16_t y_rate_error;
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// calc the
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static int16_t x_actual_speed;
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static int16_t x_rate_error;
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// Radio
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// -----
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static byte control_mode = STABILIZE;
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static byte old_control_mode = STABILIZE;
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static byte oldSwitchPosition; // for remembering the control mode switch
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static int16_t motor_out[8];
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static bool do_simple = false;
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static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
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static bool rc_override_active = false;
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static uint32_t rc_override_fs_timer = 0;
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// Heli
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// ----
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#if FRAME_CONFIG == HELI_FRAME
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static float heli_rollFactor[3], heli_pitchFactor[3]; // only required for 3 swashplate servos
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static int16_t heli_servo_min[3], heli_servo_max[3]; // same here. for yaw servo we use heli_servo4_min/max parameter directly
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static int32_t heli_servo_out[4]; // used for servo averaging for analog servos
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static int16_t heli_servo_out_count = 0; // use for servo averaging
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#endif
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// Failsafe
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// --------
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static boolean failsafe; // did our throttle dip below the failsafe value?
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static boolean ch3_failsafe;
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static boolean motor_armed;
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static boolean motor_auto_armed; // if true,
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// PIDs
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// ----
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static Vector3f omega;
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float tuning_value;
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// LED output
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// ----------
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static boolean motor_light; // status of the Motor safety
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static boolean GPS_light; // status of the GPS light
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static byte led_mode = NORMAL_LEDS;
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// GPS variables
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// -------------
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static const float t7 = 10000000.0; // used to scale GPS values for EEPROM storage
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static float scaleLongUp = 1; // used to reverse longitude scaling
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static float scaleLongDown = 1; // used to reverse longitude scaling
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static byte ground_start_count = 10; // have we achieved first lock and set Home?
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static bool did_ground_start = false; // have we ground started after first arming
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// Location & Navigation
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// ---------------------
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static bool nav_ok;
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static const float radius_of_earth = 6378100; // meters
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static const float gravity = 9.81; // meters/ sec^2
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static int32_t target_bearing; // deg * 100 : 0 to 360 location of the plane to the target
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static int32_t home_bearing; // used to track difference in angle
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static byte wp_control; // used to control - navgation or loiter
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static byte command_nav_index; // current command memory location
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static byte prev_nav_index;
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static byte command_cond_index; // current command memory location
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//static byte command_nav_ID; // current command ID
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//static byte command_cond_ID; // current command ID
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static byte wp_verify_byte; // used for tracking state of navigating waypoints
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static float cos_roll_x = 1;
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static float cos_pitch_x = 1;
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static float cos_yaw_x = 1;
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static float sin_pitch_y, sin_yaw_y, sin_roll_y;
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static int32_t initial_simple_bearing; // used for Simple mode
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static float simple_sin_y, simple_cos_x;
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static int8_t jump = -10; // used to track loops in jump command
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static int16_t waypoint_speed_gov;
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static float circle_angle;
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// replace with param
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static const float circle_rate = 0.0872664625;
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// Acro
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#if CH7_OPTION == CH7_FLIP
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static bool do_flip = false;
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#endif
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static boolean trim_flag;
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static int8_t CH7_wp_index;
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// Airspeed
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// --------
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static int16_t airspeed; // m/s * 100
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// Location Errors
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// ---------------
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static int32_t long_error, lat_error; // temp for debugging
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// Battery Sensors
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// ---------------
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static float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter
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static float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery Voltage of cell 1, initialized above threshold for filter
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static float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2, initialized above threshold for filter
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static float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3, initialized above threshold for filter
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static float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter
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static float current_amps;
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static float current_total;
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static bool low_batt = false;
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// Barometer Sensor variables
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// --------------------------
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static int32_t abs_pressure;
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static int32_t ground_pressure;
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static int16_t ground_temperature;
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// Altitude Sensor variables
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// ----------------------
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static byte altitude_sensor = BARO; // used to know which sensor is active, BARO or SONAR
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static int32_t altitude_error; // meters * 100 we are off in altitude
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static int16_t climb_rate; // m/s * 100
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static int16_t sonar_alt;
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static int16_t old_sonar_alt;
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static int16_t sonar_rate;
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static int32_t baro_alt;
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static int32_t old_baro_alt;
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static int16_t baro_rate;
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// flight mode specific
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// --------------------
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static byte yaw_mode;
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static byte roll_pitch_mode;
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static byte throttle_mode;
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static boolean takeoff_complete; // Flag for using take-off controls
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static boolean land_complete;
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static int32_t old_alt; // used for managing altitude rates
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static int16_t velocity_land;
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static byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target
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static int16_t manual_boost; // used in adjust altitude to make changing alt faster
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static int16_t angle_boost; // used in adjust altitude to make changing alt faster
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// Loiter management
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// -----------------
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static int32_t original_target_bearing; // deg * 100, used to check we are not passing the WP
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static int32_t old_target_bearing; // used to track difference in angle
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static int16_t loiter_total; // deg : how many times to loiter * 360
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static int16_t loiter_sum; // deg : how far we have turned around a waypoint
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static uint32_t loiter_time; // millis : when we started LOITER mode
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static unsigned loiter_time_max; // millis : how long to stay in LOITER mode
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// these are the values for navigation control functions
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// ----------------------------------------------------
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static int32_t nav_roll; // deg * 100 : target roll angle
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static int32_t nav_pitch; // deg * 100 : target pitch angle
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static int32_t nav_yaw; // deg * 100 : target yaw angle
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static int32_t home_to_copter_bearing; // deg * 100 : target yaw angle
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static int32_t auto_yaw; // deg * 100 : target yaw angle
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static int32_t nav_lat; // for error calcs
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static int32_t nav_lon; // for error calcs
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static int16_t nav_throttle; // 0-1000 for throttle control
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static int16_t crosstrack_error;
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static uint32_t throttle_integrator; // used to integrate throttle output to predict battery life
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static bool invalid_throttle; // used to control when we calculate nav_throttle
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//static bool set_throttle_cruise_flag = false; // used to track the throttle crouse value
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static int32_t command_yaw_start; // what angle were we to begin with
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static uint32_t command_yaw_start_time; // when did we start turning
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static uint16_t command_yaw_time; // how long we are turning
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static int32_t command_yaw_end; // what angle are we trying to be
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static int32_t command_yaw_delta; // how many degrees will we turn
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static int16_t command_yaw_speed; // how fast to turn
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static byte command_yaw_dir;
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static byte command_yaw_relative;
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static int16_t auto_level_counter;
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// Waypoints
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// ---------
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static int32_t home_distance; // meters - distance between plane and next waypoint
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static int32_t wp_distance; // meters - distance between plane and next waypoint
|
|
static int32_t wp_totalDistance; // meters - distance between old and next waypoint
|
|
//static byte next_wp_index; // Current active command index
|
|
|
|
// repeating event control
|
|
// -----------------------
|
|
static byte event_id; // what to do - see defines
|
|
static uint32_t event_timer; // when the event was asked for in ms
|
|
static uint16_t event_delay; // how long to delay the next firing of event in millis
|
|
static int16_t event_repeat; // how many times to fire : 0 = forever, 1 = do once, 2 = do twice
|
|
static int16_t event_value; // per command value, such as PWM for servos
|
|
static int16_t event_undo_value; // the value used to undo commands
|
|
//static byte repeat_forever;
|
|
//static byte undo_event; // counter for timing the undo
|
|
|
|
// delay command
|
|
// --------------
|
|
static int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
|
|
static int32_t condition_start;
|
|
//static int16_t condition_rate;
|
|
|
|
// land command
|
|
// ------------
|
|
static int32_t land_start; // when we intiated command in millis()
|
|
static int32_t original_alt; // altitide reference for start of command
|
|
|
|
// 3D Location vectors
|
|
// -------------------
|
|
static struct Location home; // home location
|
|
static struct Location prev_WP; // last waypoint
|
|
static struct Location current_loc; // current location
|
|
static struct Location next_WP; // next waypoint
|
|
static struct Location target_WP; // where do we want to you towards?
|
|
static struct Location command_nav_queue; // command preloaded
|
|
static struct Location command_cond_queue; // command preloaded
|
|
static struct Location guided_WP; // guided mode waypoint
|
|
static int32_t target_altitude; // used for
|
|
static boolean home_is_set; // Flag for if we have g_gps lock and have set the home location
|
|
|
|
// IMU variables
|
|
// -------------
|
|
static float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm)
|
|
|
|
// Performance monitoring
|
|
// ----------------------
|
|
static int32_t perf_mon_timer;
|
|
//static float imu_health; // Metric based on accel gain deweighting
|
|
static int16_t gps_fix_count;
|
|
static byte gps_watchdog;
|
|
static int pmTest1;
|
|
|
|
// System Timers
|
|
// --------------
|
|
static uint32_t fast_loopTimer; // Time in miliseconds of main control loop
|
|
static byte medium_loopCounter; // Counters for branching from main control loop to slower loops
|
|
|
|
static uint32_t fiftyhz_loopTimer;
|
|
|
|
static byte slow_loopCounter;
|
|
static int16_t superslow_loopCounter;
|
|
static byte simple_timer; // for limiting the execution of flight mode thingys
|
|
|
|
|
|
static float dTnav; // Delta Time in milliseconds for navigation computations
|
|
static uint32_t nav_loopTimer; // used to track the elapsed ime for GPS nav
|
|
|
|
static byte counter_one_herz;
|
|
static bool GPS_enabled = false;
|
|
static bool new_radio_frame;
|
|
|
|
AP_Relay relay;
|
|
|
|
#if USB_MUX_PIN > 0
|
|
static bool usb_connected;
|
|
#endif
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Top-level logic
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
void setup() {
|
|
memcheck_init();
|
|
init_ardupilot();
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
int32_t timer = micros();
|
|
// We want this to execute fast
|
|
// ----------------------------
|
|
if ((timer - fast_loopTimer) >= 5000) {
|
|
//PORTK |= B00010000;
|
|
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
|
|
fast_loopTimer = timer;
|
|
|
|
// Execute the fast loop
|
|
// ---------------------
|
|
fast_loop();
|
|
}
|
|
//PORTK &= B11101111;
|
|
|
|
if ((timer - fiftyhz_loopTimer) >= 20000) {
|
|
fiftyhz_loopTimer = timer;
|
|
//PORTK |= B01000000;
|
|
|
|
// reads all of the necessary trig functions for cameras, throttle, etc.
|
|
update_trig();
|
|
|
|
// perform 10hz tasks
|
|
medium_loop();
|
|
|
|
// Stuff to run at full 50hz, but after the loops
|
|
fifty_hz_loop();
|
|
|
|
counter_one_herz++;
|
|
|
|
if(counter_one_herz == 50){
|
|
super_slow_loop();
|
|
counter_one_herz = 0;
|
|
}
|
|
|
|
if (millis() - perf_mon_timer > 1200 /*20000*/) {
|
|
if (g.log_bitmask & MASK_LOG_PM)
|
|
Log_Write_Performance();
|
|
|
|
gps_fix_count = 0;
|
|
perf_mon_timer = millis();
|
|
}
|
|
//PORTK &= B10111111;
|
|
}
|
|
}
|
|
// PORTK |= B01000000;
|
|
// PORTK &= B10111111;
|
|
|
|
// Main loop
|
|
static void fast_loop()
|
|
{
|
|
// try to send any deferred messages if the serial port now has
|
|
// some space available
|
|
gcs_send_message(MSG_RETRY_DEFERRED);
|
|
|
|
// Read radio
|
|
// ----------
|
|
read_radio();
|
|
|
|
// IMU DCM Algorithm
|
|
read_AHRS();
|
|
|
|
// custom code/exceptions for flight modes
|
|
// ---------------------------------------
|
|
update_yaw_mode();
|
|
update_roll_pitch_mode();
|
|
|
|
// write out the servo PWM values
|
|
// ------------------------------
|
|
set_servos_4();
|
|
|
|
//if(motor_armed)
|
|
//Log_Write_Attitude();
|
|
|
|
// agmatthews - USERHOOKS
|
|
#ifdef USERHOOK_FASTLOOP
|
|
USERHOOK_FASTLOOP
|
|
#endif
|
|
|
|
}
|
|
|
|
static void medium_loop()
|
|
{
|
|
// This is the start of the medium (10 Hz) loop pieces
|
|
// -----------------------------------------
|
|
switch(medium_loopCounter) {
|
|
|
|
// This case deals with the GPS and Compass
|
|
//-----------------------------------------
|
|
case 0:
|
|
medium_loopCounter++;
|
|
|
|
#ifdef OPTFLOW_ENABLED
|
|
if(g.optflow_enabled){
|
|
optflow.read();
|
|
optflow.update_position(dcm.roll, dcm.pitch, cos_yaw_x, sin_yaw_y, current_loc.alt); // updates internal lon and lat with estimation based on optical flow
|
|
|
|
// write to log
|
|
if (g.log_bitmask & MASK_LOG_OPTFLOW){
|
|
Log_Write_Optflow();
|
|
}
|
|
}
|
|
#endif
|
|
|
|
if(GPS_enabled){
|
|
update_GPS();
|
|
}
|
|
|
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
|
|
if(g.compass_enabled){
|
|
compass.read(); // Read magnetometer
|
|
compass.calculate(dcm.get_dcm_matrix()); // Calculate heading
|
|
compass.null_offsets(dcm.get_dcm_matrix());
|
|
}
|
|
#endif
|
|
|
|
// auto_trim, uses an auto_level algorithm
|
|
auto_trim();
|
|
|
|
// record throttle output
|
|
// ------------------------------
|
|
throttle_integrator += g.rc_3.servo_out;
|
|
break;
|
|
|
|
// This case performs some navigation computations
|
|
//------------------------------------------------
|
|
case 1:
|
|
medium_loopCounter++;
|
|
|
|
// Auto control modes:
|
|
if(nav_ok){
|
|
// clear nav flag
|
|
nav_ok = false;
|
|
|
|
// invalidate GPS data
|
|
// -------------------
|
|
g_gps->new_data = false;
|
|
|
|
// calculate the copter's desired bearing and WP distance
|
|
// ------------------------------------------------------
|
|
if(navigate()){
|
|
|
|
// control mode specific updates
|
|
// -----------------------------
|
|
update_navigation();
|
|
|
|
if (g.log_bitmask & MASK_LOG_NTUN)
|
|
Log_Write_Nav_Tuning();
|
|
}
|
|
}
|
|
break;
|
|
|
|
// command processing
|
|
//-------------------
|
|
case 2:
|
|
medium_loopCounter++;
|
|
|
|
// Read altitude from sensors
|
|
// --------------------------
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
|
|
update_altitude();
|
|
#endif
|
|
|
|
// invalidate the throttle hold value
|
|
// ----------------------------------
|
|
invalid_throttle = true;
|
|
|
|
break;
|
|
|
|
// This case deals with sending high rate telemetry
|
|
//-------------------------------------------------
|
|
case 3:
|
|
medium_loopCounter++;
|
|
|
|
// perform next command
|
|
// --------------------
|
|
if(control_mode == AUTO){
|
|
if(home_is_set == true && g.command_total > 1){
|
|
update_commands();
|
|
}
|
|
}
|
|
|
|
if(motor_armed){
|
|
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED)
|
|
Log_Write_Attitude();
|
|
|
|
if (g.log_bitmask & MASK_LOG_CTUN)
|
|
Log_Write_Control_Tuning();
|
|
}
|
|
|
|
// send all requested output streams with rates requested
|
|
// between 5 and 45 Hz
|
|
gcs_data_stream_send(5,45);
|
|
|
|
if (g.log_bitmask & MASK_LOG_MOTORS)
|
|
Log_Write_Motors();
|
|
|
|
break;
|
|
|
|
// This case controls the slow loop
|
|
//---------------------------------
|
|
case 4:
|
|
medium_loopCounter = 0;
|
|
|
|
if (g.battery_monitoring != 0){
|
|
read_battery();
|
|
}
|
|
|
|
// Accel trims = hold > 2 seconds
|
|
// Throttle cruise = switch less than 1 second
|
|
// --------------------------------------------
|
|
read_trim_switch();
|
|
|
|
// Check for engine arming
|
|
// -----------------------
|
|
arm_motors();
|
|
|
|
// Do an extra baro read
|
|
// ---------------------
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
barometer.Read();
|
|
#endif
|
|
|
|
// agmatthews - USERHOOKS
|
|
#ifdef USERHOOK_MEDIUMLOOP
|
|
USERHOOK_MEDIUMLOOP
|
|
#endif
|
|
|
|
slow_loop();
|
|
break;
|
|
|
|
default:
|
|
// this is just a catch all
|
|
// ------------------------
|
|
medium_loopCounter = 0;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// stuff that happens at 50 hz
|
|
// ---------------------------
|
|
static void fifty_hz_loop()
|
|
{
|
|
// moved to slower loop
|
|
// --------------------
|
|
update_throttle_mode();
|
|
|
|
// Read Sonar
|
|
// ----------
|
|
# if CONFIG_SONAR == ENABLED
|
|
if(g.sonar_enabled){
|
|
sonar_alt = sonar.read();
|
|
}
|
|
#endif
|
|
|
|
// agmatthews - USERHOOKS
|
|
#ifdef USERHOOK_50HZLOOP
|
|
USERHOOK_50HZLOOP
|
|
#endif
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME
|
|
// HIL for a copter needs very fast update of the servo values
|
|
gcs_send_message(MSG_RADIO_OUT);
|
|
#endif
|
|
|
|
camera_stabilization();
|
|
|
|
# if HIL_MODE == HIL_MODE_DISABLED
|
|
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
|
|
Log_Write_Attitude();
|
|
|
|
if (g.log_bitmask & MASK_LOG_RAW)
|
|
Log_Write_Raw();
|
|
#endif
|
|
|
|
// kick the GCS to process uplink data
|
|
gcs_update();
|
|
gcs_data_stream_send(45,1000);
|
|
|
|
#if FRAME_CONFIG == TRI_FRAME
|
|
// servo Yaw
|
|
g.rc_4.calc_pwm();
|
|
APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
|
|
#endif
|
|
}
|
|
|
|
|
|
static void slow_loop()
|
|
{
|
|
// This is the slow (3 1/3 Hz) loop pieces
|
|
//----------------------------------------
|
|
switch (slow_loopCounter){
|
|
case 0:
|
|
slow_loopCounter++;
|
|
superslow_loopCounter++;
|
|
|
|
if(superslow_loopCounter > 1200){
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
if(g.rc_3.control_in == 0 && control_mode == STABILIZE && g.compass_enabled){
|
|
compass.save_offsets();
|
|
superslow_loopCounter = 0;
|
|
}
|
|
#endif
|
|
}
|
|
break;
|
|
|
|
case 1:
|
|
slow_loopCounter++;
|
|
|
|
// Read 3-position switch on radio
|
|
// -------------------------------
|
|
read_control_switch();
|
|
|
|
// Read main battery voltage if hooked up - does not read the 5v from radio
|
|
// ------------------------------------------------------------------------
|
|
//#if BATTERY_EVENT == 1
|
|
// read_battery();
|
|
//#endif
|
|
|
|
#if AUTO_RESET_LOITER == 1
|
|
if(control_mode == LOITER){
|
|
//if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 1500){
|
|
// reset LOITER to current position
|
|
//next_WP = current_loc;
|
|
//}
|
|
}
|
|
#endif
|
|
|
|
break;
|
|
|
|
case 2:
|
|
slow_loopCounter = 0;
|
|
update_events();
|
|
|
|
// blink if we are armed
|
|
update_lights();
|
|
|
|
// send all requested output streams with rates requested
|
|
// between 3 and 5 Hz
|
|
gcs_data_stream_send(3,5);
|
|
|
|
if(g.radio_tuning > 0)
|
|
tuning();
|
|
|
|
#if MOTOR_LEDS == 1
|
|
update_motor_leds();
|
|
#endif
|
|
|
|
#if USB_MUX_PIN > 0
|
|
check_usb_mux();
|
|
#endif
|
|
break;
|
|
|
|
default:
|
|
slow_loopCounter = 0;
|
|
break;
|
|
|
|
}
|
|
// agmatthews - USERHOOKS
|
|
#ifdef USERHOOK_SLOWLOOP
|
|
USERHOOK_SLOWLOOP
|
|
#endif
|
|
|
|
}
|
|
|
|
// 1Hz loop
|
|
static void super_slow_loop()
|
|
{
|
|
if (g.log_bitmask & MASK_LOG_CUR)
|
|
Log_Write_Current();
|
|
|
|
gcs_send_message(MSG_HEARTBEAT);
|
|
gcs_data_stream_send(1,3);
|
|
// agmatthews - USERHOOKS
|
|
#ifdef USERHOOK_SUPERSLOWLOOP
|
|
USERHOOK_SUPERSLOWLOOP
|
|
#endif
|
|
}
|
|
|
|
static void update_GPS(void)
|
|
{
|
|
g_gps->update();
|
|
update_GPS_light();
|
|
|
|
//current_loc.lng = 377697000; // Lon * 10 * *7
|
|
//current_loc.lat = -1224318000; // Lat * 10 * *7
|
|
//current_loc.alt = 100; // alt * 10 * *7
|
|
//return;
|
|
if(gps_watchdog < 12){
|
|
gps_watchdog++;
|
|
}else{
|
|
// we have lost GPS signal for a moment. Reduce our error to avoid flyaways
|
|
nav_roll >>= 1;
|
|
nav_pitch >>= 1;
|
|
}
|
|
|
|
if (g_gps->new_data && g_gps->fix) {
|
|
gps_watchdog = 0;
|
|
|
|
// OK to run the nav routines
|
|
nav_ok = true;
|
|
|
|
// for performance
|
|
// ---------------
|
|
gps_fix_count++;
|
|
|
|
// we are not tracking I term on navigation, so this isn't needed
|
|
dTnav = (float)(millis() - nav_loopTimer)/ 1000.0;
|
|
nav_loopTimer = millis();
|
|
|
|
// prevent runup from bad GPS
|
|
dTnav = min(dTnav, 1.0);
|
|
|
|
if(ground_start_count > 1){
|
|
ground_start_count--;
|
|
|
|
} 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();
|
|
ground_start_count = 0;
|
|
}
|
|
}
|
|
|
|
current_loc.lng = g_gps->longitude; // Lon * 10 * *7
|
|
current_loc.lat = g_gps->latitude; // Lat * 10 * *7
|
|
|
|
if (g.log_bitmask & MASK_LOG_GPS){
|
|
Log_Write_GPS();
|
|
}
|
|
|
|
#if HIL_MODE == HIL_MODE_ATTITUDE // only execute in HIL mode
|
|
update_altitude();
|
|
#endif
|
|
|
|
} else {
|
|
g_gps->new_data = false;
|
|
}
|
|
}
|
|
|
|
|
|
void update_yaw_mode(void)
|
|
{
|
|
switch(yaw_mode){
|
|
case YAW_ACRO:
|
|
g.rc_4.servo_out = get_rate_yaw(g.rc_4.control_in);
|
|
return;
|
|
break;
|
|
|
|
case YAW_HOLD:
|
|
// calcualte new nav_yaw offset
|
|
if (control_mode <= STABILIZE){
|
|
nav_yaw = get_nav_yaw_offset(g.rc_4.control_in, g.rc_3.control_in);
|
|
}else{
|
|
nav_yaw = get_nav_yaw_offset(g.rc_4.control_in, 1);
|
|
}
|
|
break;
|
|
|
|
case YAW_LOOK_AT_HOME:
|
|
//nav_yaw updated in update_navigation()
|
|
break;
|
|
|
|
case YAW_AUTO:
|
|
nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -20, 20);
|
|
nav_yaw = wrap_360(nav_yaw);
|
|
break;
|
|
}
|
|
|
|
// Yaw control
|
|
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
|
|
|
|
//Serial.printf("4: %d\n",g.rc_4.servo_out);
|
|
}
|
|
|
|
void update_roll_pitch_mode(void)
|
|
{
|
|
#if CH7_OPTION == CH7_FLIP
|
|
if (do_flip){
|
|
roll_flip();
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
int control_roll = 0, control_pitch = 0;
|
|
|
|
//read_radio();
|
|
if(do_simple && new_radio_frame){
|
|
new_radio_frame = false;
|
|
simple_timer++;
|
|
|
|
int delta = wrap_360(dcm.yaw_sensor - initial_simple_bearing)/100;
|
|
|
|
if (simple_timer == 1){
|
|
// roll
|
|
simple_cos_x = sin(radians(90 - delta));
|
|
|
|
}else if (simple_timer > 2){
|
|
// pitch
|
|
simple_sin_y = cos(radians(90 - delta));
|
|
simple_timer = 0;
|
|
}
|
|
|
|
// Rotate input by the initial bearing
|
|
control_roll = g.rc_1.control_in * simple_cos_x + g.rc_2.control_in * simple_sin_y;
|
|
control_pitch = -(g.rc_1.control_in * simple_sin_y - g.rc_2.control_in * simple_cos_x);
|
|
|
|
g.rc_1.control_in = control_roll;
|
|
g.rc_2.control_in = control_pitch;
|
|
}
|
|
|
|
switch(roll_pitch_mode){
|
|
case ROLL_PITCH_ACRO:
|
|
g.rc_1.servo_out = get_rate_roll(g.rc_1.control_in);
|
|
g.rc_2.servo_out = get_rate_pitch(g.rc_2.control_in);
|
|
break;
|
|
|
|
case ROLL_PITCH_STABLE:
|
|
g.rc_1.servo_out = get_stabilize_roll(g.rc_1.control_in);
|
|
g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
|
|
break;
|
|
|
|
case ROLL_PITCH_AUTO:
|
|
// mix in user control with Nav control
|
|
control_roll = g.rc_1.control_mix(nav_roll);
|
|
control_pitch = g.rc_2.control_mix(nav_pitch);
|
|
g.rc_1.servo_out = get_stabilize_roll(control_roll);
|
|
g.rc_2.servo_out = get_stabilize_pitch(control_pitch);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// 50 hz update rate, not 250
|
|
void update_throttle_mode(void)
|
|
{
|
|
switch(throttle_mode){
|
|
|
|
case THROTTLE_MANUAL:
|
|
if (g.rc_3.control_in > 0){
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
g.rc_3.servo_out = heli_get_angle_boost(g.rc_3.control_in);
|
|
#else
|
|
angle_boost = get_angle_boost(g.rc_3.control_in);
|
|
g.rc_3.servo_out = g.rc_3.control_in + angle_boost;
|
|
#endif
|
|
}else{
|
|
g.pi_stabilize_roll.reset_I();
|
|
g.pi_stabilize_pitch.reset_I();
|
|
g.pi_rate_roll.reset_I();
|
|
g.pi_rate_pitch.reset_I();
|
|
g.rc_3.servo_out = 0;
|
|
}
|
|
break;
|
|
|
|
case THROTTLE_HOLD:
|
|
// allow interactive changing of atitude
|
|
adjust_altitude();
|
|
// fall through
|
|
|
|
case THROTTLE_AUTO:
|
|
|
|
// calculate angle boost
|
|
angle_boost = get_angle_boost(g.throttle_cruise);
|
|
|
|
// manual command up or down?
|
|
if(manual_boost != 0){
|
|
|
|
//remove alt_hold_velocity when implemented
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost);
|
|
#else
|
|
g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost;
|
|
#endif
|
|
|
|
// reset next_WP.alt
|
|
next_WP.alt = max(current_loc.alt, 100);
|
|
|
|
}else{
|
|
// 10hz, don't run up i term
|
|
if(invalid_throttle && motor_auto_armed == true){
|
|
|
|
// how far off are we
|
|
altitude_error = get_altitude_error();
|
|
|
|
// get the AP throttle
|
|
nav_throttle = get_nav_throttle(altitude_error);
|
|
|
|
// clear the new data flag
|
|
invalid_throttle = false;
|
|
}
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping());
|
|
#else
|
|
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost + get_z_damping();
|
|
#endif
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
// called after a GPS read
|
|
static void update_navigation()
|
|
{
|
|
// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS
|
|
// ------------------------------------------------------------------------
|
|
switch(control_mode){
|
|
case AUTO:
|
|
verify_commands();
|
|
// note: wp_control is handled by commands_logic
|
|
|
|
// calculates desired Yaw
|
|
update_auto_yaw();
|
|
|
|
// calculates the desired Roll and Pitch
|
|
update_nav_wp();
|
|
break;
|
|
|
|
case GUIDED:
|
|
wp_control = WP_MODE;
|
|
// check if we are close to point > loiter
|
|
wp_verify_byte = 0;
|
|
verify_nav_wp();
|
|
|
|
if (wp_control == WP_MODE) {
|
|
update_auto_yaw();
|
|
} else {
|
|
set_mode(LOITER);
|
|
}
|
|
update_nav_wp();
|
|
break;
|
|
|
|
case RTL:
|
|
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
|
|
//lets just jump to Loiter Mode after RTL
|
|
//if(land after RTL)
|
|
//set_mode(LAND);
|
|
//else
|
|
set_mode(LOITER);
|
|
|
|
}else{
|
|
// calculates desired Yaw
|
|
// XXX this is an experiment
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
update_auto_yaw();
|
|
#endif
|
|
|
|
wp_control = WP_MODE;
|
|
}
|
|
|
|
// calculates the desired Roll and Pitch
|
|
update_nav_wp();
|
|
break;
|
|
|
|
// switch passthrough to LOITER
|
|
case LOITER:
|
|
case POSITION:
|
|
case LAND:
|
|
wp_control = LOITER_MODE;
|
|
|
|
// calculates the desired Roll and Pitch
|
|
update_nav_wp();
|
|
break;
|
|
|
|
case CIRCLE:
|
|
yaw_tracking = MAV_ROI_WPNEXT;
|
|
wp_control = CIRCLE_MODE;
|
|
|
|
// calculates desired Yaw
|
|
update_auto_yaw();
|
|
update_nav_wp();
|
|
break;
|
|
|
|
}
|
|
|
|
// are we in SIMPLE mode?
|
|
if(do_simple){
|
|
// get distance to home
|
|
if(home_distance > 10){
|
|
// 10m
|
|
// we reset the angular offset to be a vector from home to the quad
|
|
initial_simple_bearing = home_to_copter_bearing;
|
|
//Serial.printf("ISB: %d\n", initial_simple_bearing);
|
|
}
|
|
}
|
|
|
|
if(yaw_mode == YAW_LOOK_AT_HOME){
|
|
if(home_is_set){
|
|
//nav_yaw = point_at_home_yaw();
|
|
nav_yaw = get_bearing(¤t_loc, &home);
|
|
} else {
|
|
nav_yaw = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
static void read_AHRS(void)
|
|
{
|
|
// Perform IMU calculations and get attitude info
|
|
//-----------------------------------------------
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
// update hil before dcm update
|
|
gcs_update();
|
|
#endif
|
|
|
|
dcm.update_DCM_fast();
|
|
omega = imu.get_gyro();
|
|
}
|
|
|
|
static void update_trig(void){
|
|
Vector2f yawvector;
|
|
Matrix3f temp = dcm.get_dcm_matrix();
|
|
|
|
yawvector.x = temp.a.x; // sin
|
|
yawvector.y = temp.b.x; // cos
|
|
yawvector.normalize();
|
|
|
|
|
|
sin_pitch_y = -temp.c.x;
|
|
cos_pitch_x = sqrt(1 - (temp.c.x * temp.c.x));
|
|
|
|
cos_roll_x = temp.c.z / cos_pitch_x;
|
|
sin_roll_y = temp.c.y / cos_pitch_x;
|
|
|
|
cos_yaw_x = yawvector.y; // 0 x = north
|
|
sin_yaw_y = yawvector.x; // 1 y
|
|
|
|
//flat:
|
|
// 0 ° = cos_yaw: 0.00, sin_yaw: 1.00,
|
|
// 90° = cos_yaw: 1.00, sin_yaw: 0.00,
|
|
// 180 = cos_yaw: 0.00, sin_yaw: -1.00,
|
|
// 270 = cos_yaw: -1.00, sin_yaw: 0.00,
|
|
}
|
|
|
|
// updated at 10hz
|
|
static void update_altitude()
|
|
{
|
|
altitude_sensor = BARO;
|
|
//current_loc.alt = g_gps->altitude - gps_base_alt;
|
|
//climb_rate = (g_gps->altitude - old_baro_alt) * 10;
|
|
//old_baro_alt = g_gps->altitude;
|
|
//baro_alt = g_gps->altitude;
|
|
|
|
#if HIL_MODE == HIL_MODE_ATTITUDE
|
|
// we are in the SIM, fake out the baro and Sonar
|
|
int fake_relative_alt = g_gps->altitude - gps_base_alt;
|
|
baro_alt = fake_relative_alt;
|
|
sonar_alt = fake_relative_alt;
|
|
|
|
baro_rate = (baro_alt - old_baro_alt) * 5; // 5hz
|
|
old_baro_alt = baro_alt;
|
|
|
|
#else
|
|
// This is real life
|
|
|
|
// read in Actual Baro Altitude
|
|
baro_alt = (baro_alt + read_barometer()) >> 1;
|
|
|
|
// calc the vertical accel rate
|
|
int temp = (baro_alt - old_baro_alt) * 10;
|
|
baro_rate = (temp + baro_rate) >> 1;
|
|
old_baro_alt = baro_alt;
|
|
|
|
// sonar_alt is calculaed in a faster loop and filtered with a mode filter
|
|
#endif
|
|
|
|
|
|
if(g.sonar_enabled){
|
|
// filter out offset
|
|
float scale;
|
|
|
|
// calc rate of change for Sonar
|
|
#if HIL_MODE == HIL_MODE_ATTITUDE
|
|
// we are in the SIM, fake outthe Sonar rate
|
|
sonar_rate = baro_rate;
|
|
#else
|
|
// This is real life
|
|
// calc the vertical accel rate
|
|
sonar_rate = (sonar_alt - old_sonar_alt) * 10;
|
|
old_sonar_alt = sonar_alt;
|
|
#endif
|
|
|
|
if(baro_alt < 800){
|
|
#if SONAR_TILT_CORRECTION == 1
|
|
// correct alt for angle of the sonar
|
|
float temp = cos_pitch_x * cos_roll_x;
|
|
temp = max(temp, 0.707);
|
|
sonar_alt = (float)sonar_alt * temp;
|
|
#endif
|
|
|
|
scale = (sonar_alt - 400) / 200;
|
|
scale = constrain(scale, 0, 1);
|
|
|
|
current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale) + home.alt;
|
|
|
|
// solve for a blended climb_rate
|
|
climb_rate = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale;
|
|
|
|
}else{
|
|
// we must be higher than sonar, don't get tricked by bad sonar reads
|
|
current_loc.alt = baro_alt + home.alt; // home alt = 0
|
|
// dont blend, go straight baro
|
|
climb_rate = baro_rate;
|
|
}
|
|
|
|
}else{
|
|
|
|
// NO Sonar case
|
|
current_loc.alt = baro_alt + home.alt;
|
|
climb_rate = baro_rate;
|
|
}
|
|
|
|
// manage bad data
|
|
climb_rate = constrain(climb_rate, -300, 300);
|
|
}
|
|
|
|
static void
|
|
adjust_altitude()
|
|
{
|
|
/*
|
|
// old vert control
|
|
if(g.rc_3.control_in <= 200){
|
|
next_WP.alt -= 1; // 1 meter per second
|
|
next_WP.alt = max(next_WP.alt, (current_loc.alt - 500)); // don't go less than 4 meters below current location
|
|
next_WP.alt = max(next_WP.alt, 100); // don't go less than 1 meter
|
|
//manual_boost = (g.rc_3.control_in == 0) ? -20 : 0;
|
|
|
|
}else if (g.rc_3.control_in > 700){
|
|
next_WP.alt += 1; // 1 meter per second
|
|
next_WP.alt = min(next_WP.alt, (current_loc.alt + 500)); // don't go more than 4 meters below current location
|
|
//manual_boost = (g.rc_3.control_in == 800) ? 20 : 0;
|
|
}*/
|
|
|
|
if(g.rc_3.control_in <= 180){
|
|
// we remove 0 to 100 PWM from hover
|
|
manual_boost = g.rc_3.control_in - 180;
|
|
manual_boost = max(-120, manual_boost);
|
|
g.throttle_cruise += g.pi_alt_hold.get_integrator();
|
|
g.pi_alt_hold.reset_I();
|
|
g.pi_throttle.reset_I();
|
|
|
|
}else if (g.rc_3.control_in >= 650){
|
|
// we add 0 to 100 PWM to hover
|
|
manual_boost = g.rc_3.control_in - 650;
|
|
g.throttle_cruise += g.pi_alt_hold.get_integrator();
|
|
g.pi_alt_hold.reset_I();
|
|
g.pi_throttle.reset_I();
|
|
|
|
}else {
|
|
manual_boost = 0;
|
|
}
|
|
}
|
|
|
|
static void tuning(){
|
|
tuning_value = (float)g.rc_6.control_in / 1000.0;
|
|
|
|
switch(g.radio_tuning){
|
|
|
|
/*case CH6_STABILIZE_KP:
|
|
g.rc_6.set_range(0,2000); // 0 to 8
|
|
tuning_value = (float)g.rc_6.control_in / 100.0;
|
|
alt_hold_gain = tuning_value;
|
|
break;*/
|
|
|
|
case CH6_STABILIZE_KP:
|
|
g.rc_6.set_range(0,8000); // 0 to 8
|
|
g.pi_stabilize_roll.kP(tuning_value);
|
|
g.pi_stabilize_pitch.kP(tuning_value);
|
|
break;
|
|
|
|
case CH6_STABILIZE_KI:
|
|
g.rc_6.set_range(0,300); // 0 to .3
|
|
tuning_value = (float)g.rc_6.control_in / 1000.0;
|
|
g.pi_stabilize_roll.kI(tuning_value);
|
|
g.pi_stabilize_pitch.kI(tuning_value);
|
|
break;
|
|
|
|
case CH6_RATE_KP:
|
|
g.rc_6.set_range(40,300); // 0 to .3
|
|
g.pi_rate_roll.kP(tuning_value);
|
|
g.pi_rate_pitch.kP(tuning_value);
|
|
break;
|
|
|
|
case CH6_RATE_KI:
|
|
g.rc_6.set_range(0,300); // 0 to .3
|
|
g.pi_rate_roll.kI(tuning_value);
|
|
g.pi_rate_pitch.kI(tuning_value);
|
|
break;
|
|
|
|
case CH6_YAW_KP:
|
|
g.rc_6.set_range(0,1000);
|
|
g.pi_stabilize_yaw.kP(tuning_value);
|
|
break;
|
|
|
|
case CH6_YAW_RATE_KP:
|
|
g.rc_6.set_range(0,1000);
|
|
g.pi_rate_yaw.kP(tuning_value);
|
|
break;
|
|
|
|
case CH6_THROTTLE_KP:
|
|
g.rc_6.set_range(0,1000); // 0 to 1
|
|
g.pi_throttle.kP(tuning_value);
|
|
break;
|
|
|
|
case CH6_TOP_BOTTOM_RATIO:
|
|
g.rc_6.set_range(800,1000); // .8 to 1
|
|
g.top_bottom_ratio = tuning_value;
|
|
break;
|
|
|
|
case CH6_RELAY:
|
|
g.rc_6.set_range(0,1000);
|
|
if (g.rc_6.control_in > 525) relay.on();
|
|
if (g.rc_6.control_in < 475) relay.off();
|
|
break;
|
|
|
|
case CH6_TRAVERSE_SPEED:
|
|
g.rc_6.set_range(0,1000);
|
|
g.waypoint_speed_max = g.rc_6.control_in;
|
|
break;
|
|
|
|
case CH6_LOITER_P:
|
|
g.rc_6.set_range(0,1000);
|
|
g.pi_loiter_lat.kP(tuning_value);
|
|
g.pi_loiter_lon.kP(tuning_value);
|
|
break;
|
|
|
|
case CH6_NAV_P:
|
|
g.rc_6.set_range(0,6000);
|
|
g.pi_nav_lat.kP(tuning_value);
|
|
g.pi_nav_lon.kP(tuning_value);
|
|
break;
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
case CH6_HELI_EXTERNAL_GYRO:
|
|
g.rc_6.set_range(1000,2000);
|
|
g.heli_ext_gyro_gain = tuning_value * 1000;
|
|
break;
|
|
#endif
|
|
|
|
case CH6_THR_HOLD_KP:
|
|
g.rc_6.set_range(0,1000); // 0 to 1
|
|
g.pi_alt_hold.kP(tuning_value);
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void update_nav_wp()
|
|
{
|
|
if(wp_control == LOITER_MODE){
|
|
|
|
// calc a pitch to the target
|
|
calc_location_error(&next_WP);
|
|
|
|
// use error as the desired rate towards the target
|
|
calc_loiter(long_error, lat_error);
|
|
|
|
// rotate pitch and roll to the copter frame of reference
|
|
calc_loiter_pitch_roll();
|
|
|
|
}else if(wp_control == CIRCLE_MODE){
|
|
|
|
// check if we have missed the WP
|
|
int loiter_delta = (target_bearing - old_target_bearing)/100;
|
|
|
|
// reset the old value
|
|
old_target_bearing = target_bearing;
|
|
|
|
// wrap values
|
|
if (loiter_delta > 180) loiter_delta -= 360;
|
|
if (loiter_delta < -180) loiter_delta += 360;
|
|
|
|
// sum the angle around the WP
|
|
loiter_sum += loiter_delta;
|
|
|
|
// create a virtual waypoint that circles the next_WP
|
|
// Count the degrees we have circulated the WP
|
|
//int circle_angle = wrap_360(target_bearing + 3000 + 18000) / 100;
|
|
|
|
circle_angle += (circle_rate * dTnav);
|
|
//1° = 0.0174532925 radians
|
|
|
|
// wrap
|
|
if (circle_angle > 6.28318531)
|
|
circle_angle -= 6.28318531;
|
|
|
|
target_WP.lng = next_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
|
|
target_WP.lat = next_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle));
|
|
|
|
// calc the lat and long error to the target
|
|
calc_location_error(&target_WP);
|
|
|
|
// use error as the desired rate towards the target
|
|
// nav_lon, nav_lat is calculated
|
|
calc_loiter(long_error, lat_error);
|
|
|
|
//CIRCLE: angle:29, dist:0, lat:400, lon:242
|
|
|
|
// rotate pitch and roll to the copter frame of reference
|
|
calc_loiter_pitch_roll();
|
|
//int angleTest = degrees(circle_angle);
|
|
//int nroll = nav_roll;
|
|
//int npitch = nav_pitch;
|
|
//Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll);
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} else {
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// use error as the desired rate towards the target
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calc_nav_rate(g.waypoint_speed_max);
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// rotate pitch and roll to the copter frame of reference
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calc_nav_pitch_roll();
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}
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}
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static void update_auto_yaw()
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{
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// this tracks a location so the copter is always pointing towards it.
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if(yaw_tracking == MAV_ROI_LOCATION){
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auto_yaw = get_bearing(¤t_loc, &target_WP);
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}else if(yaw_tracking == MAV_ROI_WPNEXT){
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auto_yaw = target_bearing;
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}
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// MAV_ROI_NONE = basic Yaw hold
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}
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