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ardupilot/ArduCopter/ArduCopter.pde
Randy Mackay 58ac9de94b Copter: update home position when disarmed 
This resolves the issue in which the vehicle's position jumped back to
it's home location when disarmed and using the EKF.  This also makes
copter consistent with plane.
2015-01-22 14:39:50 +09:00

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "ArduCopter V3.3-dev"
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* ArduCopter Version 3.0
* Creator: Jason Short
* Lead Developer: Randy Mackay
* Lead Tester: Marco Robustini
* Based on code and ideas from the Arducopter team: Leonard Hall, Andrew Tridgell, Robert Lefebvre, Pat Hickey, Michael Oborne, Jani Hirvinen,
Olivier Adler, Kevin Hester, Arthur Benemann, Jonathan Challinger, John Arne Birkeland,
Jean-Louis Naudin, Mike Smith, and more
* Thanks to: Chris Anderson, Jordi Munoz, Jason Short, Doug Weibel, Jose Julio
*
* Special Thanks to contributors (in alphabetical order by first name):
*
* Adam M Rivera :Auto Compass Declination
* Amilcar Lucas :Camera mount library
* Andrew Tridgell :General development, Mavlink Support
* Angel Fernandez :Alpha testing
* AndreasAntonopoulous:GeoFence
* Arthur Benemann :DroidPlanner GCS
* Benjamin Pelletier :Libraries
* Bill King :Single Copter
* Christof Schmid :Alpha testing
* Craig Elder :Release Management, Support
* Dani Saez :V Octo Support
* Doug Weibel :DCM, Libraries, Control law advice
* Emile Castelnuovo :VRBrain port, bug fixes
* Gregory Fletcher :Camera mount orientation math
* Guntars :Arming safety suggestion
* HappyKillmore :Mavlink GCS
* Hein Hollander :Octo Support, Heli Testing
* Igor van Airde :Control Law optimization
* Jack Dunkle :Alpha testing
* James Goppert :Mavlink Support
* Jani Hiriven :Testing feedback
* Jean-Louis Naudin :Auto Landing
* John Arne Birkeland :PPM Encoder
* Jose Julio :Stabilization Control laws, MPU6k driver
* Julien Dubois :PosHold flight mode
* Julian Oes :Pixhawk
* Jonathan Challinger :Inertial Navigation, CompassMot, Spin-When-Armed
* Kevin Hester :Andropilot GCS
* Max Levine :Tri Support, Graphics
* Leonard Hall :Flight Dynamics, Throttle, Loiter and Navigation Controllers
* Marco Robustini :Lead tester
* Michael Oborne :Mission Planner GCS
* Mike Smith :Pixhawk driver, coding support
* Olivier Adler :PPM Encoder, piezo buzzer
* Pat Hickey :Hardware Abstraction Layer (HAL)
* Robert Lefebvre :Heli Support, Copter LEDs
* Roberto Navoni :Library testing, Porting to VRBrain
* Sandro Benigno :Camera support, MinimOSD
* Sandro Tognana :PosHold flight mode
* ..and many more.
*
* Code commit statistics can be found here: https://github.com/diydrones/ardupilot/graphs/contributors
* Wiki: http://copter.ardupilot.com/
* Requires modified version of Arduino, which can be found here: http://ardupilot.com/downloads/?category=6
*
*/
////////////////////////////////////////////////////////////////////////////////
// Header includes
////////////////////////////////////////////////////////////////////////////////
#include <math.h>
#include <stdio.h>
#include <stdarg.h>
// Common dependencies
#include <AP_Common.h>
#include <AP_Progmem.h>
#include <AP_Menu.h>
#include <AP_Param.h>
#include <StorageManager.h>
// AP_HAL
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_PX4.h>
#include <AP_HAL_VRBRAIN.h>
#include <AP_HAL_FLYMAPLE.h>
#include <AP_HAL_Linux.h>
#include <AP_HAL_Empty.h>
// Application dependencies
#include <GCS.h>
#include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <AP_GPS.h> // ArduPilot GPS library
#include <AP_GPS_Glitch.h> // GPS glitch protection library
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h>
#include <AP_Baro.h>
#include <AP_Baro_Glitch.h> // Baro glitch protection library
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_AHRS.h>
#include <AP_NavEKF.h>
#include <AP_Mission.h> // Mission command library
#include <AP_Rally.h> // Rally point library
#include <AC_PID.h> // PID library
#include <AC_HELI_PID.h> // Heli specific Rate PID library
#include <AC_P.h> // P library
#include <AC_AttitudeControl.h> // Attitude control library
#include <AC_AttitudeControl_Heli.h> // Attitude control library for traditional helicopter
#include <AC_PosControl.h> // Position control library
#include <RC_Channel.h> // RC Channel Library
#include <AP_Motors.h> // AP Motors library
#include <AP_RangeFinder.h> // Range finder library
#include <AP_OpticalFlow.h> // Optical Flow library
#include <Filter.h> // Filter library
#include <AP_Buffer.h> // APM FIFO Buffer
#include <AP_Relay.h> // APM relay
#include <AP_ServoRelayEvents.h>
#include <AP_Camera.h> // Photo or video camera
#include <AP_Mount.h> // Camera/Antenna mount
#include <AP_Airspeed.h> // needed for AHRS build
#include <AP_Vehicle.h> // needed for AHRS build
#include <AP_InertialNav.h> // ArduPilot Mega inertial navigation library
#include <AC_WPNav.h> // ArduCopter waypoint navigation library
#include <AC_Circle.h> // circle navigation library
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AC_Fence.h> // Arducopter Fence library
#include <SITL.h> // software in the loop support
#include <AP_Scheduler.h> // main loop scheduler
#include <AP_RCMapper.h> // RC input mapping library
#include <AP_Notify.h> // Notify library
#include <AP_BattMonitor.h> // Battery monitor library
#include <AP_BoardConfig.h> // board configuration library
#include <AP_Frsky_Telem.h>
#if SPRAYER == ENABLED
#include <AC_Sprayer.h> // crop sprayer library
#endif
#if EPM_ENABLED == ENABLED
#include <AP_EPM.h> // EPM cargo gripper stuff
#endif
#if PARACHUTE == ENABLED
#include <AP_Parachute.h> // Parachute release library
#endif
#include <AP_LandingGear.h> // Landing Gear library
#include <AP_Terrain.h>
// AP_HAL to Arduino compatibility layer
#include "compat.h"
// Configuration
#include "defines.h"
#include "config.h"
#include "config_channels.h"
// key aircraft parameters passed to multiple libraries
static AP_Vehicle::MultiCopter aparm;
// Local modules
#include "Parameters.h"
// Heli modules
#include "heli.h"
////////////////////////////////////////////////////////////////////////////////
// cliSerial
////////////////////////////////////////////////////////////////////////////////
// cliSerial isn't strictly necessary - it is an alias for hal.console. It may
// be deprecated in favor of hal.console in later releases.
static AP_HAL::BetterStream* cliSerial;
// N.B. we need to keep a static declaration which isn't guarded by macros
// at the top to cooperate with the prototype mangler.
////////////////////////////////////////////////////////////////////////////////
// AP_HAL instance
////////////////////////////////////////////////////////////////////////////////
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
////////////////////////////////////////////////////////////////////////////////
// Parameters
////////////////////////////////////////////////////////////////////////////////
//
// Global parameters are all contained within the 'g' class.
//
static Parameters g;
// main loop scheduler
static AP_Scheduler scheduler;
// AP_Notify instance
static AP_Notify notify;
// used to detect MAVLink acks from GCS to stop compassmot
static uint8_t command_ack_counter;
// has a log download started?
static bool in_log_download;
////////////////////////////////////////////////////////////////////////////////
// prototypes
////////////////////////////////////////////////////////////////////////////////
static void update_events(void);
static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
////////////////////////////////////////////////////////////////////////////////
// Dataflash
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
static DataFlash_APM2 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
static DataFlash_APM1 DataFlash;
#elif defined(HAL_BOARD_LOG_DIRECTORY)
static DataFlash_File DataFlash(HAL_BOARD_LOG_DIRECTORY);
#else
static DataFlash_Empty DataFlash;
#endif
////////////////////////////////////////////////////////////////////////////////
// the rate we run the main loop at
////////////////////////////////////////////////////////////////////////////////
#if MAIN_LOOP_RATE == 400
static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_400HZ;
#else
static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_100HZ;
#endif
////////////////////////////////////////////////////////////////////////////////
// Sensors
////////////////////////////////////////////////////////////////////////////////
//
// There are three basic options related to flight sensor selection.
//
// - Normal flight mode. Real sensors are used.
// - HIL Attitude mode. Most sensors are disabled, as the HIL
// protocol supplies attitude information directly.
// - HIL Sensors mode. Synthetic sensors are configured that
// supply data from the simulation.
//
static AP_GPS gps;
static GPS_Glitch gps_glitch(gps);
// flight modes convenience array
static AP_Int8 *flight_modes = &g.flight_mode1;
static AP_Baro barometer;
static Baro_Glitch baro_glitch(barometer);
#if CONFIG_COMPASS == HAL_COMPASS_PX4
static AP_Compass_PX4 compass;
#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
static AP_Compass_VRBRAIN compass;
#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
static AP_Compass_HMC5843 compass;
#elif CONFIG_COMPASS == HAL_COMPASS_HIL
static AP_Compass_HIL compass;
#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
static AP_Compass_AK8963_MPU9250 compass;
#else
#error Unrecognized CONFIG_COMPASS setting
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 apm1_adc;
#endif
AP_InertialSensor ins;
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs(ins, barometer, gps);
#else
AP_AHRS_DCM ahrs(ins, barometer, gps);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
SITL sitl;
#endif
// Mission library
// forward declaration to keep compiler happy
static bool start_command(const AP_Mission::Mission_Command& cmd);
static bool verify_command(const AP_Mission::Mission_Command& cmd);
static void exit_mission();
AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
////////////////////////////////////////////////////////////////////////////////
// Optical flow sensor
////////////////////////////////////////////////////////////////////////////////
#if OPTFLOW == ENABLED
static OpticalFlow optflow;
#endif
// gnd speed limit required to observe optical flow sensor limits
static float ekfGndSpdLimit;
// scale factor applied to velocity controller gain to prevent optical flow noise causing excessive angle demand noise
static float ekfNavVelGainScaler;
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
////////////////////////////////////////////////////////////////////////////////
// SONAR
#if CONFIG_SONAR == ENABLED
static RangeFinder sonar;
static bool sonar_enabled = true; // enable user switch for sonar
#endif
////////////////////////////////////////////////////////////////////////////////
// User variables
////////////////////////////////////////////////////////////////////////////////
#ifdef USERHOOK_VARIABLES
#include USERHOOK_VARIABLES
#endif
////////////////////////////////////////////////////////////////////////////////
// Global variables
////////////////////////////////////////////////////////////////////////////////
/* Radio values
* Channel assignments
* 1 Ailerons (rudder if no ailerons)
* 2 Elevator
* 3 Throttle
* 4 Rudder (if we have ailerons)
* 5 Mode - 3 position switch
* 6 User assignable
* 7 trainer switch - sets throttle nominal (toggle switch), sets accels to Level (hold > 1 second)
* 8 TBD
* Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
* See libraries/RC_Channel/RC_Channel_aux.h for more information
*/
//Documentation of GLobals:
static union {
struct {
uint8_t home_is_set : 1; // 0
uint8_t simple_mode : 2; // 1,2 // This is the state of simple mode : 0 = disabled ; 1 = SIMPLE ; 2 = SUPERSIMPLE
uint8_t pre_arm_rc_check : 1; // 3 // true if rc input pre-arm checks have been completed successfully
uint8_t pre_arm_check : 1; // 4 // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
uint8_t auto_armed : 1; // 5 // stops auto missions from beginning until throttle is raised
uint8_t logging_started : 1; // 6 // true if dataflash logging has started
uint8_t land_complete : 1; // 7 // true if we have detected a landing
uint8_t new_radio_frame : 1; // 8 // Set true if we have new PWM data to act on from the Radio
uint8_t CH7_flag : 2; // 9,10 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH8_flag : 2; // 11,12 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t usb_connected : 1; // 13 // true if APM is powered from USB connection
uint8_t rc_receiver_present : 1; // 14 // true if we have an rc receiver present (i.e. if we've ever received an update
uint8_t compass_mot : 1; // 15 // true if we are currently performing compassmot calibration
uint8_t motor_test : 1; // 16 // true if we are currently performing the motors test
uint8_t initialised : 1; // 17 // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
uint8_t land_complete_maybe : 1; // 18 // true if we may have landed (less strict version of land_complete)
uint8_t throttle_zero : 1; // 19 // true if the throttle stick is at zero, debounced
};
uint32_t value;
} ap;
////////////////////////////////////////////////////////////////////////////////
// Radio
////////////////////////////////////////////////////////////////////////////////
// This is the state of the flight control system
// There are multiple states defined such as STABILIZE, ACRO,
static int8_t control_mode = STABILIZE;
// Structure used to detect changes in the flight mode control switch
static struct {
int8_t debounced_switch_position; // currently used switch position
int8_t last_switch_position; // switch position in previous iteration
uint32_t last_edge_time_ms; // system time that switch position was last changed
} control_switch_state;
static RCMapper rcmap;
// board specific config
static AP_BoardConfig BoardConfig;
// receiver RSSI
static uint8_t receiver_rssi;
////////////////////////////////////////////////////////////////////////////////
// Failsafe
////////////////////////////////////////////////////////////////////////////////
static struct {
uint8_t rc_override_active : 1; // 0 // true if rc control are overwritten by ground station
uint8_t radio : 1; // 1 // A status flag for the radio failsafe
uint8_t battery : 1; // 2 // A status flag for the battery failsafe
uint8_t gps : 1; // 3 // A status flag for the gps failsafe
uint8_t gcs : 1; // 4 // A status flag for the ground station failsafe
uint8_t ekf : 1; // 5 // true if ekf failsafe has occurred
int8_t radio_counter; // number of iterations with throttle below throttle_fs_value
uint32_t last_heartbeat_ms; // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
} failsafe;
////////////////////////////////////////////////////////////////////////////////
// Motor Output
////////////////////////////////////////////////////////////////////////////////
#if FRAME_CONFIG == QUAD_FRAME
#define MOTOR_CLASS AP_MotorsQuad
#elif FRAME_CONFIG == TRI_FRAME
#define MOTOR_CLASS AP_MotorsTri
#elif FRAME_CONFIG == HEXA_FRAME
#define MOTOR_CLASS AP_MotorsHexa
#elif FRAME_CONFIG == Y6_FRAME
#define MOTOR_CLASS AP_MotorsY6
#elif FRAME_CONFIG == OCTA_FRAME
#define MOTOR_CLASS AP_MotorsOcta
#elif FRAME_CONFIG == OCTA_QUAD_FRAME
#define MOTOR_CLASS AP_MotorsOctaQuad
#elif FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#elif FRAME_CONFIG == SINGLE_FRAME
#define MOTOR_CLASS AP_MotorsSingle
#elif FRAME_CONFIG == COAX_FRAME
#define MOTOR_CLASS AP_MotorsCoax
#else
#error Unrecognised frame type
#endif
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.rc_7, g.rc_8, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4);
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.rc_7);
#elif FRAME_CONFIG == SINGLE_FRAME // single constructor requires extra servos for flaps
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.single_servo_1, g.single_servo_2, g.single_servo_3, g.single_servo_4);
#elif FRAME_CONFIG == COAX_FRAME // single constructor requires extra servos for flaps
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.single_servo_1, g.single_servo_2);
#else
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4);
#endif
////////////////////////////////////////////////////////////////////////////////
// GPS variables
////////////////////////////////////////////////////////////////////////////////
// We use atan2 and other trig techniques to calaculate angles
// We need to scale the longitude up to make these calcs work
// to account for decreasing distance between lines of longitude away from the equator
static float scaleLongUp = 1;
// Sometimes we need to remove the scaling for distance calcs
static float scaleLongDown = 1;
////////////////////////////////////////////////////////////////////////////////
// Location & Navigation
////////////////////////////////////////////////////////////////////////////////
// This is the angle from the copter to the next waypoint in centi-degrees
static int32_t wp_bearing;
// The location of home in relation to the copter in centi-degrees
static int32_t home_bearing;
// distance between plane and home in cm
static int32_t home_distance;
// distance between plane and next waypoint in cm.
static uint32_t wp_distance;
static uint8_t land_state; // records state of land (flying to location, descending)
////////////////////////////////////////////////////////////////////////////////
// Auto
////////////////////////////////////////////////////////////////////////////////
static AutoMode auto_mode; // controls which auto controller is run
////////////////////////////////////////////////////////////////////////////////
// Guided
////////////////////////////////////////////////////////////////////////////////
static GuidedMode guided_mode; // controls which controller is run (pos or vel)
////////////////////////////////////////////////////////////////////////////////
// RTL
////////////////////////////////////////////////////////////////////////////////
RTLState rtl_state; // records state of rtl (initial climb, returning home, etc)
bool rtl_state_complete; // set to true if the current state is completed
////////////////////////////////////////////////////////////////////////////////
// Circle
////////////////////////////////////////////////////////////////////////////////
bool circle_pilot_yaw_override; // true if pilot is overriding yaw
////////////////////////////////////////////////////////////////////////////////
// SIMPLE Mode
////////////////////////////////////////////////////////////////////////////////
// Used to track the orientation of the copter for Simple mode. This value is reset at each arming
// or in SuperSimple mode when the copter leaves a 20m radius from home.
static float simple_cos_yaw = 1.0;
static float simple_sin_yaw;
static int32_t super_simple_last_bearing;
static float super_simple_cos_yaw = 1.0;
static float super_simple_sin_yaw;
// Stores initial bearing when armed - initial simple bearing is modified in super simple mode so not suitable
static int32_t initial_armed_bearing;
////////////////////////////////////////////////////////////////////////////////
// Throttle variables
////////////////////////////////////////////////////////////////////////////////
static float throttle_avg; // g.throttle_cruise as a float
static int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
////////////////////////////////////////////////////////////////////////////////
// ACRO Mode
////////////////////////////////////////////////////////////////////////////////
static float acro_level_mix; // scales back roll, pitch and yaw inversely proportional to input from pilot
////////////////////////////////////////////////////////////////////////////////
// Loiter control
////////////////////////////////////////////////////////////////////////////////
static uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
static uint32_t loiter_time; // How long have we been loitering - The start time in millis
////////////////////////////////////////////////////////////////////////////////
// Flip
////////////////////////////////////////////////////////////////////////////////
static Vector3f flip_orig_attitude; // original copter attitude before flip
////////////////////////////////////////////////////////////////////////////////
// Battery Sensors
////////////////////////////////////////////////////////////////////////////////
static AP_BattMonitor battery;
////////////////////////////////////////////////////////////////////////////////
// FrSky telemetry support
#if FRSKY_TELEM_ENABLED == ENABLED
static AP_Frsky_Telem frsky_telemetry(ahrs, battery);
#endif
////////////////////////////////////////////////////////////////////////////////
// Altitude
////////////////////////////////////////////////////////////////////////////////
// The cm/s we are moving up or down based on filtered data - Positive = UP
static int16_t climb_rate;
// The altitude as reported by Sonar in cm - Values are 20 to 700 generally.
static int16_t sonar_alt;
static uint8_t sonar_alt_health; // true if we can trust the altitude from the sonar
static float target_sonar_alt; // desired altitude in cm above the ground
static int32_t baro_alt; // barometer altitude in cm above home
static float baro_climbrate; // barometer climbrate in cm/s
////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors
////////////////////////////////////////////////////////////////////////////////
// Current location of the copter
static struct Location current_loc;
////////////////////////////////////////////////////////////////////////////////
// Navigation Yaw control
////////////////////////////////////////////////////////////////////////////////
// auto flight mode's yaw mode
static uint8_t auto_yaw_mode = AUTO_YAW_LOOK_AT_NEXT_WP;
// Yaw will point at this location if auto_yaw_mode is set to AUTO_YAW_ROI
static Vector3f roi_WP;
// bearing from current location to the yaw_look_at_WP
static float yaw_look_at_WP_bearing;
// yaw used for YAW_LOOK_AT_HEADING yaw_mode
static int32_t yaw_look_at_heading;
// Deg/s we should turn
static int16_t yaw_look_at_heading_slew;
// heading when in yaw_look_ahead_bearing
static float yaw_look_ahead_bearing;
////////////////////////////////////////////////////////////////////////////////
// Delay Mission Scripting Command
////////////////////////////////////////////////////////////////////////////////
static int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
static uint32_t condition_start;
////////////////////////////////////////////////////////////////////////////////
// IMU variables
////////////////////////////////////////////////////////////////////////////////
// Integration time (in seconds) for the gyros (DCM algorithm)
// Updated with the fast loop
static float G_Dt = 0.02;
////////////////////////////////////////////////////////////////////////////////
// Inertial Navigation
////////////////////////////////////////////////////////////////////////////////
#if AP_AHRS_NAVEKF_AVAILABLE
static AP_InertialNav_NavEKF inertial_nav(ahrs, barometer, gps_glitch, baro_glitch);
#else
static AP_InertialNav inertial_nav(ahrs, barometer, gps_glitch, baro_glitch);
#endif
////////////////////////////////////////////////////////////////////////////////
// Attitude, Position and Waypoint navigation objects
// To-Do: move inertial nav up or other navigation variables down here
////////////////////////////////////////////////////////////////////////////////
#if FRAME_CONFIG == HELI_FRAME
AC_AttitudeControl_Heli attitude_control(ahrs, aparm, motors, g.p_stabilize_roll, g.p_stabilize_pitch, g.p_stabilize_yaw,
g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw);
#else
AC_AttitudeControl attitude_control(ahrs, aparm, motors, g.p_stabilize_roll, g.p_stabilize_pitch, g.p_stabilize_yaw,
g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw);
#endif
AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control,
g.p_alt_hold, g.p_throttle_rate, g.pid_throttle_accel,
g.p_loiter_pos, g.pid_loiter_rate_lat, g.pid_loiter_rate_lon);
static AC_WPNav wp_nav(inertial_nav, ahrs, pos_control, attitude_control);
static AC_Circle circle_nav(inertial_nav, ahrs, pos_control);
////////////////////////////////////////////////////////////////////////////////
// Performance monitoring
////////////////////////////////////////////////////////////////////////////////
static int16_t pmTest1;
// System Timers
// --------------
// Time in microseconds of main control loop
static uint32_t fast_loopTimer;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
static uint16_t mainLoop_count;
// Loiter timer - Records how long we have been in loiter
static uint32_t rtl_loiter_start_time;
// Used to exit the roll and pitch auto trim function
static uint8_t auto_trim_counter;
// Reference to the relay object (APM1 -> PORTL 2) (APM2 -> PORTB 7)
static AP_Relay relay;
// handle repeated servo and relay events
static AP_ServoRelayEvents ServoRelayEvents(relay);
//Reference to the camera object (it uses the relay object inside it)
#if CAMERA == ENABLED
static AP_Camera camera(&relay);
#endif
// a pin for reading the receiver RSSI voltage.
static AP_HAL::AnalogSource* rssi_analog_source;
#if CLI_ENABLED == ENABLED
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
#endif
// Camera/Antenna mount tracking and stabilisation stuff
// --------------------------------------
#if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
static AP_Mount camera_mount(&current_loc, ahrs, 0);
#endif
////////////////////////////////////////////////////////////////////////////////
// AC_Fence library to reduce fly-aways
////////////////////////////////////////////////////////////////////////////////
#if AC_FENCE == ENABLED
AC_Fence fence(&inertial_nav);
#endif
////////////////////////////////////////////////////////////////////////////////
// Rally library
////////////////////////////////////////////////////////////////////////////////
#if AC_RALLY == ENABLED
AP_Rally rally(ahrs);
#endif
////////////////////////////////////////////////////////////////////////////////
// Crop Sprayer
////////////////////////////////////////////////////////////////////////////////
#if SPRAYER == ENABLED
static AC_Sprayer sprayer(&inertial_nav);
#endif
////////////////////////////////////////////////////////////////////////////////
// EPM Cargo Griper
////////////////////////////////////////////////////////////////////////////////
#if EPM_ENABLED == ENABLED
static AP_EPM epm;
#endif
////////////////////////////////////////////////////////////////////////////////
// Parachute release
////////////////////////////////////////////////////////////////////////////////
#if PARACHUTE == ENABLED
static AP_Parachute parachute(relay);
#endif
////////////////////////////////////////////////////////////////////////////////
// Landing Gear Controller
////////////////////////////////////////////////////////////////////////////////
static AP_LandingGear landinggear;
////////////////////////////////////////////////////////////////////////////////
// terrain handling
#if AP_TERRAIN_AVAILABLE
AP_Terrain terrain(ahrs, mission, rally);
#endif
////////////////////////////////////////////////////////////////////////////////
// function definitions to keep compiler from complaining about undeclared functions
////////////////////////////////////////////////////////////////////////////////
static void pre_arm_checks(bool display_failure);
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////
// setup the var_info table
AP_Param param_loader(var_info);
#if MAIN_LOOP_RATE == 400
/*
scheduler table for fast CPUs - all regular tasks apart from the fast_loop()
should be listed here, along with how often they should be called
(in 2.5ms units) and the maximum time they are expected to take (in
microseconds)
1 = 400hz
2 = 200hz
4 = 100hz
8 = 50hz
20 = 20hz
40 = 10hz
133 = 3hz
400 = 1hz
4000 = 0.1hz
*/
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ rc_loop, 4, 10 },
{ throttle_loop, 8, 45 },
{ update_GPS, 8, 90 },
#if OPTFLOW == ENABLED
{ update_optical_flow, 2, 20 },
#endif
{ update_batt_compass, 40, 72 },
{ read_aux_switches, 40, 5 },
{ arm_motors_check, 40, 1 },
{ auto_trim, 40, 14 },
{ update_altitude, 40, 100 },
{ run_nav_updates, 8, 80 },
{ update_thr_cruise, 40, 10 },
{ three_hz_loop, 133, 9 },
{ compass_accumulate, 8, 42 },
{ barometer_accumulate, 8, 25 },
#if FRAME_CONFIG == HELI_FRAME
{ check_dynamic_flight, 8, 10 },
#endif
{ update_notify, 8, 10 },
{ one_hz_loop, 400, 42 },
{ ekf_dcm_check, 40, 2 },
{ crash_check, 40, 2 },
{ landinggear_update, 40, 1 },
{ gcs_check_input, 8, 550 },
{ gcs_send_heartbeat, 400, 150 },
{ gcs_send_deferred, 8, 720 },
{ gcs_data_stream_send, 8, 950 },
#if COPTER_LEDS == ENABLED
{ update_copter_leds, 40, 5 },
#endif
{ update_mount, 8, 45 },
{ ten_hz_logging_loop, 40, 30 },
{ fifty_hz_logging_loop, 8, 22 },
{ perf_update, 4000, 20 },
{ read_receiver_rssi, 40, 5 },
#if FRSKY_TELEM_ENABLED == ENABLED
{ telemetry_send, 80, 10 },
#endif
#if EPM_ENABLED == ENABLED
{ epm_update, 40, 10 },
#endif
#ifdef USERHOOK_FASTLOOP
{ userhook_FastLoop, 4, 10 },
#endif
#ifdef USERHOOK_50HZLOOP
{ userhook_50Hz, 8, 10 },
#endif
#ifdef USERHOOK_MEDIUMLOOP
{ userhook_MediumLoop, 40, 10 },
#endif
#ifdef USERHOOK_SLOWLOOP
{ userhook_SlowLoop, 120, 10 },
#endif
#ifdef USERHOOK_SUPERSLOWLOOP
{ userhook_SuperSlowLoop,400, 10 },
#endif
};
#else
/*
scheduler table - all regular tasks apart from the fast_loop()
should be listed here, along with how often they should be called
(in 10ms units) and the maximum time they are expected to take (in
microseconds)
1 = 100hz
2 = 50hz
4 = 25hz
10 = 10hz
20 = 5hz
33 = 3hz
50 = 2hz
100 = 1hz
1000 = 0.1hz
*/
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ rc_loop, 1, 100 },
{ throttle_loop, 2, 450 },
{ update_GPS, 2, 900 },
#if OPTFLOW == ENABLED
{ update_optical_flow, 1, 100 },
#endif
{ update_batt_compass, 10, 720 },
{ read_aux_switches, 10, 50 },
{ arm_motors_check, 10, 10 },
{ auto_trim, 10, 140 },
{ update_altitude, 10, 1000 },
{ run_nav_updates, 4, 800 },
{ update_thr_cruise, 1, 50 },
{ three_hz_loop, 33, 90 },
{ compass_accumulate, 2, 420 },
{ barometer_accumulate, 2, 250 },
#if FRAME_CONFIG == HELI_FRAME
{ check_dynamic_flight, 2, 100 },
#endif
{ update_notify, 2, 100 },
{ one_hz_loop, 100, 420 },
{ ekf_dcm_check, 10, 20 },
{ crash_check, 10, 20 },
{ landinggear_update, 10, 10 },
{ gcs_check_input, 2, 550 },
{ gcs_send_heartbeat, 100, 150 },
{ gcs_send_deferred, 2, 720 },
{ gcs_data_stream_send, 2, 950 },
{ update_mount, 2, 450 },
{ ten_hz_logging_loop, 10, 300 },
{ fifty_hz_logging_loop, 2, 220 },
{ perf_update, 1000, 200 },
{ read_receiver_rssi, 10, 50 },
#if FRSKY_TELEM_ENABLED == ENABLED
{ telemetry_send, 20, 100 },
#endif
#if EPM_ENABLED == ENABLED
{ epm_update, 10, 20 },
#endif
#ifdef USERHOOK_FASTLOOP
{ userhook_FastLoop, 1, 100 },
#endif
#ifdef USERHOOK_50HZLOOP
{ userhook_50Hz, 2, 100 },
#endif
#ifdef USERHOOK_MEDIUMLOOP
{ userhook_MediumLoop, 10, 100 },
#endif
#ifdef USERHOOK_SLOWLOOP
{ userhook_SlowLoop, 30, 100 },
#endif
#ifdef USERHOOK_SUPERSLOWLOOP
{ userhook_SuperSlowLoop,100, 100 },
#endif
};
#endif
void setup()
{
cliSerial = hal.console;
// Load the default values of variables listed in var_info[]s
AP_Param::setup_sketch_defaults();
// setup storage layout for copter
StorageManager::set_layout_copter();
init_ardupilot();
// initialise the main loop scheduler
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
}
/*
if the compass is enabled then try to accumulate a reading
*/
static void compass_accumulate(void)
{
if (g.compass_enabled) {
compass.accumulate();
}
}
/*
try to accumulate a baro reading
*/
static void barometer_accumulate(void)
{
barometer.accumulate();
}
static void perf_update(void)
{
if (should_log(MASK_LOG_PM))
Log_Write_Performance();
if (scheduler.debug()) {
cliSerial->printf_P(PSTR("PERF: %u/%u %lu\n"),
(unsigned)perf_info_get_num_long_running(),
(unsigned)perf_info_get_num_loops(),
(unsigned long)perf_info_get_max_time());
}
perf_info_reset();
pmTest1 = 0;
}
void loop()
{
// wait for an INS sample
ins.wait_for_sample();
uint32_t timer = micros();
// check loop time
perf_info_check_loop_time(timer - fast_loopTimer);
// used by PI Loops
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f;
fast_loopTimer = timer;
// for mainloop failure monitoring
mainLoop_count++;
// Execute the fast loop
// ---------------------
fast_loop();
// tell the scheduler one tick has passed
scheduler.tick();
// run all the tasks that are due to run. Note that we only
// have to call this once per loop, as the tasks are scheduled
// in multiples of the main loop tick. So if they don't run on
// the first call to the scheduler they won't run on a later
// call until scheduler.tick() is called again
uint32_t time_available = (timer + MAIN_LOOP_MICROS) - micros();
scheduler.run(time_available);
}
// Main loop - 100hz
static void fast_loop()
{
// IMU DCM Algorithm
// --------------------
read_AHRS();
// run low level rate controllers that only require IMU data
attitude_control.rate_controller_run();
#if FRAME_CONFIG == HELI_FRAME
update_heli_control_dynamics();
#endif //HELI_FRAME
// write out the servo PWM values
// ------------------------------
set_servos_4();
// Inertial Nav
// --------------------
read_inertia();
// run the attitude controllers
update_flight_mode();
}
// rc_loops - reads user input from transmitter/receiver
// called at 100hz
static void rc_loop()
{
// Read radio and 3-position switch on radio
// -----------------------------------------
read_radio();
read_control_switch();
}
// throttle_loop - should be run at 50 hz
// ---------------------------
static void throttle_loop()
{
// get altitude and climb rate from inertial lib
read_inertial_altitude();
// check if we've landed
update_land_detector();
// check auto_armed status
update_auto_armed();
#if FRAME_CONFIG == HELI_FRAME
// update rotor speed
heli_update_rotor_speed_targets();
// update trad heli swash plate movement
heli_update_landing_swash();
#endif
}
// update_mount - update camera mount position
// should be run at 50hz
static void update_mount()
{
#if MOUNT == ENABLED
// update camera mount's position
camera_mount.update_mount_position();
#endif
#if CAMERA == ENABLED
camera.trigger_pic_cleanup();
#endif
}
// update_batt_compass - read battery and compass
// should be called at 10hz
static void update_batt_compass(void)
{
// read battery before compass because it may be used for motor interference compensation
read_battery();
if(g.compass_enabled) {
// update compass with throttle value - used for compassmot
compass.set_throttle((float)g.rc_3.servo_out/1000.0f);
compass.read();
// log compass information
if (should_log(MASK_LOG_COMPASS)) {
DataFlash.Log_Write_Compass(compass);
}
}
}
// ten_hz_logging_loop
// should be run at 10hz
static void ten_hz_logging_loop()
{
if (should_log(MASK_LOG_ATTITUDE_MED)) {
Log_Write_Attitude();
}
if (should_log(MASK_LOG_RCIN)) {
DataFlash.Log_Write_RCIN();
}
if (should_log(MASK_LOG_RCOUT)) {
DataFlash.Log_Write_RCOUT();
}
if (should_log(MASK_LOG_NTUN) && (mode_requires_GPS(control_mode) || landing_with_GPS())) {
Log_Write_Nav_Tuning();
}
}
// fifty_hz_logging_loop
// should be run at 50hz
static void fifty_hz_logging_loop()
{
#if HIL_MODE != HIL_MODE_DISABLED
// HIL for a copter needs very fast update of the servo values
gcs_send_message(MSG_RADIO_OUT);
#endif
#if HIL_MODE == HIL_MODE_DISABLED
if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
}
if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU(ins);
}
#endif
}
// three_hz_loop - 3.3hz loop
static void three_hz_loop()
{
// check if we've lost contact with the ground station
failsafe_gcs_check();
#if AC_FENCE == ENABLED
// check if we have breached a fence
fence_check();
#endif // AC_FENCE_ENABLED
#if SPRAYER == ENABLED
sprayer.update();
#endif
update_events();
// update ch6 in flight tuning
tuning();
}
// one_hz_loop - runs at 1Hz
static void one_hz_loop()
{
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
// perform pre-arm checks & display failures every 30 seconds
static uint8_t pre_arm_display_counter = 15;
pre_arm_display_counter++;
if (pre_arm_display_counter >= 30) {
pre_arm_checks(true);
pre_arm_display_counter = 0;
}else{
pre_arm_checks(false);
}
// auto disarm checks
auto_disarm_check();
if (!motors.armed()) {
// make it possible to change ahrs orientation at runtime during initial config
ahrs.set_orientation();
// check the user hasn't updated the frame orientation
motors.set_frame_orientation(g.frame_orientation);
}
// update assigned functions and enable auxiliar servos
RC_Channel_aux::enable_aux_servos();
#if MOUNT == ENABLED
camera_mount.update_mount_type();
#endif
check_usb_mux();
#if AP_TERRAIN_AVAILABLE
terrain.update();
#endif
}
// called at 50hz
static void update_GPS(void)
{
static uint32_t last_gps_reading[GPS_MAX_INSTANCES]; // time of last gps message
static uint8_t ground_start_count = 10; // counter used to grab at least 10 reads before commiting the Home location
bool report_gps_glitch;
bool gps_updated = false;
gps.update();
// logging and glitch protection run after every gps message
for (uint8_t i=0; i<gps.num_sensors(); i++) {
if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
last_gps_reading[i] = gps.last_message_time_ms(i);
// log GPS message
if (should_log(MASK_LOG_GPS)) {
DataFlash.Log_Write_GPS(gps, i, current_loc.alt);
}
gps_updated = true;
}
}
if (gps_updated) {
// run glitch protection and update AP_Notify if home has been initialised
if (ap.home_is_set) {
gps_glitch.check_position();
report_gps_glitch = (gps_glitch.glitching() && !ap.usb_connected && hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
if (AP_Notify::flags.gps_glitching != report_gps_glitch) {
if (gps_glitch.glitching()) {
Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_GPS_GLITCH);
}else{
Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_ERROR_RESOLVED);
}
AP_Notify::flags.gps_glitching = report_gps_glitch;
}
}
// checks to initialise home and take location based pictures
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
// check if we can initialise home yet
if (!ap.home_is_set) {
// if we have a 3d lock and valid location
if(gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.location().lat != 0) {
if (ground_start_count > 0 ) {
ground_start_count--;
} else {
// after 10 successful reads store home location
// ap.home_is_set will be true so this will only happen once
ground_start_count = 0;
init_home();
// set system clock for log timestamps
hal.util->set_system_clock(gps.time_epoch_usec());
if (g.compass_enabled) {
// Set compass declination automatically
compass.set_initial_location(gps.location().lat, gps.location().lng);
}
}
} else {
// start again if we lose 3d lock
ground_start_count = 10;
}
} else {
// update home position when not armed
if (!motors.armed()) {
update_home();
}
}
//If we are not currently armed, and we're ready to
//enter RTK mode, then capture current state as home,
//and enter RTK fixes!
if (!motors.armed() && gps.can_calculate_base_pos()) {
gps.calculate_base_pos();
}
#if CAMERA == ENABLED
if (camera.update_location(current_loc) == true) {
do_take_picture();
}
#endif
}
}
// check for loss of gps
failsafe_gps_check();
}
static void
init_simple_bearing()
{
// capture current cos_yaw and sin_yaw values
simple_cos_yaw = ahrs.cos_yaw();
simple_sin_yaw = ahrs.sin_yaw();
// initialise super simple heading (i.e. heading towards home) to be 180 deg from simple mode heading
super_simple_last_bearing = wrap_360_cd(ahrs.yaw_sensor+18000);
super_simple_cos_yaw = simple_cos_yaw;
super_simple_sin_yaw = simple_sin_yaw;
// log the simple bearing to dataflash
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
}
}
// update_simple_mode - rotates pilot input if we are in simple mode
void update_simple_mode(void)
{
float rollx, pitchx;
// exit immediately if no new radio frame or not in simple mode
if (ap.simple_mode == 0 || !ap.new_radio_frame) {
return;
}
// mark radio frame as consumed
ap.new_radio_frame = false;
if (ap.simple_mode == 1) {
// rotate roll, pitch input by -initial simple heading (i.e. north facing)
rollx = g.rc_1.control_in*simple_cos_yaw - g.rc_2.control_in*simple_sin_yaw;
pitchx = g.rc_1.control_in*simple_sin_yaw + g.rc_2.control_in*simple_cos_yaw;
}else{
// rotate roll, pitch input by -super simple heading (reverse of heading to home)
rollx = g.rc_1.control_in*super_simple_cos_yaw - g.rc_2.control_in*super_simple_sin_yaw;
pitchx = g.rc_1.control_in*super_simple_sin_yaw + g.rc_2.control_in*super_simple_cos_yaw;
}
// rotate roll, pitch input from north facing to vehicle's perspective
g.rc_1.control_in = rollx*ahrs.cos_yaw() + pitchx*ahrs.sin_yaw();
g.rc_2.control_in = -rollx*ahrs.sin_yaw() + pitchx*ahrs.cos_yaw();
}
// update_super_simple_bearing - adjusts simple bearing based on location
// should be called after home_bearing has been updated
void update_super_simple_bearing(bool force_update)
{
// check if we are in super simple mode and at least 10m from home
if(force_update || (ap.simple_mode == 2 && home_distance > SUPER_SIMPLE_RADIUS)) {
// check the bearing to home has changed by at least 5 degrees
if (labs(super_simple_last_bearing - home_bearing) > 500) {
super_simple_last_bearing = home_bearing;
float angle_rad = radians((super_simple_last_bearing+18000)/100);
super_simple_cos_yaw = cosf(angle_rad);
super_simple_sin_yaw = sinf(angle_rad);
}
}
}
static void read_AHRS(void)
{
// Perform IMU calculations and get attitude info
//-----------------------------------------------
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before ahrs update
gcs_check_input();
#endif
ahrs.update();
}
// read baro and sonar altitude at 10hz
static void update_altitude()
{
// read in baro altitude
read_barometer();
// read in sonar altitude
sonar_alt = read_sonar();
// write altitude info to dataflash logs
if (should_log(MASK_LOG_CTUN)) {
Log_Write_Control_Tuning();
}
}
AP_HAL_MAIN();
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