mirror of https://github.com/ArduPilot/ardupilot
1221 lines
40 KiB
Plaintext
1221 lines
40 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduPlane V2.74beta2"
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/*
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* Lead developer: Andrew Tridgell
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*
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* Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Amilcar Lucas, Gregory Fletcher, Paul Riseborough, Brandon Jones, Jon Challinger
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* Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier, Yury MonZon
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* Please contribute your ideas!
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*
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*
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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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*/
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////////////////////////////////////////////////////////////////////////////////
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// Header includes
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////////////////////////////////////////////////////////////////////////////////
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#include <math.h>
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#include <stdarg.h>
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#include <stdio.h>
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_Menu.h>
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#include <AP_Param.h>
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <AP_Baro.h> // ArduPilot barometer 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_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_ADC_AnalogSource.h>
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#include <AP_InertialSensor.h> // Inertial Sensor Library
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#include <AP_AHRS.h> // ArduPilot Mega DCM Library
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#include <PID.h> // PID library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_RangeFinder.h> // Range finder library
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#include <Filter.h> // Filter library
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#include <AP_Buffer.h> // APM FIFO Buffer
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#include <AP_Relay.h> // APM relay
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#include <AP_Camera.h> // Photo or video camera
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#include <AP_Airspeed.h>
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#include <memcheck.h>
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#include <APM_OBC.h>
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#include <APM_Control.h>
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <AP_Mount.h> // Camera/Antenna mount
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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#include <DataFlash.h>
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#include <SITL.h>
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#include <AP_Scheduler.h> // main loop scheduler
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#include <AP_Navigation.h>
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#include <AP_L1_Control.h>
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#include <AP_RCMapper.h> // RC input mapping library
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// Pre-AP_HAL compatibility
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#include "compat.h"
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// Configuration
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#include "config.h"
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// Local modules
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#include "defines.h"
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#include "Parameters.h"
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#include "GCS.h"
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include <AP_HAL_PX4.h>
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#include <AP_HAL_Empty.h>
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AP_HAL::BetterStream* cliSerial;
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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////////////////////////////////////////////////////////////////////////////////
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// Outback Challenge Failsafe Support
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////////////////////////////////////////////////////////////////////////////////
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#if OBC_FAILSAFE == ENABLED
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APM_OBC obc;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// the rate we run the main loop at
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////////////////////////////////////////////////////////////////////////////////
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static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
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////////////////////////////////////////////////////////////////////////////////
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// Parameters
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////////////////////////////////////////////////////////////////////////////////
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//
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// Global parameters are all contained within the 'g' class.
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//
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static Parameters g;
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// main loop scheduler
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static AP_Scheduler scheduler;
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// mapping between input channels
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static RCMapper rcmap;
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// primary control channels
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static RC_Channel *channel_roll;
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static RC_Channel *channel_pitch;
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static RC_Channel *channel_throttle;
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static RC_Channel *channel_rudder;
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////////////////////////////////////////////////////////////////////////////////
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// prototypes
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static void update_events(void);
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void gcs_send_text_fmt(const prog_char_t *fmt, ...);
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static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
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////////////////////////////////////////////////////////////////////////////////
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// DataFlash
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////////////////////////////////////////////////////////////////////////////////
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#if LOGGING_ENABLED == ENABLED
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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DataFlash_APM1 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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DataFlash_APM2 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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DataFlash_SITL DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static DataFlash_File DataFlash("/fs/microsd/APM/logs");
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#else
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// no dataflash driver
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DataFlash_Empty DataFlash;
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#endif
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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 CONFIG_HAL_BOARD == HAL_BOARD_APM1
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AP_ADC_ADS7844 apm1_adc;
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#endif
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#if CONFIG_BARO == AP_BARO_BMP085
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static AP_Baro_BMP085 barometer;
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#elif CONFIG_BARO == AP_BARO_PX4
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static AP_Baro_PX4 barometer;
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#elif CONFIG_BARO == AP_BARO_HIL
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static AP_Baro_HIL barometer;
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#elif CONFIG_BARO == AP_BARO_MS5611
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#if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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#elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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#else
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#error Unrecognized CONFIG_MS5611_SERIAL setting.
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#endif
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#else
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#error Unrecognized CONFIG_BARO setting
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#endif
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#if CONFIG_COMPASS == AP_COMPASS_PX4
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static AP_Compass_PX4 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
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static AP_Compass_HMC5843 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HIL
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static AP_Compass_HIL compass;
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#else
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#error Unrecognized CONFIG_COMPASS setting
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#endif
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// GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&g_gps);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19
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AP_GPS_MTK19 g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_HIL
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AP_GPS_HIL g_gps_driver;
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#else
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#error Unrecognised GPS_PROTOCOL setting.
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#endif // GPS PROTOCOL
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#if CONFIG_INS_TYPE == CONFIG_INS_MPU6000
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AP_InertialSensor_MPU6000 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
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AP_InertialSensor_PX4 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_STUB
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AP_InertialSensor_Stub ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
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AP_InertialSensor_Oilpan ins( &apm1_adc );
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#else
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#error Unrecognised CONFIG_INS_TYPE setting.
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#endif // CONFIG_INS_TYPE
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AP_AHRS_DCM ahrs(&ins, g_gps);
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static AP_L1_Control L1_controller(&ahrs);
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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SITL sitl;
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#endif
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// Training mode
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static bool training_manual_roll; // user has manual roll control
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static bool training_manual_pitch; // user has manual pitch control
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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////////////////////////////////////////////////////////////////////////////////
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static GCS_MAVLINK gcs0;
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static GCS_MAVLINK gcs3;
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// selected navigation controller
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static AP_Navigation *nav_controller = &L1_controller;
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////////////////////////////////////////////////////////////////////////////////
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// Analog Inputs
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////////////////////////////////////////////////////////////////////////////////
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// a pin for reading the receiver RSSI voltage.
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static AP_HAL::AnalogSource *rssi_analog_source;
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static AP_HAL::AnalogSource *vcc_pin;
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static AP_HAL::AnalogSource * batt_volt_pin;
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static AP_HAL::AnalogSource * batt_curr_pin;
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////////////////////////////////////////////////////////////////////////////////
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// Relay
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////////////////////////////////////////////////////////////////////////////////
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static AP_Relay relay;
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// Camera
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#if CAMERA == ENABLED
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static AP_Camera camera(&relay);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Global variables
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////////////////////////////////////////////////////////////////////////////////
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// APM2 only
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#if USB_MUX_PIN > 0
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static bool usb_connected;
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#endif
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/* Radio values
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* Channel assignments
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* 1 Ailerons
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* 2 Elevator
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* 3 Throttle
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* 4 Rudder
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* 5 Aux5
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* 6 Aux6
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* 7 Aux7
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* 8 Aux8/Mode
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* Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
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* See libraries/RC_Channel/RC_Channel_aux.h for more information
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Radio
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////////////////////////////////////////////////////////////////////////////////
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// This is the state of the flight control system
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// There are multiple states defined such as MANUAL, FBW-A, AUTO
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enum FlightMode control_mode = INITIALISING;
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// Used to maintain the state of the previous control switch position
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// This is set to -1 when we need to re-read the switch
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uint8_t oldSwitchPosition;
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// This is used to enable the inverted flight feature
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bool inverted_flight = false;
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static struct {
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// These are trim values used for elevon control
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// For elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are
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// equivalent aileron and elevator, not left and right elevon
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uint16_t trim1;
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uint16_t trim2;
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// These are used in the calculation of elevon1_trim and elevon2_trim
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uint16_t ch1_temp;
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uint16_t ch2_temp;
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} elevon = {
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trim1 : 1500,
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trim2 : 1500,
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ch1_temp : 1500,
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ch2_temp : 1500
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};
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// A flag if GCS joystick control is in use
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static bool rc_override_active = false;
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////////////////////////////////////////////////////////////////////////////////
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// Failsafe
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////////////////////////////////////////////////////////////////////////////////
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// A tracking variable for type of failsafe active
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// Used for failsafe based on loss of RC signal or GCS signal
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static int16_t failsafe;
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// Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold
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// RC receiver should be set up to output a low throttle value when signal is lost
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static bool ch3_failsafe;
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// the time when the last HEARTBEAT message arrived from a GCS
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static uint32_t last_heartbeat_ms;
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// A timer used to track how long we have been in a "short failsafe" condition due to loss of RC signal
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static uint32_t ch3_failsafe_timer = 0;
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////////////////////////////////////////////////////////////////////////////////
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// LED output
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////////////////////////////////////////////////////////////////////////////////
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// state of the GPS light (on/off)
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static bool GPS_light;
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////////////////////////////////////////////////////////////////////////////////
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// GPS variables
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////////////////////////////////////////////////////////////////////////////////
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// This is used to scale GPS values for EEPROM storage
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// 10^7 times Decimal GPS means 1 == 1cm
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// This approximation makes calculations integer and it's easy to read
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static const float t7 = 10000000.0;
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// We use atan2 and other trig techniques to calaculate angles
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// A counter used to count down valid gps fixes to allow the gps estimate to settle
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// before recording our home position (and executing a ground start if we booted with an air start)
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static uint8_t ground_start_count = 5;
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// Used to compute a speed estimate from the first valid gps fixes to decide if we are
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// on the ground or in the air. Used to decide if a ground start is appropriate if we
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// booted with an air start.
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static int16_t ground_start_avg;
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// true if we have a position estimate from AHRS
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static bool have_position;
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////////////////////////////////////////////////////////////////////////////////
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// Location & Navigation
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////////////////////////////////////////////////////////////////////////////////
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// Direction held during phases of takeoff and landing
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// deg * 100 dir of plane, A value of -1 indicates the course has not been set/is not in use
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// this is a 0..36000 value, or -1 for disabled
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static int32_t hold_course_cd = -1; // deg * 100 dir of plane
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// There may be two active commands in Auto mode.
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// This indicates the active navigation command by index number
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static uint8_t nav_command_index;
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// This indicates the active non-navigation command by index number
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static uint8_t non_nav_command_index;
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// This is the command type (eg navigate to waypoint) of the active navigation command
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static uint8_t nav_command_ID = NO_COMMAND;
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static uint8_t non_nav_command_ID = NO_COMMAND;
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////////////////////////////////////////////////////////////////////////////////
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// Airspeed
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////////////////////////////////////////////////////////////////////////////////
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// The calculated airspeed to use in FBW-B. Also used in higher modes for insuring min ground speed is met.
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// Also used for flap deployment criteria. Centimeters per second.
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static int32_t target_airspeed_cm;
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// The difference between current and desired airspeed. Used in the pitch controller. Centimeters per second.
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static float airspeed_error_cm;
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// The calculated total energy error (kinetic (altitude) plus potential (airspeed)).
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// Used by the throttle controller
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static int32_t energy_error;
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// kinetic portion of energy error (m^2/s^2)
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static int32_t airspeed_energy_error;
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// An amount that the airspeed should be increased in auto modes based on the user positioning the
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// throttle stick in the top half of the range. Centimeters per second.
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static int16_t airspeed_nudge_cm;
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// Similar to airspeed_nudge, but used when no airspeed sensor.
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// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
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static int16_t throttle_nudge = 0;
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// receiver RSSI
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static uint8_t receiver_rssi;
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////////////////////////////////////////////////////////////////////////////////
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// Ground speed
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////////////////////////////////////////////////////////////////////////////////
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// The amount current ground speed is below min ground speed. Centimeters per second
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static int32_t groundspeed_undershoot = 0;
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// Difference between current altitude and desired altitude. Centimeters
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static int32_t altitude_error_cm;
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////////////////////////////////////////////////////////////////////////////////
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// Battery Sensors
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////////////////////////////////////////////////////////////////////////////////
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static struct {
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// Battery pack 1 voltage. Initialized above the low voltage
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// threshold to pre-load the filter and prevent low voltage events
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// at startup.
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float voltage;
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// Battery pack 1 instantaneous currrent draw. Amperes
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float current_amps;
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// Totalized current (Amp-hours) from battery 1
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float current_total_mah;
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// true when a low battery event has happened
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bool low_batttery;
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} battery;
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////////////////////////////////////////////////////////////////////////////////
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// Airspeed Sensors
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////////////////////////////////////////////////////////////////////////////////
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AP_Airspeed airspeed;
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////////////////////////////////////////////////////////////////////////////////
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// Altitude Sensor variables
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////////////////////////////////////////////////////////////////////////////////
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// flight mode specific
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////////////////////////////////////////////////////////////////////////////////
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// Flag for using gps ground course instead of INS yaw. Set false when takeoff command in process.
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static bool takeoff_complete = true;
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// Flag to indicate if we have landed.
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//Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
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static bool land_complete;
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// Altitude threshold to complete a takeoff command in autonomous modes. Centimeters
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static int32_t takeoff_altitude;
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// Minimum pitch to hold during takeoff command execution. Hundredths of a degree
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static int16_t takeoff_pitch_cd;
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// this controls throttle suppression in auto modes
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static bool throttle_suppressed;
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////////////////////////////////////////////////////////////////////////////////
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// Loiter management
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////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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// Navigation control variables
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////////////////////////////////////////////////////////////////////////////////
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// The instantaneous desired bank angle. Hundredths of a degree
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static int32_t nav_roll_cd;
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// The instantaneous desired pitch angle. Hundredths of a degree
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static int32_t nav_pitch_cd;
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////////////////////////////////////////////////////////////////////////////////
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// Waypoint distances
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////////////////////////////////////////////////////////////////////////////////
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// Distance between plane and next waypoint. Meters
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// is not static because AP_Camera uses it
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uint32_t wp_distance;
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// Distance between previous and next waypoint. Meters
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static uint32_t wp_totalDistance;
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/*
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meta data to support counting the number of circles in a loiter
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*/
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static struct {
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// previous target bearing, used to update sum_cd
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int32_t old_target_bearing_cd;
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// Total desired rotation in a loiter. Used for Loiter Turns commands.
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int32_t total_cd;
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// total angle completed in the loiter so far
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int32_t sum_cd;
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// Direction for loiter. 1 for clockwise, -1 for counter-clockwise
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int8_t direction;
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// start time of the loiter. Milliseconds.
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uint32_t start_time_ms;
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// The amount of time we should stay in a loiter for the Loiter Time command. Milliseconds.
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uint32_t time_max_ms;
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} loiter;
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// event control state
|
|
enum event_type {
|
|
EVENT_TYPE_RELAY=0,
|
|
EVENT_TYPE_SERVO=1
|
|
};
|
|
|
|
static struct {
|
|
enum event_type type;
|
|
|
|
// when the event was started in ms
|
|
uint32_t start_time_ms;
|
|
|
|
// how long to delay the next firing of event in millis
|
|
uint16_t delay_ms;
|
|
|
|
// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
|
|
int16_t repeat;
|
|
|
|
// RC channel for servos
|
|
uint8_t rc_channel;
|
|
|
|
// PWM for servos
|
|
uint16_t servo_value;
|
|
|
|
// the value used to cycle events (alternate value to event_value)
|
|
uint16_t undo_value;
|
|
} event_state;
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Conditional command
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// A value used in condition commands (eg delay, change alt, etc.)
|
|
// For example in a change altitude command, it is the altitude to change to.
|
|
static int32_t condition_value;
|
|
// A starting value used to check the status of a conditional command.
|
|
// For example in a delay command the condition_start records that start time for the delay
|
|
static uint32_t condition_start;
|
|
// A value used in condition commands. For example the rate at which to change altitude.
|
|
static int16_t condition_rate;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// 3D Location vectors
|
|
// Location structure defined in AP_Common
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The home location used for RTL. The location is set when we first get stable GPS lock
|
|
static struct Location home;
|
|
// Flag for if we have g_gps lock and have set the home location
|
|
static bool home_is_set;
|
|
// The location of the previous waypoint. Used for track following and altitude ramp calculations
|
|
static struct Location prev_WP;
|
|
// The plane's current location
|
|
static struct Location current_loc;
|
|
// The location of the current/active waypoint. Used for altitude ramp, track following and loiter calculations.
|
|
static struct Location next_WP;
|
|
// The location of the active waypoint in Guided mode.
|
|
static struct Location guided_WP;
|
|
// The location structure information from the Nav command being processed
|
|
static struct Location next_nav_command;
|
|
// The location structure information from the Non-Nav command being processed
|
|
static struct Location next_nonnav_command;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Altitude / Climb rate control
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The current desired altitude. Altitude is linearly ramped between waypoints. Centimeters
|
|
static int32_t target_altitude_cm;
|
|
// Altitude difference between previous and current waypoint. Centimeters
|
|
static int32_t offset_altitude_cm;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// INS variables
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The main loop execution time. Seconds
|
|
//This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
|
|
static float G_Dt = 0.02;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Performance monitoring
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Timer used to accrue data and trigger recording of the performanc monitoring log message
|
|
static int32_t perf_mon_timer;
|
|
// The maximum main loop execution time recorded in the current performance monitoring interval
|
|
static int16_t G_Dt_max = 0;
|
|
// The number of gps fixes recorded in the current performance monitoring interval
|
|
static uint8_t gps_fix_count = 0;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// System Timers
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Time in miliseconds of start of main control loop. Milliseconds
|
|
static uint32_t fast_loopTimer_ms;
|
|
|
|
// Time Stamp when fast loop was complete. Milliseconds
|
|
static uint32_t fast_loopTimeStamp_ms;
|
|
|
|
// Number of milliseconds used in last main loop cycle
|
|
static uint8_t delta_ms_fast_loop;
|
|
|
|
// Counter of main loop executions. Used for performance monitoring and failsafe processing
|
|
static uint16_t mainLoop_count;
|
|
|
|
// % MCU cycles used
|
|
static float load;
|
|
|
|
|
|
// Camera/Antenna mount tracking and stabilisation stuff
|
|
// --------------------------------------
|
|
#if MOUNT == ENABLED
|
|
// current_loc uses the baro/gps soloution for altitude rather than gps only.
|
|
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
|
|
AP_Mount camera_mount(¤t_loc, g_gps, &ahrs, 0);
|
|
#endif
|
|
|
|
#if MOUNT2 == ENABLED
|
|
// current_loc uses the baro/gps soloution for altitude rather than gps only.
|
|
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
|
|
AP_Mount camera_mount2(¤t_loc, g_gps, &ahrs, 1);
|
|
#endif
|
|
|
|
#if CAMERA == ENABLED
|
|
//pinMode(camtrig, OUTPUT); // these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
|
|
#endif
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Top-level logic
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
/*
|
|
scheduler table - all regular tasks apart from the fast_loop()
|
|
should be listed here, along with how often they should be called
|
|
(in 20ms units) and the maximum time they are expected to take (in
|
|
microseconds)
|
|
*/
|
|
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
|
|
{ update_GPS, 5, 2500 },
|
|
{ navigate, 5, 4800 },
|
|
{ update_compass, 5, 1500 },
|
|
{ read_airspeed, 5, 1500 },
|
|
{ read_control_switch, 15, 1000 },
|
|
{ update_alt, 5, 3000 },
|
|
{ calc_altitude_error, 5, 1000 },
|
|
{ update_commands, 5, 7000 },
|
|
{ update_mount, 1, 1500 },
|
|
{ obc_fs_check, 5, 1000 },
|
|
{ update_events, 15, 1500 },
|
|
{ check_usb_mux, 5, 1000 },
|
|
{ read_battery, 5, 1000 },
|
|
{ one_second_loop, 50, 3000 },
|
|
{ update_logging, 5, 1000 },
|
|
{ read_receiver_rssi, 5, 1000 },
|
|
{ check_long_failsafe, 15, 1000 },
|
|
};
|
|
|
|
// setup the var_info table
|
|
AP_Param param_loader(var_info, WP_START_BYTE);
|
|
|
|
void setup() {
|
|
// this needs to be the first call, as it fills memory with
|
|
// sentinel values
|
|
memcheck_init();
|
|
|
|
cliSerial = hal.console;
|
|
|
|
// load the default values of variables listed in var_info[]
|
|
AP_Param::setup_sketch_defaults();
|
|
|
|
rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
|
|
|
|
vcc_pin = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
|
|
|
|
batt_volt_pin = hal.analogin->channel(g.battery_volt_pin);
|
|
batt_curr_pin = hal.analogin->channel(g.battery_curr_pin);
|
|
|
|
init_ardupilot();
|
|
|
|
// initialise the main loop scheduler
|
|
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
uint32_t timer = millis();
|
|
// We want this to execute at 50Hz, but synchronised with the gyro/accel
|
|
uint16_t num_samples = ins.num_samples_available();
|
|
if (num_samples >= 1) {
|
|
delta_ms_fast_loop = timer - fast_loopTimer_ms;
|
|
load = (float)(fast_loopTimeStamp_ms - fast_loopTimer_ms)/delta_ms_fast_loop;
|
|
G_Dt = delta_ms_fast_loop * 0.001f;
|
|
fast_loopTimer_ms = timer;
|
|
|
|
mainLoop_count++;
|
|
|
|
// Execute the fast loop
|
|
// ---------------------
|
|
fast_loop();
|
|
|
|
// tell the scheduler one tick has passed
|
|
scheduler.tick();
|
|
|
|
fast_loopTimeStamp_ms = millis();
|
|
} else {
|
|
uint16_t dt = timer - fast_loopTimeStamp_ms;
|
|
if (dt < 20) {
|
|
uint16_t time_to_next_loop = 20 - dt;
|
|
scheduler.run(time_to_next_loop * 1000U);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Main loop 50Hz
|
|
static void fast_loop()
|
|
{
|
|
// This is the fast loop - we want it to execute at 50Hz if possible
|
|
// -----------------------------------------------------------------
|
|
if (delta_ms_fast_loop > G_Dt_max)
|
|
G_Dt_max = delta_ms_fast_loop;
|
|
|
|
// Read radio
|
|
// ----------
|
|
read_radio();
|
|
|
|
// try to send any deferred messages if the serial port now has
|
|
// some space available
|
|
gcs_send_message(MSG_RETRY_DEFERRED);
|
|
|
|
// check for loss of control signal failsafe condition
|
|
// ------------------------------------
|
|
check_short_failsafe();
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
// update hil before AHRS update
|
|
gcs_update();
|
|
#endif
|
|
|
|
ahrs.update();
|
|
|
|
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
|
|
Log_Write_Attitude();
|
|
|
|
if (g.log_bitmask & MASK_LOG_IMU)
|
|
Log_Write_IMU();
|
|
|
|
// inertial navigation
|
|
// ------------------
|
|
#if INERTIAL_NAVIGATION == ENABLED
|
|
// TODO: implement inertial nav function
|
|
inertialNavigation();
|
|
#endif
|
|
|
|
// custom code/exceptions for flight modes
|
|
// calculates roll, pitch and yaw demands from navigation demands
|
|
// --------------------------------------------------------------
|
|
update_current_flight_mode();
|
|
|
|
// apply desired roll, pitch and yaw to the plane
|
|
// ----------------------------------------------
|
|
if (control_mode > MANUAL)
|
|
stabilize();
|
|
|
|
// write out the servo PWM values
|
|
// ------------------------------
|
|
set_servos();
|
|
|
|
gcs_update();
|
|
gcs_data_stream_send();
|
|
}
|
|
|
|
/*
|
|
update camera mount
|
|
*/
|
|
static void update_mount(void)
|
|
{
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_position();
|
|
#endif
|
|
|
|
#if MOUNT2 == ENABLED
|
|
camera_mount2.update_mount_position();
|
|
#endif
|
|
|
|
#if CAMERA == ENABLED
|
|
camera.trigger_pic_cleanup();
|
|
#endif
|
|
}
|
|
|
|
/*
|
|
read and update compass
|
|
*/
|
|
static void update_compass(void)
|
|
{
|
|
if (g.compass_enabled && compass.read()) {
|
|
ahrs.set_compass(&compass);
|
|
compass.null_offsets();
|
|
if (g.log_bitmask & MASK_LOG_COMPASS) {
|
|
Log_Write_Compass();
|
|
}
|
|
} else {
|
|
ahrs.set_compass(NULL);
|
|
}
|
|
}
|
|
|
|
/*
|
|
do 10Hz logging
|
|
*/
|
|
static void update_logging(void)
|
|
{
|
|
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
|
|
Log_Write_Attitude();
|
|
|
|
if (g.log_bitmask & MASK_LOG_CTUN)
|
|
Log_Write_Control_Tuning();
|
|
|
|
if (g.log_bitmask & MASK_LOG_NTUN)
|
|
Log_Write_Nav_Tuning();
|
|
}
|
|
|
|
/*
|
|
check for OBC failsafe check
|
|
*/
|
|
static void obc_fs_check(void)
|
|
{
|
|
#if OBC_FAILSAFE == ENABLED
|
|
// perform OBC failsafe checks
|
|
obc.check(OBC_MODE(control_mode),
|
|
last_heartbeat_ms,
|
|
g_gps ? g_gps->last_fix_time : 0);
|
|
#endif
|
|
}
|
|
|
|
|
|
/*
|
|
update aux servo mappings
|
|
*/
|
|
static void update_aux(void)
|
|
{
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
|
|
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
|
|
#else
|
|
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
|
|
#endif
|
|
enable_aux_servos();
|
|
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_type();
|
|
#endif
|
|
#if MOUNT2 == ENABLED
|
|
camera_mount2.update_mount_type();
|
|
#endif
|
|
}
|
|
|
|
static void one_second_loop()
|
|
{
|
|
if (g.log_bitmask & MASK_LOG_CURRENT)
|
|
Log_Write_Current();
|
|
|
|
// send a heartbeat
|
|
gcs_send_message(MSG_HEARTBEAT);
|
|
|
|
// make it possible to change control channel ordering at runtime
|
|
set_control_channels();
|
|
|
|
// make it possible to change orientation at runtime
|
|
ahrs.set_orientation();
|
|
|
|
// sync MAVLink system ID
|
|
mavlink_system.sysid = g.sysid_this_mav;
|
|
|
|
update_aux();
|
|
|
|
static uint8_t counter;
|
|
counter++;
|
|
|
|
if (counter == 20) {
|
|
if (g.log_bitmask & MASK_LOG_PM)
|
|
Log_Write_Performance();
|
|
resetPerfData();
|
|
}
|
|
|
|
if (counter >= 60) {
|
|
if(g.compass_enabled) {
|
|
compass.save_offsets();
|
|
}
|
|
counter = 0;
|
|
}
|
|
}
|
|
|
|
/*
|
|
read the GPS and update position
|
|
*/
|
|
static void update_GPS(void)
|
|
{
|
|
static uint32_t last_gps_reading;
|
|
g_gps->update();
|
|
update_GPS_light();
|
|
|
|
if (g_gps->last_message_time_ms() != last_gps_reading) {
|
|
last_gps_reading = g_gps->last_message_time_ms();
|
|
if (g.log_bitmask & MASK_LOG_GPS) {
|
|
Log_Write_GPS();
|
|
}
|
|
}
|
|
|
|
// get position from AHRS
|
|
have_position = ahrs.get_position(¤t_loc);
|
|
|
|
if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
|
|
g_gps->new_data = false;
|
|
|
|
// for performance
|
|
// ---------------
|
|
gps_fix_count++;
|
|
|
|
if(ground_start_count > 1) {
|
|
ground_start_count--;
|
|
ground_start_avg += g_gps->ground_speed;
|
|
|
|
} else if (ground_start_count == 1) {
|
|
// We countdown N number of good GPS fixes
|
|
// so that the altitude is more accurate
|
|
// -------------------------------------
|
|
if (current_loc.lat == 0) {
|
|
ground_start_count = 5;
|
|
|
|
} else {
|
|
if(ENABLE_AIR_START == 1 && (ground_start_avg / 5) < SPEEDFILT) {
|
|
startup_ground();
|
|
|
|
if (g.log_bitmask & MASK_LOG_CMD)
|
|
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
|
|
|
|
init_home();
|
|
} else if (ENABLE_AIR_START == 0) {
|
|
init_home();
|
|
}
|
|
|
|
if (g.compass_enabled) {
|
|
// Set compass declination automatically
|
|
compass.set_initial_location(g_gps->latitude, g_gps->longitude);
|
|
}
|
|
ground_start_count = 0;
|
|
}
|
|
}
|
|
|
|
// see if we've breached the geo-fence
|
|
geofence_check(false);
|
|
|
|
#if CAMERA == ENABLED
|
|
camera.update_location(current_loc);
|
|
#endif
|
|
}
|
|
|
|
calc_gndspeed_undershoot();
|
|
}
|
|
|
|
static void update_current_flight_mode(void)
|
|
{
|
|
if(control_mode == AUTO) {
|
|
|
|
switch(nav_command_ID) {
|
|
case MAV_CMD_NAV_TAKEOFF:
|
|
if (hold_course_cd == -1) {
|
|
// we don't yet have a heading to hold - just level
|
|
// the wings until we get up enough speed to get a GPS heading
|
|
nav_roll_cd = 0;
|
|
} else {
|
|
calc_nav_roll();
|
|
// during takeoff use the level flight roll limit to
|
|
// prevent large course corrections
|
|
nav_roll_cd = constrain_int32(nav_roll_cd, -g.level_roll_limit*100UL, g.level_roll_limit*100UL);
|
|
}
|
|
|
|
if (alt_control_airspeed()) {
|
|
calc_nav_pitch();
|
|
if (nav_pitch_cd < takeoff_pitch_cd)
|
|
nav_pitch_cd = takeoff_pitch_cd;
|
|
} else {
|
|
nav_pitch_cd = (g_gps->ground_speed / (float)g.airspeed_cruise_cm) * takeoff_pitch_cd;
|
|
nav_pitch_cd = constrain_int32(nav_pitch_cd, 500, takeoff_pitch_cd);
|
|
}
|
|
|
|
// max throttle for takeoff
|
|
channel_throttle->servo_out = g.throttle_max;
|
|
|
|
break;
|
|
|
|
case MAV_CMD_NAV_LAND:
|
|
calc_nav_roll();
|
|
|
|
if (land_complete) {
|
|
// during final approach constrain roll to the range
|
|
// allowed for level flight
|
|
nav_roll_cd = constrain_int32(nav_roll_cd, -g.level_roll_limit*100UL, g.level_roll_limit*100UL);
|
|
|
|
// hold pitch constant in final approach
|
|
nav_pitch_cd = g.land_pitch_cd;
|
|
} else {
|
|
calc_nav_pitch();
|
|
if (!alt_control_airspeed()) {
|
|
// when not under airspeed control, don't allow
|
|
// down pitch in landing
|
|
nav_pitch_cd = constrain_int32(nav_pitch_cd, 0, nav_pitch_cd);
|
|
}
|
|
}
|
|
calc_throttle();
|
|
|
|
if (land_complete) {
|
|
// we are in the final stage of a landing - force
|
|
// zero throttle
|
|
channel_throttle->servo_out = 0;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
// we are doing normal AUTO flight, the special cases
|
|
// are for takeoff and landing
|
|
hold_course_cd = -1;
|
|
land_complete = false;
|
|
calc_nav_roll();
|
|
calc_nav_pitch();
|
|
calc_throttle();
|
|
break;
|
|
}
|
|
}else{
|
|
// hold_course is only used in takeoff and landing
|
|
hold_course_cd = -1;
|
|
|
|
switch(control_mode) {
|
|
case RTL:
|
|
case LOITER:
|
|
case GUIDED:
|
|
calc_nav_roll();
|
|
calc_nav_pitch();
|
|
calc_throttle();
|
|
break;
|
|
|
|
case TRAINING: {
|
|
training_manual_roll = false;
|
|
training_manual_pitch = false;
|
|
|
|
// if the roll is past the set roll limit, then
|
|
// we set target roll to the limit
|
|
if (ahrs.roll_sensor >= g.roll_limit_cd) {
|
|
nav_roll_cd = g.roll_limit_cd;
|
|
} else if (ahrs.roll_sensor <= -g.roll_limit_cd) {
|
|
nav_roll_cd = -g.roll_limit_cd;
|
|
} else {
|
|
training_manual_roll = true;
|
|
nav_roll_cd = 0;
|
|
}
|
|
|
|
// if the pitch is past the set pitch limits, then
|
|
// we set target pitch to the limit
|
|
if (ahrs.pitch_sensor >= g.pitch_limit_max_cd) {
|
|
nav_pitch_cd = g.pitch_limit_max_cd;
|
|
} else if (ahrs.pitch_sensor <= g.pitch_limit_min_cd) {
|
|
nav_pitch_cd = g.pitch_limit_min_cd;
|
|
} else {
|
|
training_manual_pitch = true;
|
|
nav_pitch_cd = 0;
|
|
}
|
|
if (inverted_flight) {
|
|
nav_pitch_cd = -nav_pitch_cd;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case FLY_BY_WIRE_A: {
|
|
// set nav_roll and nav_pitch using sticks
|
|
nav_roll_cd = channel_roll->norm_input() * g.roll_limit_cd;
|
|
nav_roll_cd = constrain_int32(nav_roll_cd, -g.roll_limit_cd, g.roll_limit_cd);
|
|
float pitch_input = channel_pitch->norm_input();
|
|
if (pitch_input > 0) {
|
|
nav_pitch_cd = pitch_input * g.pitch_limit_max_cd;
|
|
} else {
|
|
nav_pitch_cd = -(pitch_input * g.pitch_limit_min_cd);
|
|
}
|
|
nav_pitch_cd = constrain_int32(nav_pitch_cd, g.pitch_limit_min_cd.get(), g.pitch_limit_max_cd.get());
|
|
if (inverted_flight) {
|
|
nav_pitch_cd = -nav_pitch_cd;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case FLY_BY_WIRE_B: {
|
|
static float last_elevator_input;
|
|
// Substitute stick inputs for Navigation control output
|
|
// We use g.pitch_limit_min because its magnitude is
|
|
// normally greater than g.pitch_limit_max
|
|
|
|
// Thanks to Yury MonZon for the altitude limit code!
|
|
|
|
nav_roll_cd = channel_roll->norm_input() * g.roll_limit_cd;
|
|
|
|
float elevator_input;
|
|
elevator_input = channel_pitch->norm_input();
|
|
|
|
if (g.flybywire_elev_reverse) {
|
|
elevator_input = -elevator_input;
|
|
}
|
|
|
|
target_altitude_cm += g.flybywire_climb_rate * elevator_input * delta_ms_fast_loop * 0.1f;
|
|
|
|
if (elevator_input == 0.0f && last_elevator_input != 0.0f) {
|
|
// the user has just released the elevator, lock in
|
|
// the current altitude
|
|
target_altitude_cm = current_loc.alt;
|
|
}
|
|
|
|
// check for FBWB altitude limit
|
|
if (g.FBWB_min_altitude_cm != 0 && target_altitude_cm < home.alt + g.FBWB_min_altitude_cm) {
|
|
target_altitude_cm = home.alt + g.FBWB_min_altitude_cm;
|
|
}
|
|
altitude_error_cm = target_altitude_cm - adjusted_altitude_cm();
|
|
|
|
last_elevator_input = elevator_input;
|
|
|
|
calc_throttle();
|
|
calc_nav_pitch();
|
|
}
|
|
break;
|
|
|
|
case STABILIZE:
|
|
nav_roll_cd = 0;
|
|
nav_pitch_cd = 0;
|
|
// throttle is passthrough
|
|
break;
|
|
|
|
case CIRCLE:
|
|
// we have no GPS installed and have lost radio contact
|
|
// or we just want to fly around in a gentle circle w/o GPS,
|
|
// holding altitude at the altitude we set when we
|
|
// switched into the mode
|
|
nav_roll_cd = g.roll_limit_cd / 3;
|
|
calc_nav_pitch();
|
|
calc_throttle();
|
|
break;
|
|
|
|
case MANUAL:
|
|
// servo_out is for Sim control only
|
|
// ---------------------------------
|
|
channel_roll->servo_out = channel_roll->pwm_to_angle();
|
|
channel_pitch->servo_out = channel_pitch->pwm_to_angle();
|
|
channel_rudder->servo_out = channel_rudder->pwm_to_angle();
|
|
break;
|
|
//roll: -13788.000, pitch: -13698.000, thr: 0.000, rud: -13742.000
|
|
|
|
case INITIALISING:
|
|
case AUTO:
|
|
// handled elsewhere
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
static void update_navigation()
|
|
{
|
|
// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS
|
|
// ------------------------------------------------------------------------
|
|
|
|
// distance and bearing calcs only
|
|
switch(control_mode) {
|
|
case AUTO:
|
|
verify_commands();
|
|
break;
|
|
|
|
case LOITER:
|
|
case RTL:
|
|
case GUIDED:
|
|
update_loiter();
|
|
break;
|
|
|
|
case MANUAL:
|
|
case STABILIZE:
|
|
case TRAINING:
|
|
case INITIALISING:
|
|
case FLY_BY_WIRE_A:
|
|
case FLY_BY_WIRE_B:
|
|
case CIRCLE:
|
|
// nothing to do
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
static void update_alt()
|
|
{
|
|
// this function is in place to potentially add a sonar sensor in the future
|
|
//altitude_sensor = BARO;
|
|
|
|
if (barometer.healthy) {
|
|
current_loc.alt = (1 - g.altitude_mix) * g_gps->altitude; // alt_MSL centimeters (meters * 100)
|
|
current_loc.alt += g.altitude_mix * (read_barometer() + home.alt);
|
|
} else if (g_gps->status() >= GPS::GPS_OK_FIX_3D) {
|
|
current_loc.alt = g_gps->altitude; // alt_MSL centimeters (meters * 100)
|
|
}
|
|
|
|
geofence_check(true);
|
|
|
|
// Calculate new climb rate
|
|
//if(medium_loopCounter == 0 && slow_loopCounter == 0)
|
|
// add_altitude_data(millis() / 100, g_gps->altitude / 10);
|
|
}
|
|
|
|
AP_HAL_MAIN();
|