mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-07 08:23:56 -04:00
25dcc1a623
log harmonic notch even if FFT is disabled. Fallback to throttle notch for BLHeli move harmonic notch update to AP_Vehicle
674 lines
22 KiB
C++
674 lines
22 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* ArduCopter (also known as APM, APM:Copter or just Copter)
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* Wiki: copter.ardupilot.org
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* Creator: Jason Short
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* Lead Developer: Randy Mackay
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* Lead Tester: Marco Robustini
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* Based on code and ideas from the Arducopter team: Leonard Hall, Andrew Tridgell, Robert Lefebvre, Pat Hickey, Michael Oborne, Jani Hirvinen,
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Olivier Adler, Kevin Hester, Arthur Benemann, Jonathan Challinger, John Arne Birkeland,
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Jean-Louis Naudin, Mike Smith, and more
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* Thanks to: Chris Anderson, Jordi Munoz, Jason Short, Doug Weibel, Jose Julio
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*
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* Special Thanks to contributors (in alphabetical order by first name):
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*
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* Adam M Rivera :Auto Compass Declination
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* Amilcar Lucas :Camera mount library
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* Andrew Tridgell :General development, Mavlink Support
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* Angel Fernandez :Alpha testing
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* AndreasAntonopoulous:GeoFence
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* Arthur Benemann :DroidPlanner GCS
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* Benjamin Pelletier :Libraries
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* Bill King :Single Copter
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* Christof Schmid :Alpha testing
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* Craig Elder :Release Management, Support
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* Dani Saez :V Octo Support
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* Doug Weibel :DCM, Libraries, Control law advice
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* Emile Castelnuovo :VRBrain port, bug fixes
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* Gregory Fletcher :Camera mount orientation math
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* Guntars :Arming safety suggestion
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* HappyKillmore :Mavlink GCS
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* Hein Hollander :Octo Support, Heli Testing
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* Igor van Airde :Control Law optimization
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* Jack Dunkle :Alpha testing
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* James Goppert :Mavlink Support
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* Jani Hiriven :Testing feedback
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* Jean-Louis Naudin :Auto Landing
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* John Arne Birkeland :PPM Encoder
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* Jose Julio :Stabilization Control laws, MPU6k driver
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* Julien Dubois :PosHold flight mode
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* Julian Oes :Pixhawk
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* Jonathan Challinger :Inertial Navigation, CompassMot, Spin-When-Armed
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* Kevin Hester :Andropilot GCS
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* Max Levine :Tri Support, Graphics
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* Leonard Hall :Flight Dynamics, Throttle, Loiter and Navigation Controllers
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* Marco Robustini :Lead tester
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* Michael Oborne :Mission Planner GCS
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* Mike Smith :Pixhawk driver, coding support
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* Olivier Adler :PPM Encoder, piezo buzzer
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* Pat Hickey :Hardware Abstraction Layer (HAL)
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* Robert Lefebvre :Heli Support, Copter LEDs
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* Roberto Navoni :Library testing, Porting to VRBrain
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* Sandro Benigno :Camera support, MinimOSD
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* Sandro Tognana :PosHold flight mode
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* Sebastian Quilter :SmartRTL
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* ..and many more.
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*
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* Code commit statistics can be found here: https://github.com/ArduPilot/ardupilot/graphs/contributors
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* Wiki: https://copter.ardupilot.org/
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*
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*/
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#include "Copter.h"
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#define FORCE_VERSION_H_INCLUDE
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#include "version.h"
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#undef FORCE_VERSION_H_INCLUDE
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Copter, &copter, func, rate_hz, max_time_micros)
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/*
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scheduler table for fast CPUs - all regular tasks apart from the fast_loop()
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should be listed here, along with how often they should be called (in hz)
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and the maximum time they are expected to take (in microseconds)
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*/
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const AP_Scheduler::Task Copter::scheduler_tasks[] = {
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SCHED_TASK(rc_loop, 100, 130),
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SCHED_TASK(throttle_loop, 50, 75),
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SCHED_TASK(update_GPS, 50, 200),
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#if OPTFLOW == ENABLED
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SCHED_TASK_CLASS(OpticalFlow, &copter.optflow, update, 200, 160),
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#endif
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SCHED_TASK(update_batt_compass, 10, 120),
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SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&copter.g2.rc_channels, read_aux_all, 10, 50),
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SCHED_TASK(arm_motors_check, 10, 50),
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#if TOY_MODE_ENABLED == ENABLED
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SCHED_TASK_CLASS(ToyMode, &copter.g2.toy_mode, update, 10, 50),
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#endif
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SCHED_TASK(auto_disarm_check, 10, 50),
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SCHED_TASK(auto_trim, 10, 75),
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#if RANGEFINDER_ENABLED == ENABLED
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SCHED_TASK(read_rangefinder, 20, 100),
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#endif
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#if PROXIMITY_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Proximity, &copter.g2.proximity, update, 200, 50),
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#endif
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#if BEACON_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Beacon, &copter.g2.beacon, update, 400, 50),
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#endif
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SCHED_TASK(update_altitude, 10, 100),
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SCHED_TASK(run_nav_updates, 50, 100),
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SCHED_TASK(update_throttle_hover,100, 90),
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#if MODE_SMARTRTL_ENABLED == ENABLED
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SCHED_TASK_CLASS(ModeSmartRTL, &copter.mode_smartrtl, save_position, 3, 100),
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#endif
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#if SPRAYER_ENABLED == ENABLED
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SCHED_TASK_CLASS(AC_Sprayer, &copter.sprayer, update, 3, 90),
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#endif
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SCHED_TASK(three_hz_loop, 3, 75),
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SCHED_TASK_CLASS(AP_ServoRelayEvents, &copter.ServoRelayEvents, update_events, 50, 75),
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SCHED_TASK_CLASS(AP_Baro, &copter.barometer, accumulate, 50, 90),
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#if AC_FENCE == ENABLED
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SCHED_TASK_CLASS(AC_Fence, &copter.fence, update, 10, 100),
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#endif
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#if PRECISION_LANDING == ENABLED
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SCHED_TASK(update_precland, 400, 50),
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#endif
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#if FRAME_CONFIG == HELI_FRAME
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SCHED_TASK(check_dynamic_flight, 50, 75),
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#endif
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#if LOGGING_ENABLED == ENABLED
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SCHED_TASK(fourhundred_hz_logging,400, 50),
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#endif
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SCHED_TASK_CLASS(AP_Notify, &copter.notify, update, 50, 90),
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SCHED_TASK(one_hz_loop, 1, 100),
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SCHED_TASK(ekf_check, 10, 75),
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SCHED_TASK(check_vibration, 10, 50),
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SCHED_TASK(gpsglitch_check, 10, 50),
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SCHED_TASK(landinggear_update, 10, 75),
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SCHED_TASK(standby_update, 100, 75),
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SCHED_TASK(lost_vehicle_check, 10, 50),
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SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_receive, 400, 180),
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SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_send, 400, 550),
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#if MOUNT == ENABLED
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SCHED_TASK_CLASS(AP_Mount, &copter.camera_mount, update, 50, 75),
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#endif
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#if CAMERA == ENABLED
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SCHED_TASK_CLASS(AP_Camera, &copter.camera, update_trigger, 50, 75),
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#endif
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#if LOGGING_ENABLED == ENABLED
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SCHED_TASK(ten_hz_logging_loop, 10, 350),
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SCHED_TASK(twentyfive_hz_logging, 25, 110),
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SCHED_TASK_CLASS(AP_Logger, &copter.logger, periodic_tasks, 400, 300),
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#endif
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SCHED_TASK_CLASS(AP_InertialSensor, &copter.ins, periodic, 400, 50),
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SCHED_TASK_CLASS(AP_Scheduler, &copter.scheduler, update_logging, 0.1, 75),
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#if RPM_ENABLED == ENABLED
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SCHED_TASK(rpm_update, 40, 200),
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#endif
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SCHED_TASK(compass_cal_update, 100, 100),
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SCHED_TASK(accel_cal_update, 10, 100),
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SCHED_TASK_CLASS(AP_TempCalibration, &copter.g2.temp_calibration, update, 10, 100),
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#if ADSB_ENABLED == ENABLED
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SCHED_TASK(avoidance_adsb_update, 10, 100),
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#endif
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#if ADVANCED_FAILSAFE == ENABLED
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SCHED_TASK(afs_fs_check, 10, 100),
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#endif
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#if AC_TERRAIN == ENABLED
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SCHED_TASK(terrain_update, 10, 100),
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#endif
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#if GRIPPER_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Gripper, &copter.g2.gripper, update, 10, 75),
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#endif
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#if WINCH_ENABLED == ENABLED
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SCHED_TASK(winch_update, 10, 50),
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#endif
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#ifdef USERHOOK_FASTLOOP
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SCHED_TASK(userhook_FastLoop, 100, 75),
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#endif
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#ifdef USERHOOK_50HZLOOP
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SCHED_TASK(userhook_50Hz, 50, 75),
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#endif
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#ifdef USERHOOK_MEDIUMLOOP
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SCHED_TASK(userhook_MediumLoop, 10, 75),
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#endif
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#ifdef USERHOOK_SLOWLOOP
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SCHED_TASK(userhook_SlowLoop, 3.3, 75),
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#endif
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#ifdef USERHOOK_SUPERSLOWLOOP
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SCHED_TASK(userhook_SuperSlowLoop, 1, 75),
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#endif
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#if BUTTON_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Button, &copter.button, update, 5, 100),
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#endif
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#if STATS_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Stats, &copter.g2.stats, update, 1, 100),
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#endif
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#if OSD_ENABLED == ENABLED
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SCHED_TASK(publish_osd_info, 1, 10),
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#endif
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};
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void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
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uint8_t &task_count,
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uint32_t &log_bit)
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{
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tasks = &scheduler_tasks[0];
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task_count = ARRAY_SIZE(scheduler_tasks);
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log_bit = MASK_LOG_PM;
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}
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constexpr int8_t Copter::_failsafe_priorities[7];
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// Main loop - 400hz
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void Copter::fast_loop()
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{
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// update INS immediately to get current gyro data populated
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ins.update();
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// run low level rate controllers that only require IMU data
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attitude_control->rate_controller_run();
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// send outputs to the motors library immediately
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motors_output();
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// run EKF state estimator (expensive)
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// --------------------
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read_AHRS();
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#if FRAME_CONFIG == HELI_FRAME
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update_heli_control_dynamics();
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#if MODE_AUTOROTATE_ENABLED == ENABLED
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heli_update_autorotation();
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#endif
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#endif //HELI_FRAME
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// Inertial Nav
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// --------------------
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read_inertia();
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// check if ekf has reset target heading or position
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check_ekf_reset();
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// run the attitude controllers
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update_flight_mode();
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// update home from EKF if necessary
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update_home_from_EKF();
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// check if we've landed or crashed
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update_land_and_crash_detectors();
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#if MOUNT == ENABLED
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// camera mount's fast update
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camera_mount.update_fast();
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#endif
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// log sensor health
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if (should_log(MASK_LOG_ANY)) {
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Log_Sensor_Health();
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}
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AP_Vehicle::fast_loop();
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}
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// start takeoff to given altitude (for use by scripting)
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bool Copter::start_takeoff(float alt)
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{
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// exit if vehicle is not in Guided mode or Auto-Guided mode
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if (!flightmode->in_guided_mode()) {
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return false;
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}
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if (mode_guided.do_user_takeoff_start(alt * 100.0f)) {
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copter.set_auto_armed(true);
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return true;
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}
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return false;
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}
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// set target location (for use by scripting)
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bool Copter::set_target_location(const Location& target_loc)
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{
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// exit if vehicle is not in Guided mode or Auto-Guided mode
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if (!flightmode->in_guided_mode()) {
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return false;
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}
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return mode_guided.set_destination(target_loc);
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}
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bool Copter::set_target_velocity_NED(const Vector3f& vel_ned)
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{
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// exit if vehicle is not in Guided mode or Auto-Guided mode
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if (!flightmode->in_guided_mode()) {
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return false;
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}
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// convert vector to neu in cm
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const Vector3f vel_neu_cms(vel_ned.x * 100.0f, vel_ned.y * 100.0f, -vel_ned.z * 100.0f);
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mode_guided.set_velocity(vel_neu_cms);
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return true;
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}
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bool Copter::set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs)
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{
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// exit if vehicle is not in Guided mode or Auto-Guided mode
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if (!flightmode->in_guided_mode()) {
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return false;
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}
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Quaternion q;
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q.from_euler(radians(roll_deg),radians(pitch_deg),radians(yaw_deg));
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mode_guided.set_angle(q,climb_rate_ms*100,use_yaw_rate,radians(yaw_rate_degs));
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return true;
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}
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// rc_loops - reads user input from transmitter/receiver
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// called at 100hz
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void Copter::rc_loop()
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{
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// Read radio and 3-position switch on radio
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// -----------------------------------------
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read_radio();
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rc().read_mode_switch();
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}
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// throttle_loop - should be run at 50 hz
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// ---------------------------
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void Copter::throttle_loop()
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{
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// update throttle_low_comp value (controls priority of throttle vs attitude control)
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update_throttle_mix();
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// check auto_armed status
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update_auto_armed();
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#if FRAME_CONFIG == HELI_FRAME
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// update rotor speed
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heli_update_rotor_speed_targets();
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// update trad heli swash plate movement
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heli_update_landing_swash();
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#endif
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// compensate for ground effect (if enabled)
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update_ground_effect_detector();
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}
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// update_batt_compass - read battery and compass
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// should be called at 10hz
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void Copter::update_batt_compass(void)
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{
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// read battery before compass because it may be used for motor interference compensation
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battery.read();
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if(AP::compass().enabled()) {
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// update compass with throttle value - used for compassmot
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compass.set_throttle(motors->get_throttle());
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compass.set_voltage(battery.voltage());
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compass.read();
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}
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}
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// Full rate logging of attitude, rate and pid loops
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// should be run at 400hz
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void Copter::fourhundred_hz_logging()
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{
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if (should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
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Log_Write_Attitude();
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}
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}
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// ten_hz_logging_loop
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// should be run at 10hz
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void Copter::ten_hz_logging_loop()
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{
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// log attitude data if we're not already logging at the higher rate
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if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
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Log_Write_Attitude();
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}
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// log EKF attitude data
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if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_EKF_POS();
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}
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if (should_log(MASK_LOG_MOTBATT)) {
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Log_Write_MotBatt();
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}
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if (should_log(MASK_LOG_RCIN)) {
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logger.Write_RCIN();
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if (rssi.enabled()) {
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logger.Write_RSSI();
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}
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}
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if (should_log(MASK_LOG_RCOUT)) {
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logger.Write_RCOUT();
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}
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if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS())) {
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pos_control->write_log();
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}
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if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
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logger.Write_Vibration();
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}
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if (should_log(MASK_LOG_CTUN)) {
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attitude_control->control_monitor_log();
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#if PROXIMITY_ENABLED == ENABLED
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logger.Write_Proximity(g2.proximity); // Write proximity sensor distances
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#endif
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#if BEACON_ENABLED == ENABLED
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logger.Write_Beacon(g2.beacon);
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#endif
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}
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#if FRAME_CONFIG == HELI_FRAME
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Log_Write_Heli();
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#endif
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}
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// twentyfive_hz_logging - should be run at 25hz
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void Copter::twentyfive_hz_logging()
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{
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#if HIL_MODE != HIL_MODE_DISABLED
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// HIL for a copter needs very fast update of the servo values
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gcs().send_message(MSG_SERVO_OUTPUT_RAW);
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#endif
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#if HIL_MODE == HIL_MODE_DISABLED
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if (should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_EKF_POS();
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}
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if (should_log(MASK_LOG_IMU)) {
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logger.Write_IMU();
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}
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#endif
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#if PRECISION_LANDING == ENABLED
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// log output
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Log_Write_Precland();
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#endif
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#if MODE_AUTOROTATE_ENABLED == ENABLED
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if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
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//update autorotation log
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g2.arot.Log_Write_Autorotation();
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}
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#endif
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}
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// three_hz_loop - 3.3hz loop
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void Copter::three_hz_loop()
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{
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// check if we've lost contact with the ground station
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failsafe_gcs_check();
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// check if we've lost terrain data
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failsafe_terrain_check();
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#if AC_FENCE == ENABLED
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// check if we have breached a fence
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fence_check();
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#endif // AC_FENCE_ENABLED
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// update ch6 in flight tuning
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tuning();
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}
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// one_hz_loop - runs at 1Hz
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void Copter::one_hz_loop()
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{
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if (should_log(MASK_LOG_ANY)) {
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Log_Write_Data(LogDataID::AP_STATE, ap.value);
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}
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arming.update();
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if (!motors->armed()) {
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// make it possible to change ahrs orientation at runtime during initial config
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ahrs.update_orientation();
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update_using_interlock();
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// check the user hasn't updated the frame class or type
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motors->set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
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#if FRAME_CONFIG != HELI_FRAME
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// set all throttle channel settings
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motors->set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
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#endif
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}
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// update assigned functions and enable auxiliary servos
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SRV_Channels::enable_aux_servos();
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// log terrain data
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terrain_logging();
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#if ADSB_ENABLED == ENABLED
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adsb.set_is_flying(!ap.land_complete);
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#endif
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AP_Notify::flags.flying = !ap.land_complete;
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}
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// called at 50hz
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void Copter::update_GPS(void)
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{
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static uint32_t last_gps_reading[GPS_MAX_INSTANCES]; // time of last gps message
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bool gps_updated = false;
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gps.update();
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// log after every gps message
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for (uint8_t i=0; i<gps.num_sensors(); i++) {
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if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
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last_gps_reading[i] = gps.last_message_time_ms(i);
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gps_updated = true;
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break;
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}
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}
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if (gps_updated) {
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#if CAMERA == ENABLED
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camera.update();
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#endif
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}
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}
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void Copter::init_simple_bearing()
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{
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// capture current cos_yaw and sin_yaw values
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simple_cos_yaw = ahrs.cos_yaw();
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simple_sin_yaw = ahrs.sin_yaw();
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// initialise super simple heading (i.e. heading towards home) to be 180 deg from simple mode heading
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super_simple_last_bearing = wrap_360_cd(ahrs.yaw_sensor+18000);
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super_simple_cos_yaw = simple_cos_yaw;
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super_simple_sin_yaw = simple_sin_yaw;
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// log the simple bearing
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if (should_log(MASK_LOG_ANY)) {
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Log_Write_Data(LogDataID::INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
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}
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}
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// update_simple_mode - rotates pilot input if we are in simple mode
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void Copter::update_simple_mode(void)
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{
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float rollx, pitchx;
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// exit immediately if no new radio frame or not in simple mode
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if (simple_mode == SimpleMode::NONE || !ap.new_radio_frame) {
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return;
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}
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// mark radio frame as consumed
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ap.new_radio_frame = false;
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if (simple_mode == SimpleMode::SIMPLE) {
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// rotate roll, pitch input by -initial simple heading (i.e. north facing)
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rollx = channel_roll->get_control_in()*simple_cos_yaw - channel_pitch->get_control_in()*simple_sin_yaw;
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pitchx = channel_roll->get_control_in()*simple_sin_yaw + channel_pitch->get_control_in()*simple_cos_yaw;
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}else{
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// rotate roll, pitch input by -super simple heading (reverse of heading to home)
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rollx = channel_roll->get_control_in()*super_simple_cos_yaw - channel_pitch->get_control_in()*super_simple_sin_yaw;
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pitchx = channel_roll->get_control_in()*super_simple_sin_yaw + channel_pitch->get_control_in()*super_simple_cos_yaw;
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}
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// rotate roll, pitch input from north facing to vehicle's perspective
|
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channel_roll->set_control_in(rollx*ahrs.cos_yaw() + pitchx*ahrs.sin_yaw());
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channel_pitch->set_control_in(-rollx*ahrs.sin_yaw() + pitchx*ahrs.cos_yaw());
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}
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// update_super_simple_bearing - adjusts simple bearing based on location
|
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// should be called after home_bearing has been updated
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void Copter::update_super_simple_bearing(bool force_update)
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{
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if (!force_update) {
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if (simple_mode != SimpleMode::SUPERSIMPLE) {
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return;
|
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}
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if (home_distance() < SUPER_SIMPLE_RADIUS) {
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return;
|
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}
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}
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const int32_t bearing = home_bearing();
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// check the bearing to home has changed by at least 5 degrees
|
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if (labs(super_simple_last_bearing - bearing) < 500) {
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return;
|
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}
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super_simple_last_bearing = bearing;
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const float angle_rad = radians((super_simple_last_bearing+18000)/100);
|
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super_simple_cos_yaw = cosf(angle_rad);
|
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super_simple_sin_yaw = sinf(angle_rad);
|
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}
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|
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void Copter::read_AHRS(void)
|
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{
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// Perform IMU calculations and get attitude info
|
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//-----------------------------------------------
|
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#if HIL_MODE != HIL_MODE_DISABLED
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// update hil before ahrs update
|
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gcs().update();
|
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#endif
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// we tell AHRS to skip INS update as we have already done it in fast_loop()
|
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ahrs.update(true);
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}
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// read baro and log control tuning
|
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void Copter::update_altitude()
|
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{
|
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// read in baro altitude
|
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read_barometer();
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if (should_log(MASK_LOG_CTUN)) {
|
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Log_Write_Control_Tuning();
|
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#if HAL_GYROFFT_ENABLED
|
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gyro_fft.write_log_messages();
|
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#else
|
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write_notch_log_messages();
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#endif
|
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}
|
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}
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|
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#if OSD_ENABLED == ENABLED
|
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void Copter::publish_osd_info()
|
|
{
|
|
AP_OSD::NavInfo nav_info;
|
|
nav_info.wp_distance = flightmode->wp_distance() * 1.0e-2f;
|
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nav_info.wp_bearing = flightmode->wp_bearing();
|
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nav_info.wp_xtrack_error = flightmode->crosstrack_error() * 1.0e-2f;
|
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nav_info.wp_number = mode_auto.mission.get_current_nav_index();
|
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osd.set_nav_info(nav_info);
|
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}
|
|
#endif
|
|
|
|
/*
|
|
constructor for main Copter class
|
|
*/
|
|
Copter::Copter(void)
|
|
: logger(g.log_bitmask),
|
|
flight_modes(&g.flight_mode1),
|
|
control_mode(Mode::Number::STABILIZE),
|
|
simple_cos_yaw(1.0f),
|
|
super_simple_cos_yaw(1.0),
|
|
land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),
|
|
rc_throttle_control_in_filter(1.0f),
|
|
inertial_nav(ahrs),
|
|
param_loader(var_info),
|
|
flightmode(&mode_stabilize)
|
|
{
|
|
// init sensor error logging flags
|
|
sensor_health.baro = true;
|
|
sensor_health.compass = true;
|
|
}
|
|
|
|
Copter copter;
|
|
AP_Vehicle& vehicle = copter;
|
|
|
|
AP_HAL_MAIN_CALLBACKS(&copter);
|