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ardupilot/libraries/AP_Vehicle/AP_Vehicle.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
this header holds a parameter structure for each vehicle type for
parameters needed by multiple libraries
*/
#include "ModeReason.h" // reasons can't be defined in this header due to circular loops
#include <AP_Baro/AP_Baro.h>
#include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Button/AP_Button.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Generator/AP_Generator.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_Notify/AP_Notify.h> // Notify library
#include <AP_Param/AP_Param.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Relay/AP_Relay.h> // APM relay
#include <AP_RSSI/AP_RSSI.h> // RSSI Library
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Camera/AP_RunCam.h>
#include <AP_Hott_Telem/AP_Hott_Telem.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <AP_GyroFFT/AP_GyroFFT.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_VideoTX/AP_VideoTX.h>
#include <AP_MSP/AP_MSP.h>
#include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include <AP_VideoTX/AP_SmartAudio.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
#endif
class AP_Vehicle : public AP_HAL::HAL::Callbacks {
public:
AP_Vehicle() {
if (_singleton) {
AP_HAL::panic("Too many Vehicles");
}
AP_Param::setup_object_defaults(this, var_info);
_singleton = this;
}
/* Do not allow copies */
AP_Vehicle(const AP_Vehicle &other) = delete;
AP_Vehicle &operator=(const AP_Vehicle&) = delete;
static AP_Vehicle *get_singleton();
// setup() is called once during vehicle startup to initialise the
// vehicle object and the objects it contains. The
// AP_HAL_MAIN_CALLBACKS pragma creates a main(...) function
// referencing an object containing setup() and loop() functions.
// A vehicle is not expected to override setup(), but
// subclass-specific initialisation can be done in init_ardupilot
// which is called from setup().
void setup(void) override final;
// HAL::Callbacks implementation.
void loop() override final;
// set_mode *must* set control_mode_reason
virtual bool set_mode(const uint8_t new_mode, const ModeReason reason) = 0;
virtual uint8_t get_mode() const = 0;
ModeReason get_control_mode_reason() const {
return control_mode_reason;
}
// perform any notifications required to indicate a mode change
// failed due to a bad mode number being supplied. This can
// happen for many reasons - bad mavlink packet and bad mode
// parameters for example.
void notify_no_such_mode(uint8_t mode_number);
/*
common parameters for fixed wing aircraft
*/
struct FixedWing {
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_cruise;
AP_Int8 takeoff_throttle_max;
AP_Int16 airspeed_min;
AP_Int16 airspeed_max;
AP_Int32 airspeed_cruise_cm;
AP_Int32 min_gndspeed_cm;
AP_Int8 crash_detection_enable;
AP_Int16 roll_limit_cd;
AP_Int16 pitch_limit_max_cd;
AP_Int16 pitch_limit_min_cd;
AP_Int8 autotune_level;
AP_Int8 stall_prevention;
AP_Int16 loiter_radius;
struct Rangefinder_State {
bool in_range:1;
bool have_initial_reading:1;
bool in_use:1;
float initial_range;
float correction;
float initial_correction;
float last_stable_correction;
uint32_t last_correction_time_ms;
uint8_t in_range_count;
float height_estimate;
float last_distance;
};
// stages of flight
enum FlightStage {
FLIGHT_TAKEOFF = 1,
FLIGHT_VTOL = 2,
FLIGHT_NORMAL = 3,
FLIGHT_LAND = 4,
FLIGHT_ABORT_LAND = 7
};
};
/*
common parameters for multicopters
*/
struct MultiCopter {
AP_Int16 angle_max;
};
void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);
// implementations *MUST* fill in all passed-in fields or we get
// Valgrind errors
virtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0;
/*
set the "likely flying" flag. This is not guaranteed to be
accurate, but is the vehicle codes best guess as to the whether
the vehicle is currently flying
*/
void set_likely_flying(bool b) {
if (b && !likely_flying) {
_last_flying_ms = AP_HAL::millis();
}
likely_flying = b;
}
/*
get the likely flying status. Returns true if the vehicle code
thinks we are flying at the moment. Not guaranteed to be
accurate
*/
bool get_likely_flying(void) const {
return likely_flying;
}
/*
return time in milliseconds since likely_flying was set
true. Returns zero if likely_flying is currently false
*/
uint32_t get_time_flying_ms(void) const {
if (!likely_flying) {
return 0;
}
return AP_HAL::millis() - _last_flying_ms;
}
// returns true if the vehicle has crashed
virtual bool is_crashed() const;
#ifdef ENABLE_SCRIPTING
/*
methods to control vehicle for use by scripting
*/
virtual bool start_takeoff(float alt) { return false; }
virtual bool set_target_location(const Location& target_loc) { return false; }
virtual bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) { return false; }
virtual bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) { return false; }
virtual bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }
virtual bool set_target_velocity_NED(const Vector3f& vel_ned) { return false; }
virtual bool set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }
virtual bool 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) { return false; }
// get target location (for use by scripting)
virtual bool get_target_location(Location& target_loc) { return false; }
// circle mode controls (only used by scripting with Copter)
virtual bool get_circle_radius(float &radius_m) { return false; }
virtual bool set_circle_rate(float rate_dps) { return false; }
// set steering and throttle (-1 to +1) (for use by scripting with Rover)
virtual bool set_steering_and_throttle(float steering, float throttle) { return false; }
#endif // ENABLE_SCRIPTING
// control outputs enumeration
enum class ControlOutput {
Roll = 1,
Pitch = 2,
Throttle = 3,
Yaw = 4,
Lateral = 5,
MainSail = 6,
WingSail = 7,
Walking_Height = 8,
Last_ControlOutput // place new values before this
};
// get control output (for use in scripting)
// returns true on success and control_value is set to a value in the range -1 to +1
virtual bool get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value) { return false; }
// write out harmonic notch log messages
void write_notch_log_messages() const;
// update the harmonic notch
virtual void update_dynamic_notch() {};
// zeroing the RC outputs can prevent unwanted motor movement:
virtual bool should_zero_rc_outputs_on_reboot() const { return false; }
// reboot the vehicle in an orderly manner, doing various cleanups
// and flashing LEDs as appropriate
void reboot(bool hold_in_bootloader);
/*
get the distance to next wp in meters
return false if failed or n/a
*/
virtual bool get_wp_distance_m(float &distance) const { return false; }
/*
get the current wp bearing in degrees
return false if failed or n/a
*/
virtual bool get_wp_bearing_deg(float &bearing) const { return false; }
/*
get the current wp crosstrack error in meters
return false if failed or n/a
*/
virtual bool get_wp_crosstrack_error_m(float &xtrack_error) const { return false; }
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
AP_Frsky_Parameters frsky_parameters;
#endif
/*
Returns the pan and tilt for use by onvif camera in scripting
*/
virtual bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const { return false; }
#if OSD_ENABLED
// Returns roll and pitch for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing TRIM_PITCH_CD
virtual void get_osd_roll_pitch_rad(float &roll, float &pitch) const;
#endif
protected:
virtual void init_ardupilot() = 0;
virtual void load_parameters() = 0;
virtual void set_control_channels() {}
// board specific config
AP_BoardConfig BoardConfig;
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
// board specific config for CAN bus
AP_CANManager can_mgr;
#endif
// main loop scheduler
AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&AP_Vehicle::fast_loop, void)};
virtual void fast_loop();
// IMU variables
// Integration time; time last loop took to run
float G_Dt;
// sensor drivers
AP_GPS gps;
AP_Baro barometer;
Compass compass;
AP_InertialSensor ins;
#if HAL_BUTTON_ENABLED
AP_Button button;
#endif
RangeFinder rangefinder;
AP_RSSI rssi;
#if HAL_RUNCAM_ENABLED
AP_RunCam runcam;
#endif
#if HAL_GYROFFT_ENABLED
AP_GyroFFT gyro_fft;
#endif
AP_VideoTX vtx;
AP_SerialManager serial_manager;
AP_Relay relay;
AP_ServoRelayEvents ServoRelayEvents;
// notification object for LEDs, buzzers etc (parameter set to
// false disables external leds)
AP_Notify notify;
// Inertial Navigation EKF
AP_AHRS ahrs;
#if HAL_HOTT_TELEM_ENABLED
AP_Hott_Telem hott_telem;
#endif
#if HAL_VISUALODOM_ENABLED
AP_VisualOdom visual_odom;
#endif
#if HAL_WITH_ESC_TELEM
AP_ESC_Telem esc_telem;
#endif
#if HAL_MSP_ENABLED
AP_MSP msp;
#endif
#if HAL_GENERATOR_ENABLED
AP_Generator generator;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
AP_ExternalAHRS externalAHRS;
#endif
#if HAL_SMARTAUDIO_ENABLED
AP_SmartAudio smartaudio;
#endif
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Scheduler::Task scheduler_tasks[];
#if OSD_ENABLED
void publish_osd_info();
#endif
// update accel calibration
void accel_cal_update();
ModeReason control_mode_reason = ModeReason::UNKNOWN;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SIM sitl;
#endif
private:
// delay() callback that processing MAVLink packets
static void scheduler_delay_callback();
// if there's been a watchdog reset, notify the world via a
// statustext:
void send_watchdog_reset_statustext();
// run notch update at either loop rate or 200Hz
void update_dynamic_notch_at_specified_rate();
bool likely_flying; // true if vehicle is probably flying
uint32_t _last_flying_ms; // time when likely_flying last went true
uint32_t _last_notch_update_ms; // last time update_dynamic_notch() was run
static AP_Vehicle *_singleton;
bool done_safety_init;
uint32_t _last_internal_errors; // backup of AP_InternalError::internal_errors bitmask
};
namespace AP {
AP_Vehicle *vehicle();
};
extern const AP_HAL::HAL& hal;
extern const AP_Param::Info vehicle_var_info[];
#include "AP_Vehicle_Type.h"
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