mirror of https://github.com/ArduPilot/ardupilot
943 lines
30 KiB
Plaintext
943 lines
30 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#define THISFIRMWARE "ArduRover v2.43beta5"
|
|
/*
|
|
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/>.
|
|
*/
|
|
|
|
/*
|
|
This is the APMrover2 firmware. It was originally derived from
|
|
ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
|
|
AP_HAL merge by Andrew Tridgell
|
|
|
|
Maintainer: Andrew Tridgell
|
|
|
|
Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Jean-Louis Naudin
|
|
|
|
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
|
|
|
|
APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
|
|
|
|
Please contribute your ideas! See http://dev.ardupilot.com for details
|
|
*/
|
|
|
|
// Radio setup:
|
|
// APM INPUT (Rec = receiver)
|
|
// Rec ch1: Steering
|
|
// Rec ch2: not used
|
|
// Rec ch3: Throttle
|
|
// Rec ch4: not used
|
|
// Rec ch5: not used
|
|
// Rec ch6: not used
|
|
// Rec ch7: Option channel to 2 position switch
|
|
// Rec ch8: Mode channel to 6 position switch
|
|
// APM OUTPUT
|
|
// Ch1: Wheel servo (direction)
|
|
// Ch2: not used
|
|
// Ch3: to the motor ESC
|
|
// Ch4: not used
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Header includes
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#include <math.h>
|
|
#include <stdarg.h>
|
|
#include <stdio.h>
|
|
|
|
// Libraries
|
|
#include <AP_Common.h>
|
|
#include <AP_Progmem.h>
|
|
#include <AP_HAL.h>
|
|
#include <AP_Menu.h>
|
|
#include <AP_Param.h>
|
|
#include <AP_GPS.h> // ArduPilot GPS library
|
|
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
|
|
#include <AP_ADC_AnalogSource.h>
|
|
#include <AP_Baro.h>
|
|
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
|
|
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
|
#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
|
|
#include <AP_AHRS.h> // ArduPilot Mega DCM Library
|
|
#include <PID.h> // PID library
|
|
#include <RC_Channel.h> // RC Channel Library
|
|
#include <AP_RangeFinder.h> // Range finder library
|
|
#include <Filter.h> // Filter library
|
|
#include <Butter.h> // Filter library - butterworth filter
|
|
#include <AP_Buffer.h> // FIFO buffer library
|
|
#include <ModeFilter.h> // Mode Filter from Filter library
|
|
#include <AverageFilter.h> // Mode Filter from Filter library
|
|
#include <AP_Relay.h> // APM relay
|
|
#include <AP_Mount.h> // Camera/Antenna mount
|
|
#include <AP_Camera.h> // Camera triggering
|
|
#include <GCS_MAVLink.h> // MAVLink GCS definitions
|
|
#include <AP_Airspeed.h> // needed for AHRS build
|
|
#include <AP_Vehicle.h> // needed for AHRS build
|
|
#include <memcheck.h>
|
|
#include <DataFlash.h>
|
|
#include <AP_RCMapper.h> // RC input mapping library
|
|
#include <SITL.h>
|
|
#include <AP_Scheduler.h> // main loop scheduler
|
|
#include <stdarg.h>
|
|
#include <AP_Navigation.h>
|
|
#include <APM_Control.h>
|
|
#include <AP_L1_Control.h>
|
|
|
|
#include <AP_HAL_AVR.h>
|
|
#include <AP_HAL_AVR_SITL.h>
|
|
#include <AP_HAL_PX4.h>
|
|
#include <AP_HAL_FLYMAPLE.h>
|
|
#include <AP_HAL_Linux.h>
|
|
#include <AP_HAL_Empty.h>
|
|
#include "compat.h"
|
|
|
|
#include <AP_Notify.h> // Notify library
|
|
|
|
// Configuration
|
|
#include "config.h"
|
|
|
|
// Local modules
|
|
#include "defines.h"
|
|
#include "Parameters.h"
|
|
#include "GCS.h"
|
|
|
|
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
|
|
|
|
AP_HAL::BetterStream* cliSerial;
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
|
|
|
|
// this sets up the parameter table, and sets the default values. This
|
|
// must be the first AP_Param variable declared to ensure its
|
|
// constructor runs before the constructors of the other AP_Param
|
|
// variables
|
|
AP_Param param_loader(var_info, WP_START_BYTE);
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// the rate we run the main loop at
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Parameters
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// Global parameters are all contained within the 'g' class.
|
|
//
|
|
static Parameters g;
|
|
|
|
// main loop scheduler
|
|
static AP_Scheduler scheduler;
|
|
|
|
// mapping between input channels
|
|
static RCMapper rcmap;
|
|
|
|
// primary control channels
|
|
static RC_Channel *channel_steer;
|
|
static RC_Channel *channel_throttle;
|
|
static RC_Channel *channel_learn;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// prototypes
|
|
static void update_events(void);
|
|
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
|
|
static void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// DataFlash
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
|
|
static DataFlash_APM1 DataFlash;
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
|
|
static DataFlash_APM2 DataFlash;
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
|
|
//static DataFlash_File DataFlash("/tmp/APMlogs");
|
|
static DataFlash_SITL DataFlash;
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
static DataFlash_File DataFlash("/fs/microsd/APM/logs");
|
|
#else
|
|
DataFlash_Empty DataFlash;
|
|
#endif
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Sensors
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// There are three basic options related to flight sensor selection.
|
|
//
|
|
// - Normal driving mode. Real sensors are used.
|
|
// - HIL Attitude mode. Most sensors are disabled, as the HIL
|
|
// protocol supplies attitude information directly.
|
|
// - HIL Sensors mode. Synthetic sensors are configured that
|
|
// supply data from the simulation.
|
|
//
|
|
|
|
// All GPS access should be through this pointer.
|
|
static GPS *g_gps;
|
|
|
|
// flight modes convenience array
|
|
static AP_Int8 *modes = &g.mode1;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
|
|
static AP_ADC_ADS7844 adc;
|
|
#endif
|
|
|
|
#if CONFIG_COMPASS == AP_COMPASS_PX4
|
|
static AP_Compass_PX4 compass;
|
|
#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
|
|
static AP_Compass_HMC5843 compass;
|
|
#elif CONFIG_COMPASS == AP_COMPASS_HIL
|
|
static AP_Compass_HIL compass;
|
|
#else
|
|
#error Unrecognized CONFIG_COMPASS setting
|
|
#endif
|
|
|
|
// GPS selection
|
|
#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
|
|
AP_GPS_Auto g_gps_driver(&g_gps);
|
|
|
|
#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
|
|
AP_GPS_NMEA g_gps_driver;
|
|
|
|
#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
|
|
AP_GPS_SIRF g_gps_driver;
|
|
|
|
#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
|
|
AP_GPS_UBLOX g_gps_driver;
|
|
|
|
#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
|
|
AP_GPS_MTK g_gps_driver;
|
|
|
|
#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19
|
|
AP_GPS_MTK19 g_gps_driver;
|
|
|
|
#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
|
|
AP_GPS_None g_gps_driver;
|
|
|
|
#elif GPS_PROTOCOL == GPS_PROTOCOL_HIL
|
|
AP_GPS_HIL g_gps_driver;
|
|
|
|
#else
|
|
#error Unrecognised GPS_PROTOCOL setting.
|
|
#endif // GPS PROTOCOL
|
|
|
|
#if CONFIG_INS_TYPE == CONFIG_INS_MPU6000
|
|
AP_InertialSensor_MPU6000 ins;
|
|
#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
|
|
AP_InertialSensor_PX4 ins;
|
|
#elif CONFIG_INS_TYPE == CONFIG_INS_HIL
|
|
AP_InertialSensor_HIL ins;
|
|
#elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE
|
|
AP_InertialSensor_Flymaple ins;
|
|
#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
|
|
AP_InertialSensor_Oilpan ins( &adc );
|
|
#else
|
|
#error Unrecognised CONFIG_INS_TYPE setting.
|
|
#endif // CONFIG_INS_TYPE
|
|
|
|
AP_AHRS_DCM ahrs(&ins, g_gps);
|
|
|
|
static AP_L1_Control L1_controller(ahrs);
|
|
|
|
// selected navigation controller
|
|
static AP_Navigation *nav_controller = &L1_controller;
|
|
|
|
// steering controller
|
|
static AP_SteerController steerController(ahrs);
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
|
|
SITL sitl;
|
|
#endif
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// GCS selection
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
GCS_MAVLINK gcs0;
|
|
GCS_MAVLINK gcs3;
|
|
|
|
// a pin for reading the receiver RSSI voltage. The scaling by 0.25
|
|
// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
|
|
AP_HAL::AnalogSource *rssi_analog_source;
|
|
|
|
AP_HAL::AnalogSource *vcc_pin;
|
|
|
|
AP_HAL::AnalogSource * batt_volt_pin;
|
|
AP_HAL::AnalogSource * batt_curr_pin;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// SONAR selection
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
static AP_RangeFinder_analog sonar;
|
|
static AP_RangeFinder_analog sonar2;
|
|
|
|
// relay support
|
|
AP_Relay relay;
|
|
|
|
// Camera
|
|
#if CAMERA == ENABLED
|
|
static AP_Camera camera(&relay);
|
|
#endif
|
|
|
|
// The rover's current location
|
|
static struct Location current_loc;
|
|
|
|
|
|
// 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
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Global variables
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
// if USB is connected
|
|
static bool usb_connected;
|
|
|
|
/* Radio values
|
|
Channel assignments
|
|
1 Steering
|
|
2 ---
|
|
3 Throttle
|
|
4 ---
|
|
5 Aux5
|
|
6 Aux6
|
|
7 Aux7/learn
|
|
8 Aux8/Mode
|
|
Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
|
|
See libraries/RC_Channel/RC_Channel_aux.h for more information
|
|
*/
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Radio
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// This is the state of the flight control system
|
|
// There are multiple states defined such as MANUAL, FBW-A, AUTO
|
|
enum mode control_mode = INITIALISING;
|
|
// Used to maintain the state of the previous control switch position
|
|
// This is set to -1 when we need to re-read the switch
|
|
uint8_t oldSwitchPosition;
|
|
// These are values received from the GCS if the user is using GCS joystick
|
|
// control and are substituted for the values coming from the RC radio
|
|
static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
|
|
// A flag if GCS joystick control is in use
|
|
static bool rc_override_active = false;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Failsafe
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// A tracking variable for type of failsafe active
|
|
// Used for failsafe based on loss of RC signal or GCS signal. See
|
|
// FAILSAFE_EVENT_*
|
|
static struct {
|
|
uint8_t bits;
|
|
uint32_t rc_override_timer;
|
|
uint32_t start_time;
|
|
uint8_t triggered;
|
|
} failsafe;
|
|
|
|
// notify object
|
|
static AP_Notify notify;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// GPS variables
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// This is used to scale GPS values for EEPROM storage
|
|
// 10^7 times Decimal GPS means 1 == 1cm
|
|
// This approximation makes calculations integer and it's easy to read
|
|
static const float t7 = 10000000.0;
|
|
// We use atan2 and other trig techniques to calaculate angles
|
|
|
|
// A counter used to count down valid gps fixes to allow the gps estimate to settle
|
|
// before recording our home position (and executing a ground start if we booted with an air start)
|
|
static uint8_t ground_start_count = 5;
|
|
// Used to compute a speed estimate from the first valid gps fixes to decide if we are
|
|
// on the ground or in the air. Used to decide if a ground start is appropriate if we
|
|
// booted with an air start.
|
|
static int16_t ground_start_avg;
|
|
static int32_t gps_base_alt;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Location & Navigation
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Constants
|
|
const float radius_of_earth = 6378100; // meters
|
|
|
|
|
|
// true if we have a position estimate from AHRS
|
|
static bool have_position;
|
|
|
|
static bool rtl_complete = false;
|
|
|
|
// There may be two active commands in Auto mode.
|
|
// This indicates the active navigation command by index number
|
|
static uint8_t nav_command_index;
|
|
// This indicates the active non-navigation command by index number
|
|
static uint8_t non_nav_command_index;
|
|
// This is the command type (eg navigate to waypoint) of the active navigation command
|
|
static uint8_t nav_command_ID = NO_COMMAND;
|
|
static uint8_t non_nav_command_ID = NO_COMMAND;
|
|
|
|
// ground speed error in m/s
|
|
static float groundspeed_error;
|
|
// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
|
|
static int16_t throttle_nudge = 0;
|
|
|
|
// receiver RSSI
|
|
static uint8_t receiver_rssi;
|
|
|
|
// the time when the last HEARTBEAT message arrived from a GCS
|
|
static uint32_t last_heartbeat_ms;
|
|
|
|
// obstacle detection information
|
|
static struct {
|
|
// have we detected an obstacle?
|
|
uint8_t detected_count;
|
|
float turn_angle;
|
|
uint16_t sonar1_distance_cm;
|
|
uint16_t sonar2_distance_cm;
|
|
|
|
// time when we last detected an obstacle, in milliseconds
|
|
uint32_t detected_time_ms;
|
|
} obstacle;
|
|
|
|
// this is set to true when auto has been triggered to start
|
|
static bool auto_triggered;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Ground speed
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The amount current ground speed is below min ground speed. meters per second
|
|
static float ground_speed = 0;
|
|
static int16_t throttle_last = 0, throttle = 500;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// CH7 control
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
// Used to track the CH7 toggle state.
|
|
// When CH7 goes LOW PWM from HIGH PWM, this value will have been set true
|
|
// This allows advanced functionality to know when to execute
|
|
static bool ch7_flag;
|
|
// This register tracks the current Mission Command index when writing
|
|
// a mission using CH7 in flight
|
|
static int8_t CH7_wp_index;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Battery Sensors
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Battery pack 1 voltage. Initialized above the low voltage threshold to pre-load the filter and prevent low voltage events at startup.
|
|
static float battery_voltage1 = LOW_VOLTAGE * 1.05;
|
|
// Battery pack 1 instantaneous currrent draw. Amperes
|
|
static float current_amps1;
|
|
// Totalized current (Amp-hours) from battery 1
|
|
static float current_total1;
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Navigation control variables
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The instantaneous desired lateral acceleration in m/s/s
|
|
static float lateral_acceleration;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Waypoint distances
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Distance between rover and next waypoint. Meters
|
|
static float wp_distance;
|
|
// Distance between previous and next waypoint. Meters
|
|
static int32_t wp_totalDistance;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// repeating event control
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Flag indicating current event type
|
|
static uint8_t event_id;
|
|
// when the event was started in ms
|
|
static int32_t event_timer;
|
|
// how long to delay the next firing of event in millis
|
|
static uint16_t event_delay;
|
|
// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
|
|
static int16_t event_repeat = 0;
|
|
// per command value, such as PWM for servos
|
|
static int16_t event_value;
|
|
// the value used to cycle events (alternate value to event_value)
|
|
static int16_t event_undo_value;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// 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 int32_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 location of the current/active waypoint. Used for track following
|
|
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;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// IMU 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;
|
|
// A variable used by developers to track performanc metrics.
|
|
// Currently used to record the number of GCS heartbeat messages received
|
|
static int16_t pmTest1 = 0;
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// System Timers
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Time in miliseconds of start of main control loop. Milliseconds
|
|
static uint32_t fast_loopTimer;
|
|
// Time Stamp when fast loop was complete. Milliseconds
|
|
static uint32_t fast_loopTimeStamp;
|
|
// 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;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// 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, 1600 },
|
|
{ update_compass, 5, 2000 },
|
|
{ update_commands, 5, 1000 },
|
|
{ update_logging, 5, 1000 },
|
|
{ read_battery, 5, 1000 },
|
|
{ read_receiver_rssi, 5, 1000 },
|
|
{ read_trim_switch, 5, 1000 },
|
|
{ read_control_switch, 15, 1000 },
|
|
{ update_events, 15, 1000 },
|
|
{ check_usb_mux, 15, 1000 },
|
|
{ mount_update, 1, 500 },
|
|
{ failsafe_check, 5, 500 },
|
|
{ compass_accumulate, 1, 900 },
|
|
{ update_notify, 1, 100 },
|
|
{ one_second_loop, 50, 3000 }
|
|
};
|
|
|
|
|
|
/*
|
|
setup is called when the sketch starts
|
|
*/
|
|
void setup() {
|
|
memcheck_init();
|
|
cliSerial = hal.console;
|
|
|
|
// load the default values of variables listed in var_info[]
|
|
AP_Param::setup_sketch_defaults();
|
|
|
|
// rover does not use arming nor pre-arm checks
|
|
AP_Notify::flags.armed = true;
|
|
AP_Notify::flags.pre_arm_check = true;
|
|
AP_Notify::flags.failsafe_battery = false;
|
|
|
|
notify.init();
|
|
|
|
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]));
|
|
}
|
|
|
|
/*
|
|
loop() is called rapidly while the sketch is running
|
|
*/
|
|
void loop()
|
|
{
|
|
uint32_t timer = millis();
|
|
|
|
// We want this to execute at 50Hz, synchronised with the gyro/accel
|
|
if (ins.sample_available()) {
|
|
delta_ms_fast_loop = timer - fast_loopTimer;
|
|
G_Dt = (float)delta_ms_fast_loop / 1000.f;
|
|
fast_loopTimer = timer;
|
|
|
|
mainLoop_count++;
|
|
|
|
// Execute the fast loop
|
|
// ---------------------
|
|
fast_loop();
|
|
|
|
// tell the scheduler one tick has passed
|
|
scheduler.tick();
|
|
fast_loopTimeStamp = millis();
|
|
|
|
scheduler.run(19000U);
|
|
}
|
|
if ((timer - fast_loopTimer) <= 19) {
|
|
// we have plenty of time - be friendly to multi-tasking OSes
|
|
hal.scheduler->delay(1);
|
|
}
|
|
}
|
|
|
|
// 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);
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
// update hil before dcm update
|
|
gcs_update();
|
|
#endif
|
|
|
|
ahrs.update();
|
|
|
|
read_sonars();
|
|
|
|
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
|
|
Log_Write_Attitude();
|
|
|
|
if (g.log_bitmask & MASK_LOG_IMU)
|
|
DataFlash.Log_Write_IMU(&ins);
|
|
|
|
// custom code/exceptions for flight modes
|
|
// ---------------------------------------
|
|
update_current_mode();
|
|
|
|
// write out the servo PWM values
|
|
// ------------------------------
|
|
set_servos();
|
|
|
|
gcs_update();
|
|
gcs_data_stream_send();
|
|
}
|
|
|
|
/*
|
|
update camera mount - 50Hz
|
|
*/
|
|
static void mount_update(void)
|
|
{
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_position();
|
|
#endif
|
|
#if CAMERA == ENABLED
|
|
camera.trigger_pic_cleanup();
|
|
#endif
|
|
}
|
|
|
|
/*
|
|
check for GCS failsafe - 10Hz
|
|
*/
|
|
static void failsafe_check(void)
|
|
{
|
|
if (g.fs_gcs_enabled) {
|
|
failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000);
|
|
}
|
|
}
|
|
|
|
/*
|
|
if the compass is enabled then try to accumulate a reading
|
|
*/
|
|
static void compass_accumulate(void)
|
|
{
|
|
if (g.compass_enabled) {
|
|
compass.accumulate();
|
|
}
|
|
}
|
|
|
|
/*
|
|
check for new compass data - 10Hz
|
|
*/
|
|
static void update_compass(void)
|
|
{
|
|
if (g.compass_enabled && compass.read()) {
|
|
ahrs.set_compass(&compass);
|
|
// update offsets
|
|
compass.null_offsets();
|
|
if (g.log_bitmask & MASK_LOG_COMPASS) {
|
|
Log_Write_Compass();
|
|
}
|
|
} else {
|
|
ahrs.set_compass(NULL);
|
|
}
|
|
}
|
|
|
|
/*
|
|
log some key data - 10Hz
|
|
*/
|
|
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();
|
|
}
|
|
|
|
|
|
/*
|
|
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
|
|
}
|
|
|
|
/*
|
|
once a second events
|
|
*/
|
|
static void one_second_loop(void)
|
|
{
|
|
if (g.log_bitmask & MASK_LOG_CURRENT)
|
|
Log_Write_Current();
|
|
// send a heartbeat
|
|
gcs_send_message(MSG_HEARTBEAT);
|
|
|
|
// allow orientation change at runtime to aid config
|
|
ahrs.set_orientation();
|
|
|
|
set_control_channels();
|
|
|
|
// cope with changes to aux functions
|
|
update_aux();
|
|
|
|
#if MOUNT == ENABLED
|
|
camera_mount.update_mount_type();
|
|
#endif
|
|
|
|
// cope with changes to mavlink system ID
|
|
mavlink_system.sysid = g.sysid_this_mav;
|
|
|
|
static uint8_t counter;
|
|
|
|
counter++;
|
|
|
|
// write perf data every 20s
|
|
if (counter == 20) {
|
|
if (g.log_bitmask & MASK_LOG_PM)
|
|
Log_Write_Performance();
|
|
resetPerfData();
|
|
}
|
|
|
|
// save compass offsets once a minute
|
|
if (counter >= 60) {
|
|
if (g.compass_enabled) {
|
|
compass.save_offsets();
|
|
}
|
|
counter = 0;
|
|
}
|
|
}
|
|
|
|
static void update_GPS(void)
|
|
{
|
|
static uint32_t last_gps_reading;
|
|
g_gps->update();
|
|
|
|
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) {
|
|
DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
|
|
}
|
|
}
|
|
|
|
have_position = ahrs.get_projected_position(current_loc);
|
|
|
|
if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
|
|
gps_fix_count++;
|
|
|
|
if(ground_start_count > 1){
|
|
ground_start_count--;
|
|
ground_start_avg += g_gps->ground_speed_cm;
|
|
|
|
} else if (ground_start_count == 1) {
|
|
// We countdown N number of good GPS fixes
|
|
// so that the altitude is more accurate
|
|
// -------------------------------------
|
|
if (current_loc.lat == 0) {
|
|
ground_start_count = 5;
|
|
|
|
} else {
|
|
init_home();
|
|
if (g.compass_enabled) {
|
|
// Set compass declination automatically
|
|
compass.set_initial_location(g_gps->latitude, g_gps->longitude);
|
|
}
|
|
ground_start_count = 0;
|
|
}
|
|
}
|
|
ground_speed = g_gps->ground_speed_cm * 0.01;
|
|
|
|
#if CAMERA == ENABLED
|
|
if (camera.update_location(current_loc) == true) {
|
|
do_take_picture();
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
static void update_current_mode(void)
|
|
{
|
|
switch (control_mode){
|
|
case AUTO:
|
|
case RTL:
|
|
case GUIDED:
|
|
calc_lateral_acceleration();
|
|
calc_nav_steer();
|
|
calc_throttle(g.speed_cruise);
|
|
break;
|
|
|
|
case STEERING: {
|
|
/*
|
|
in steering mode we control lateral acceleration
|
|
directly. We first calculate the maximum lateral
|
|
acceleration at full steering lock for this speed. That is
|
|
V^2/R where R is the radius of turn. We get the radius of
|
|
turn from half the STEER2SRV_P.
|
|
*/
|
|
float max_g_force = ground_speed * ground_speed / steerController.get_turn_radius();
|
|
|
|
// constrain to user set TURN_MAX_G
|
|
max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);
|
|
|
|
lateral_acceleration = max_g_force * (channel_steer->pwm_to_angle()/4500.0f);
|
|
calc_nav_steer();
|
|
|
|
// and throttle gives speed in proportion to cruise speed
|
|
throttle_nudge = 0;
|
|
calc_throttle(channel_throttle->pwm_to_angle() * 0.01 * g.speed_cruise);
|
|
break;
|
|
}
|
|
|
|
case LEARNING:
|
|
case MANUAL:
|
|
/*
|
|
in both MANUAL and LEARNING we pass through the
|
|
controls. Setting servo_out here actually doesn't matter, as
|
|
we set the exact value in set_servos(), but it helps for
|
|
logging
|
|
*/
|
|
channel_throttle->servo_out = channel_throttle->control_in;
|
|
channel_steer->servo_out = channel_steer->pwm_to_angle();
|
|
break;
|
|
|
|
case HOLD:
|
|
// hold position - stop motors and center steering
|
|
channel_throttle->servo_out = 0;
|
|
channel_steer->servo_out = 0;
|
|
break;
|
|
|
|
case INITIALISING:
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void update_navigation()
|
|
{
|
|
switch (control_mode) {
|
|
case MANUAL:
|
|
case HOLD:
|
|
case LEARNING:
|
|
case STEERING:
|
|
case INITIALISING:
|
|
break;
|
|
|
|
case AUTO:
|
|
verify_commands();
|
|
break;
|
|
|
|
case RTL:
|
|
case GUIDED:
|
|
// no loitering around the wp with the rover, goes direct to the wp position
|
|
calc_lateral_acceleration();
|
|
calc_nav_steer();
|
|
if (verify_RTL()) {
|
|
channel_throttle->servo_out = g.throttle_min.get();
|
|
set_mode(HOLD);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
AP_HAL_MAIN();
|