mirror of https://github.com/ArduPilot/ardupilot
274 lines
10 KiB
C++
274 lines
10 KiB
C++
/*
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Lead developers: Matthew Ridley and Andrew Tridgell
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Please contribute your ideas! See http://dev.ardupilot.org for details
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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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#pragma once
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////////////////////////////////////////////////////////////////////////////////
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// Header includes
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////////////////////////////////////////////////////////////////////////////////
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#include <cmath>
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#include <stdarg.h>
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#include <stdio.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
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#include <AP_Baro/AP_Baro.h> // ArduPilot barometer library
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#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_ADC/AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor Library
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#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
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#include <AP_AHRS/AP_AHRS.h> // ArduPilot Mega DCM Library
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#include <Filter/Filter.h> // Filter library
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#include <AP_Buffer/AP_Buffer.h> // APM FIFO Buffer
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
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#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
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#include <DataFlash/DataFlash.h>
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#include <AC_PID/AC_PID.h>
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#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
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#include <AP_NavEKF2/AP_NavEKF2.h>
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#include <AP_NavEKF3/AP_NavEKF3.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_Rally/AP_Rally.h>
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <RC_Channel/RC_Channel.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
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#include <AP_OpticalFlow/AP_OpticalFlow.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_Beacon/AP_Beacon.h>
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// Configuration
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#include "config.h"
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#include "defines.h"
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#include "Parameters.h"
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#include "GCS_Mavlink.h"
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#include "GCS_Tracker.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <SITL/SITL.h>
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#endif
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class Tracker : public AP_HAL::HAL::Callbacks {
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public:
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friend class GCS_MAVLINK_Tracker;
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friend class GCS_Tracker;
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friend class Parameters;
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Tracker(void);
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static const AP_FWVersion fwver;
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// HAL::Callbacks implementation.
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void setup() override;
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void loop() override;
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private:
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Parameters g;
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// main loop scheduler
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AP_Scheduler scheduler = AP_Scheduler::create();
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// notification object for LEDs, buzzers etc
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AP_Notify notify = AP_Notify::create();
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uint32_t start_time_ms = 0;
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bool usb_connected = false;
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DataFlash_Class DataFlash;
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AP_GPS gps = AP_GPS::create();
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AP_Baro barometer = AP_Baro::create();
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Compass compass = Compass::create();
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AP_InertialSensor ins = AP_InertialSensor::create();
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RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_NONE);
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// Inertial Navigation EKF
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#if AP_AHRS_NAVEKF_AVAILABLE
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NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rng);
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NavEKF3 EKF3 = NavEKF3::create(&ahrs, barometer, rng);
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AP_AHRS_NavEKF ahrs = AP_AHRS_NavEKF::create(ins, barometer, gps, EKF2, EKF3);
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#else
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AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, barometer, gps);
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SITL::SITL sitl;
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#endif
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/**
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antenna control channels
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*/
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RC_Channels rc_channels;
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SRV_Channels servo_channels;
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LowPassFilterFloat yaw_servo_out_filt;
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LowPassFilterFloat pitch_servo_out_filt;
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bool yaw_servo_out_filt_init = false;
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bool pitch_servo_out_filt_init = false;
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AP_SerialManager serial_manager = AP_SerialManager::create();
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GCS_Tracker _gcs; // avoid using this; use gcs()
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GCS_Tracker &gcs() { return _gcs; }
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AP_BoardConfig BoardConfig = AP_BoardConfig::create();
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#if HAL_WITH_UAVCAN
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// board specific config for CAN bus
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AP_BoardConfig_CAN BoardConfig_CAN = AP_BoardConfig_CAN::create();
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#endif
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struct Location current_loc;
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enum ControlMode control_mode = INITIALISING;
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// Vehicle state
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struct {
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bool location_valid; // true if we have a valid location for the vehicle
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Location location; // lat, long in degrees * 10^7; alt in meters * 100
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Location location_estimate; // lat, long in degrees * 10^7; alt in meters * 100
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uint32_t last_update_us; // last position update in microseconds
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uint32_t last_update_ms; // last position update in milliseconds
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Vector3f vel; // the vehicle's velocity in m/s
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int32_t relative_alt; // the vehicle's relative altitude in meters * 100
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} vehicle;
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// Navigation controller state
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struct {
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float bearing; // bearing to vehicle in centi-degrees
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float distance; // distance to vehicle in meters
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float pitch; // pitch to vehicle in degrees (positive means vehicle is above tracker, negative means below)
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float angle_error_pitch; // angle error between target and current pitch in centi-degrees
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float angle_error_yaw; // angle error between target and current yaw in centi-degrees
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float alt_difference_baro; // altitude difference between tracker and vehicle in meters according to the barometer. positive value means vehicle is above tracker
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float alt_difference_gps; // altitude difference between tracker and vehicle in meters according to the gps. positive value means vehicle is above tracker
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float altitude_offset; // offset in meters which is added to tracker altitude to align altitude measurements with vehicle's barometer
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bool manual_control_yaw : 1;// true if tracker yaw is under manual control
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bool manual_control_pitch : 1;// true if tracker pitch is manually controlled
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bool need_altitude_calibration : 1;// true if tracker altitude has not been determined (true after startup)
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bool scan_reverse_pitch : 1;// controls direction of pitch movement in SCAN mode
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bool scan_reverse_yaw : 1;// controls direction of yaw movement in SCAN mode
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} nav_status = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, false, false, true, false, false};
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// setup the var_info table
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AP_Param param_loader{var_info};
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uint8_t one_second_counter = 0;
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bool target_set = false;
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// use this to prevent recursion during sensor init
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bool in_mavlink_delay = false;
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static const AP_Scheduler::Task scheduler_tasks[];
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static const AP_Param::Info var_info[];
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static const struct LogStructure log_structure[];
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void dataflash_periodic(void);
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void ins_periodic();
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void one_second_loop();
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void ten_hz_logging_loop();
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void send_heartbeat(mavlink_channel_t chan);
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void send_attitude(mavlink_channel_t chan);
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void send_location(mavlink_channel_t chan);
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void send_nav_controller_output(mavlink_channel_t chan);
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void send_simstate(mavlink_channel_t chan);
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void mavlink_check_target(const mavlink_message_t* msg);
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void gcs_data_stream_send(void);
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void gcs_update(void);
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void gcs_retry_deferred(void);
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void load_parameters(void);
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void update_auto(void);
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void calc_angle_error(float pitch, float yaw, bool direction_reversed);
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void convert_ef_to_bf(float pitch, float yaw, float& bf_pitch, float& bf_yaw);
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bool convert_bf_to_ef(float pitch, float yaw, float& ef_pitch, float& ef_yaw);
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bool get_ef_yaw_direction();
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void update_manual(void);
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void update_scan(void);
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bool servo_test_set_servo(uint8_t servo_num, uint16_t pwm);
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void read_radio();
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void init_barometer(bool full_calibration);
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void update_barometer(void);
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void update_ahrs();
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void update_compass(void);
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void compass_accumulate(void);
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void accel_cal_update(void);
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void barometer_accumulate(void);
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void update_GPS(void);
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void init_servos();
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void update_pitch_servo(float pitch);
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void update_pitch_position_servo(void);
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void update_pitch_cr_servo(float pitch);
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void update_pitch_onoff_servo(float pitch);
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void update_yaw_servo(float yaw);
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void update_yaw_position_servo(void);
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void update_yaw_cr_servo(float yaw);
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void update_yaw_onoff_servo(float yaw);
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void init_tracker();
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void update_notify();
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bool get_home_eeprom(struct Location &loc);
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void set_home_eeprom(struct Location temp);
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void set_home(struct Location temp);
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void set_ekf_origin(const Location& loc);
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void arm_servos();
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void disarm_servos();
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void prepare_servos();
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void set_mode(enum ControlMode mode);
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void check_usb_mux(void);
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void update_vehicle_pos_estimate();
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void update_tracker_position();
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void update_bearing_and_distance();
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void update_tracking(void);
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void tracking_update_position(const mavlink_global_position_int_t &msg);
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void tracking_update_pressure(const mavlink_scaled_pressure_t &msg);
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void tracking_manual_control(const mavlink_manual_control_t &msg);
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void update_armed_disarmed();
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void init_capabilities(void);
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void compass_cal_update();
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void Log_Write_Attitude();
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void Log_Write_Baro(void);
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void Log_Write_Vehicle_Pos(int32_t lat,int32_t lng,int32_t alt, const Vector3f& vel);
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void Log_Write_Vehicle_Baro(float pressure, float altitude);
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void Log_Write_Vehicle_Startup_Messages();
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void log_init(void);
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bool should_log(uint32_t mask);
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public:
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void mavlink_snoop(const mavlink_message_t* msg);
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void mavlink_delay_cb();
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};
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extern const AP_HAL::HAL& hal;
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extern Tracker tracker;
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