mirror of https://github.com/ArduPilot/ardupilot
360 lines
9.0 KiB
C++
360 lines
9.0 KiB
C++
/*****************************************************************************
|
|
The init_ardupilot function processes everything we need for an in - air restart
|
|
We will determine later if we are actually on the ground and process a
|
|
ground start in that case.
|
|
|
|
*****************************************************************************/
|
|
|
|
#include "Rover.h"
|
|
|
|
static void mavlink_delay_cb_static()
|
|
{
|
|
rover.mavlink_delay_cb();
|
|
}
|
|
|
|
static void failsafe_check_static()
|
|
{
|
|
rover.failsafe_check();
|
|
}
|
|
|
|
void Rover::init_ardupilot()
|
|
{
|
|
// initialise console serial port
|
|
serial_manager.init_console();
|
|
|
|
hal.console->printf("\n\nInit %s"
|
|
"\n\nFree RAM: %u\n",
|
|
fwver.fw_string,
|
|
hal.util->available_memory());
|
|
|
|
//
|
|
// Check the EEPROM format version before loading any parameters from EEPROM.
|
|
//
|
|
|
|
load_parameters();
|
|
|
|
// initialise stats module
|
|
g2.stats.init();
|
|
|
|
gcs().set_dataflash(&DataFlash);
|
|
|
|
mavlink_system.sysid = g.sysid_this_mav;
|
|
|
|
// initialise serial ports
|
|
serial_manager.init();
|
|
|
|
// setup first port early to allow BoardConfig to report errors
|
|
gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
|
|
|
|
// Register mavlink_delay_cb, which will run anytime you have
|
|
// more than 5ms remaining in your call to hal.scheduler->delay
|
|
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
|
|
|
|
BoardConfig.init();
|
|
#if HAL_WITH_UAVCAN
|
|
BoardConfig_CAN.init();
|
|
#endif
|
|
|
|
// initialise notify system
|
|
notify.init(false);
|
|
AP_Notify::flags.failsafe_battery = false;
|
|
notify_mode(control_mode);
|
|
|
|
ServoRelayEvents.set_channel_mask(0xFFF0);
|
|
|
|
battery.init();
|
|
|
|
rssi.init();
|
|
|
|
// init baro before we start the GCS, so that the CLI baro test works
|
|
barometer.init();
|
|
|
|
// we start by assuming USB connected, as we initialed the serial
|
|
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
|
|
usb_connected = true;
|
|
check_usb_mux();
|
|
|
|
// setup telem slots with serial ports
|
|
gcs().setup_uarts(serial_manager);
|
|
|
|
// setup frsky telemetry
|
|
#if FRSKY_TELEM_ENABLED == ENABLED
|
|
frsky_telemetry.init(serial_manager, fwver.fw_string, MAV_TYPE_GROUND_ROVER);
|
|
#endif
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
log_init();
|
|
#endif
|
|
|
|
// initialise compass
|
|
init_compass();
|
|
|
|
// initialise rangefinder
|
|
init_rangefinder();
|
|
|
|
// init proximity sensor
|
|
init_proximity();
|
|
|
|
// init beacons used for non-gps position estimation
|
|
init_beacon();
|
|
|
|
// init visual odometry
|
|
init_visual_odom();
|
|
|
|
// and baro for EKF
|
|
init_barometer(true);
|
|
|
|
// Do GPS init
|
|
gps.set_log_gps_bit(MASK_LOG_GPS);
|
|
gps.init(serial_manager);
|
|
|
|
rc_override_active = hal.rcin->set_overrides(rc_override, 8);
|
|
|
|
ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
|
|
|
|
set_control_channels(); // setup radio channels and ouputs ranges
|
|
init_rc_in(); // sets up rc channels deadzone
|
|
g2.motors.init(); // init motors including setting servo out channels ranges
|
|
init_rc_out(); // enable output
|
|
|
|
// init wheel encoders
|
|
g2.wheel_encoder.init();
|
|
|
|
relay.init();
|
|
|
|
#if MOUNT == ENABLED
|
|
// initialise camera mount
|
|
camera_mount.init(serial_manager);
|
|
#endif
|
|
|
|
/*
|
|
setup the 'main loop is dead' check. Note that this relies on
|
|
the RC library being initialised.
|
|
*/
|
|
hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
|
|
|
|
// give AHRS the range beacon sensor
|
|
ahrs.set_beacon(&g2.beacon);
|
|
|
|
// initialize SmartRTL
|
|
g2.smart_rtl.init();
|
|
|
|
init_capabilities();
|
|
|
|
startup_ground();
|
|
|
|
Mode *initial_mode = mode_from_mode_num((enum mode)g.initial_mode.get());
|
|
if (initial_mode == nullptr) {
|
|
initial_mode = &mode_initializing;
|
|
}
|
|
set_mode(*initial_mode, MODE_REASON_INITIALISED);
|
|
|
|
|
|
// set the correct flight mode
|
|
// ---------------------------
|
|
reset_control_switch();
|
|
init_aux_switch();
|
|
|
|
// disable safety if requested
|
|
BoardConfig.init_safety();
|
|
|
|
// flag that initialisation has completed
|
|
initialised = true;
|
|
}
|
|
|
|
//*********************************************************************************
|
|
// This function does all the calibrations, etc. that we need during a ground start
|
|
//*********************************************************************************
|
|
void Rover::startup_ground(void)
|
|
{
|
|
set_mode(mode_initializing, MODE_REASON_INITIALISED);
|
|
|
|
gcs().send_text(MAV_SEVERITY_INFO, "<startup_ground> Ground start");
|
|
|
|
#if(GROUND_START_DELAY > 0)
|
|
gcs().send_text(MAV_SEVERITY_NOTICE, "<startup_ground> With delay");
|
|
delay(GROUND_START_DELAY * 1000);
|
|
#endif
|
|
|
|
// IMU ground start
|
|
//------------------------
|
|
//
|
|
|
|
startup_INS_ground();
|
|
|
|
// initialise mission library
|
|
mission.init();
|
|
|
|
// initialise DataFlash library
|
|
DataFlash.set_mission(&mission);
|
|
DataFlash.setVehicle_Startup_Log_Writer(
|
|
FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
|
|
);
|
|
|
|
// we don't want writes to the serial port to cause us to pause
|
|
// so set serial ports non-blocking once we are ready to drive
|
|
serial_manager.set_blocking_writes_all(false);
|
|
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Ready to drive");
|
|
}
|
|
|
|
/*
|
|
set the in_reverse flag
|
|
reset the throttle integrator if this changes in_reverse
|
|
*/
|
|
void Rover::set_reverse(bool reverse)
|
|
{
|
|
if (in_reverse == reverse) {
|
|
return;
|
|
}
|
|
in_reverse = reverse;
|
|
}
|
|
|
|
bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
|
|
{
|
|
if (control_mode == &new_mode) {
|
|
// don't switch modes if we are already in the correct mode.
|
|
return true;
|
|
}
|
|
|
|
Mode &old_mode = *control_mode;
|
|
if (!new_mode.enter()) {
|
|
// Log error that we failed to enter desired flight mode
|
|
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE, new_mode.mode_number());
|
|
gcs().send_text(MAV_SEVERITY_WARNING, "Flight mode change failed");
|
|
return false;
|
|
}
|
|
|
|
control_mode = &new_mode;
|
|
|
|
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
|
|
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
|
|
// but it should be harmless to disable the fence temporarily in these situations as well
|
|
g2.fence.manual_recovery_start();
|
|
|
|
#if FRSKY_TELEM_ENABLED == ENABLED
|
|
frsky_telemetry.update_control_mode(control_mode->mode_number());
|
|
#endif
|
|
#if CAMERA == ENABLED
|
|
camera.set_is_auto_mode(control_mode->mode_number() == AUTO);
|
|
#endif
|
|
|
|
old_mode.exit();
|
|
|
|
control_mode_reason = reason;
|
|
DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
|
|
|
|
notify_mode(control_mode);
|
|
return true;
|
|
}
|
|
|
|
void Rover::startup_INS_ground(void)
|
|
{
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
|
|
hal.scheduler->delay(100);
|
|
|
|
ahrs.init();
|
|
// say to EKF that rover only move by goind forward
|
|
ahrs.set_fly_forward(true);
|
|
ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
|
|
|
|
ins.init(scheduler.get_loop_rate_hz());
|
|
ahrs.reset();
|
|
}
|
|
|
|
void Rover::check_usb_mux(void)
|
|
{
|
|
bool usb_check = hal.gpio->usb_connected();
|
|
if (usb_check == usb_connected) {
|
|
return;
|
|
}
|
|
|
|
// the user has switched to/from the telemetry port
|
|
usb_connected = usb_check;
|
|
}
|
|
|
|
// update notify with mode change
|
|
void Rover::notify_mode(const Mode *mode)
|
|
{
|
|
notify.flags.flight_mode = mode->mode_number();
|
|
notify.set_flight_mode_str(mode->name4());
|
|
}
|
|
|
|
/*
|
|
check a digitial pin for high,low (1/0)
|
|
*/
|
|
uint8_t Rover::check_digital_pin(uint8_t pin)
|
|
{
|
|
const int8_t dpin = hal.gpio->analogPinToDigitalPin(pin);
|
|
if (dpin == -1) {
|
|
return 0;
|
|
}
|
|
// ensure we are in input mode
|
|
hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
|
|
|
|
// enable pullup
|
|
hal.gpio->write(dpin, 1);
|
|
|
|
return hal.gpio->read(dpin);
|
|
}
|
|
|
|
/*
|
|
should we log a message type now?
|
|
*/
|
|
bool Rover::should_log(uint32_t mask)
|
|
{
|
|
return DataFlash.should_log(mask);
|
|
}
|
|
|
|
/*
|
|
update AHRS soft arm state and log as needed
|
|
*/
|
|
void Rover::change_arm_state(void)
|
|
{
|
|
Log_Arm_Disarm();
|
|
update_soft_armed();
|
|
}
|
|
|
|
/*
|
|
arm motors
|
|
*/
|
|
bool Rover::arm_motors(AP_Arming::ArmingMethod method)
|
|
{
|
|
if (!arming.arm(method)) {
|
|
AP_Notify::events.arming_failed = true;
|
|
return false;
|
|
}
|
|
|
|
// Set the SmartRTL home location. If activated, SmartRTL will ultimately try to land at this point
|
|
g2.smart_rtl.set_home(true);
|
|
|
|
change_arm_state();
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
disarm motors
|
|
*/
|
|
bool Rover::disarm_motors(void)
|
|
{
|
|
if (!arming.disarm()) {
|
|
return false;
|
|
}
|
|
if (control_mode != &mode_auto) {
|
|
// reset the mission on disarm if we are not in auto
|
|
mission.reset();
|
|
}
|
|
|
|
// only log if disarming was successful
|
|
change_arm_state();
|
|
|
|
return true;
|
|
}
|
|
|
|
// returns true if vehicle is a boat
|
|
// this affects whether the vehicle tries to maintain position after reaching waypoints
|
|
bool Rover::is_boat() const
|
|
{
|
|
return ((enum frame_class)g2.frame_class.get() == FRAME_BOAT);
|
|
}
|