mirror of https://github.com/ArduPilot/ardupilot
753 lines
20 KiB
C++
753 lines
20 KiB
C++
#include "Plane.h"
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/*****************************************************************************
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* The init_ardupilot function processes everything we need for an in - air restart
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* We will determine later if we are actually on the ground and process a
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* ground start in that case.
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*
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*****************************************************************************/
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static void mavlink_delay_cb_static()
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{
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plane.mavlink_delay_cb();
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}
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static void failsafe_check_static()
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{
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plane.failsafe_check();
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}
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void Plane::init_ardupilot()
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{
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// initialise serial port
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serial_manager.init_console();
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hal.console->printf("\n\nInit %s"
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"\n\nFree RAM: %u\n",
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fwver.fw_string,
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(unsigned)hal.util->available_memory());
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//
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// Check the EEPROM format version before loading any parameters from EEPROM
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//
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load_parameters();
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// initialise stats module
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g2.stats.init();
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#if HIL_SUPPORT
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if (g.hil_mode == 1) {
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// set sensors to HIL mode
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ins.set_hil_mode();
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compass.set_hil_mode();
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barometer.set_hil_mode();
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}
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#endif
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ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
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set_control_channels();
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#if HAVE_PX4_MIXER
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if (!quadplane.enable) {
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// this must be before BoardConfig.init() so if
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// BRD_SAFETYENABLE==0 then we don't have safety off yet. For
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// quadplanes we wait till AP_Motors is initialised
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for (uint8_t tries=0; tries<10; tries++) {
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if (setup_failsafe_mixing()) {
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break;
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}
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hal.scheduler->delay(10);
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}
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}
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#endif
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gcs().set_dataflash(&DataFlash);
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mavlink_system.sysid = g.sysid_this_mav;
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// initialise serial ports
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serial_manager.init();
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gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
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// Register mavlink_delay_cb, which will run anytime you have
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// more than 5ms remaining in your call to hal.scheduler->delay
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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// setup any board specific drivers
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BoardConfig.init();
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#if HAL_WITH_UAVCAN
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BoardConfig_CAN.init();
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#endif
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relay.init();
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// initialise notify system
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notify.init(false);
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notify_flight_mode(control_mode);
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init_rc_out_main();
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// allow servo set on all channels except first 4
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ServoRelayEvents.set_channel_mask(0xFFF0);
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// keep a record of how many resets have happened. This can be
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// used to detect in-flight resets
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g.num_resets.set_and_save(g.num_resets+1);
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// init baro
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barometer.init();
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// initialise rangefinder
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init_rangefinder();
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// initialise battery monitoring
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battery.init();
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rpm_sensor.init();
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// setup telem slots with serial ports
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gcs().setup_uarts(serial_manager);
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// setup frsky
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#if FRSKY_TELEM_ENABLED == ENABLED
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// setup frsky, and pass a number of parameters to the library
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frsky_telemetry.init(serial_manager, fwver.fw_string,
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MAV_TYPE_FIXED_WING,
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&g.fs_batt_voltage, &g.fs_batt_mah);
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#endif
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#if LOGGING_ENABLED == ENABLED
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log_init();
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#endif
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// initialise airspeed sensor
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airspeed.init();
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if (g.compass_enabled==true) {
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bool compass_ok = compass.init() && compass.read();
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#if HIL_SUPPORT
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if (g.hil_mode != 0) {
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compass_ok = true;
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}
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#endif
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if (!compass_ok) {
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hal.console->printf("Compass initialisation failed!\n");
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g.compass_enabled = false;
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} else {
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ahrs.set_compass(&compass);
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}
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}
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#if OPTFLOW == ENABLED
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// make optflow available to libraries
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if (optflow.enabled()) {
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ahrs.set_optflow(&optflow);
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}
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#endif
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// give AHRS the airspeed sensor
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ahrs.set_airspeed(&airspeed);
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// GPS Initialization
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gps.set_log_gps_bit(MASK_LOG_GPS);
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gps.init(serial_manager);
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init_rc_in(); // sets up rc channels from radio
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#if MOUNT == ENABLED
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// initialise camera mount
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camera_mount.init(serial_manager);
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#endif
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#if FENCE_TRIGGERED_PIN > 0
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hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
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hal.gpio->write(FENCE_TRIGGERED_PIN, 0);
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#endif
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/*
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* setup the 'main loop is dead' check. Note that this relies on
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* the RC library being initialised.
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*/
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hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
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init_capabilities();
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quadplane.setup();
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AP_Param::reload_defaults_file();
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startup_ground();
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// don't initialise aux rc output until after quadplane is setup as
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// that can change initial values of channels
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init_rc_out_aux();
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// choose the nav controller
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set_nav_controller();
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set_mode((FlightMode)g.initial_mode.get(), MODE_REASON_UNKNOWN);
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// set the correct flight mode
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// ---------------------------
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reset_control_switch();
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// initialise sensor
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#if OPTFLOW == ENABLED
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if (optflow.enabled()) {
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optflow.init();
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}
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#endif
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// disable safety if requested
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BoardConfig.init_safety();
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}
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//********************************************************************************
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//This function does all the calibrations, etc. that we need during a ground start
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//********************************************************************************
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void Plane::startup_ground(void)
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{
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set_mode(INITIALISING, MODE_REASON_UNKNOWN);
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#if (GROUND_START_DELAY > 0)
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gcs().send_text(MAV_SEVERITY_NOTICE,"Ground start with delay");
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delay(GROUND_START_DELAY * 1000);
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#else
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gcs().send_text(MAV_SEVERITY_INFO,"Ground start");
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#endif
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//INS ground start
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//------------------------
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//
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startup_INS_ground();
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// Save the settings for in-air restart
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// ------------------------------------
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//save_EEPROM_groundstart();
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// initialise mission library
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mission.init();
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// initialise DataFlash library
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DataFlash.set_mission(&mission);
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DataFlash.setVehicle_Startup_Log_Writer(
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FUNCTOR_BIND(&plane, &Plane::Log_Write_Vehicle_Startup_Messages, void)
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);
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// reset last heartbeat time, so we don't trigger failsafe on slow
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// startup
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failsafe.last_heartbeat_ms = millis();
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// we don't want writes to the serial port to cause us to pause
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// mid-flight, so set the serial ports non-blocking once we are
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// ready to fly
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serial_manager.set_blocking_writes_all(false);
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gcs().send_text(MAV_SEVERITY_INFO,"Ground start complete");
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}
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enum FlightMode Plane::get_previous_mode() {
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return previous_mode;
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}
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void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
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{
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if(control_mode == mode) {
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// don't switch modes if we are already in the correct mode.
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return;
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}
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if(g.auto_trim > 0 && control_mode == MANUAL)
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trim_control_surfaces();
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// perform any cleanup required for prev flight mode
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exit_mode(control_mode);
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// cancel inverted flight
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auto_state.inverted_flight = false;
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// don't cross-track when starting a mission
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auto_state.next_wp_crosstrack = false;
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// reset landing check
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auto_state.checked_for_autoland = false;
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// zero locked course
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steer_state.locked_course_err = 0;
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// reset crash detection
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crash_state.is_crashed = false;
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crash_state.impact_detected = false;
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// reset external attitude guidance
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guided_state.last_forced_rpy_ms.zero();
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guided_state.last_forced_throttle_ms = 0;
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// set mode
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previous_mode = control_mode;
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control_mode = mode;
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previous_mode_reason = control_mode_reason;
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control_mode_reason = reason;
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#if FRSKY_TELEM_ENABLED == ENABLED
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frsky_telemetry.update_control_mode(control_mode);
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#endif
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#if CAMERA == ENABLED
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camera.set_is_auto_mode(control_mode == AUTO);
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#endif
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if (previous_mode == AUTOTUNE && control_mode != AUTOTUNE) {
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// restore last gains
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autotune_restore();
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}
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// zero initial pitch and highest airspeed on mode change
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auto_state.highest_airspeed = 0;
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auto_state.initial_pitch_cd = ahrs.pitch_sensor;
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// disable taildrag takeoff on mode change
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auto_state.fbwa_tdrag_takeoff_mode = false;
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// start with previous WP at current location
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prev_WP_loc = current_loc;
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// new mode means new loiter
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loiter.start_time_ms = 0;
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// record time of mode change
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last_mode_change_ms = AP_HAL::millis();
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// assume non-VTOL mode
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auto_state.vtol_mode = false;
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auto_state.vtol_loiter = false;
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switch(control_mode)
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{
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case INITIALISING:
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throttle_allows_nudging = true;
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auto_throttle_mode = true;
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auto_navigation_mode = false;
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break;
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case MANUAL:
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case STABILIZE:
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case TRAINING:
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case FLY_BY_WIRE_A:
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throttle_allows_nudging = false;
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auto_throttle_mode = false;
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auto_navigation_mode = false;
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break;
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case AUTOTUNE:
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throttle_allows_nudging = false;
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auto_throttle_mode = false;
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auto_navigation_mode = false;
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autotune_start();
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break;
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case ACRO:
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throttle_allows_nudging = false;
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auto_throttle_mode = false;
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auto_navigation_mode = false;
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acro_state.locked_roll = false;
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acro_state.locked_pitch = false;
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break;
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case CRUISE:
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throttle_allows_nudging = false;
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auto_throttle_mode = true;
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auto_navigation_mode = false;
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cruise_state.locked_heading = false;
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cruise_state.lock_timer_ms = 0;
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// for ArduSoar soaring_controller
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g2.soaring_controller.init_cruising();
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set_target_altitude_current();
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break;
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case FLY_BY_WIRE_B:
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throttle_allows_nudging = false;
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auto_throttle_mode = true;
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auto_navigation_mode = false;
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// for ArduSoar soaring_controller
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g2.soaring_controller.init_cruising();
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set_target_altitude_current();
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break;
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case CIRCLE:
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// the altitude to circle at is taken from the current altitude
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throttle_allows_nudging = false;
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auto_throttle_mode = true;
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auto_navigation_mode = true;
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next_WP_loc.alt = current_loc.alt;
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break;
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case AUTO:
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throttle_allows_nudging = true;
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auto_throttle_mode = true;
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auto_navigation_mode = true;
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if (quadplane.available() && quadplane.enable == 2) {
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auto_state.vtol_mode = true;
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} else {
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auto_state.vtol_mode = false;
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}
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next_WP_loc = prev_WP_loc = current_loc;
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// start or resume the mission, based on MIS_AUTORESET
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mission.start_or_resume();
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g2.soaring_controller.init_cruising();
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break;
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case RTL:
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throttle_allows_nudging = true;
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auto_throttle_mode = true;
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auto_navigation_mode = true;
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prev_WP_loc = current_loc;
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do_RTL(get_RTL_altitude());
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break;
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case LOITER:
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throttle_allows_nudging = true;
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auto_throttle_mode = true;
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auto_navigation_mode = true;
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do_loiter_at_location();
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if (g2.soaring_controller.is_active() &&
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g2.soaring_controller.suppress_throttle()) {
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g2.soaring_controller.init_thermalling();
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g2.soaring_controller.get_target(next_WP_loc); // ahead on flight path
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}
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break;
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case AVOID_ADSB:
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case GUIDED:
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throttle_allows_nudging = true;
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auto_throttle_mode = true;
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auto_navigation_mode = true;
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guided_throttle_passthru = false;
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/*
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when entering guided mode we set the target as the current
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location. This matches the behaviour of the copter code
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*/
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guided_WP_loc = current_loc;
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set_guided_WP();
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break;
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case QSTABILIZE:
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case QHOVER:
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case QLOITER:
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case QLAND:
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case QRTL:
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throttle_allows_nudging = true;
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auto_navigation_mode = false;
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if (!quadplane.init_mode()) {
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control_mode = previous_mode;
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} else {
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auto_throttle_mode = false;
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auto_state.vtol_mode = true;
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}
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break;
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}
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// start with throttle suppressed in auto_throttle modes
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throttle_suppressed = auto_throttle_mode;
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adsb.set_is_auto_mode(auto_navigation_mode);
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DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
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// update notify with flight mode change
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notify_flight_mode(control_mode);
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// reset steering integrator on mode change
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steerController.reset_I();
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}
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// exit_mode - perform any cleanup required when leaving a flight mode
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void Plane::exit_mode(enum FlightMode mode)
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{
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// stop mission when we leave auto
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if (mode == AUTO) {
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if (mission.state() == AP_Mission::MISSION_RUNNING) {
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mission.stop();
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if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND &&
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!quadplane.is_vtol_land(mission.get_current_nav_cmd().id))
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{
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landing.restart_landing_sequence();
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}
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}
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auto_state.started_flying_in_auto_ms = 0;
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}
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}
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void Plane::check_long_failsafe()
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{
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uint32_t tnow = millis();
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// only act on changes
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// -------------------
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if (failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
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uint32_t radio_timeout_ms = failsafe.last_valid_rc_ms;
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if (failsafe.state == FAILSAFE_SHORT) {
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// time is relative to when short failsafe enabled
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radio_timeout_ms = failsafe.short_timer_ms;
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}
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if (failsafe.rc_failsafe &&
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(tnow - radio_timeout_ms) > g.fs_timeout_long*1000) {
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failsafe_long_on_event(FAILSAFE_LONG, MODE_REASON_RADIO_FAILSAFE);
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} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_AUTO && control_mode == AUTO &&
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failsafe.last_heartbeat_ms != 0 &&
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(tnow - failsafe.last_heartbeat_ms) > g.fs_timeout_long*1000) {
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failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
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} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HEARTBEAT &&
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failsafe.last_heartbeat_ms != 0 &&
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(tnow - failsafe.last_heartbeat_ms) > g.fs_timeout_long*1000) {
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failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
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} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI &&
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gcs().chan(0).last_radio_status_remrssi_ms != 0 &&
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(tnow - gcs().chan(0).last_radio_status_remrssi_ms) > g.fs_timeout_long*1000) {
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failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
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}
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} else {
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uint32_t timeout_seconds = g.fs_timeout_long;
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if (g.fs_action_short != FS_ACTION_SHORT_DISABLED) {
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// avoid dropping back into short timeout
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timeout_seconds = g.fs_timeout_short;
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}
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// We do not change state but allow for user to change mode
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if (failsafe.state == FAILSAFE_GCS &&
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(tnow - failsafe.last_heartbeat_ms) < timeout_seconds*1000) {
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failsafe_long_off_event(MODE_REASON_GCS_FAILSAFE);
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} else if (failsafe.state == FAILSAFE_LONG &&
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!failsafe.rc_failsafe) {
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failsafe_long_off_event(MODE_REASON_RADIO_FAILSAFE);
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}
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}
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}
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void Plane::check_short_failsafe()
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{
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// only act on changes
|
|
// -------------------
|
|
if (g.fs_action_short != FS_ACTION_SHORT_DISABLED &&
|
|
failsafe.state == FAILSAFE_NONE &&
|
|
flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
|
|
// The condition is checked and the flag rc_failsafe is set in radio.cpp
|
|
if(failsafe.rc_failsafe) {
|
|
failsafe_short_on_event(FAILSAFE_SHORT, MODE_REASON_RADIO_FAILSAFE);
|
|
}
|
|
}
|
|
|
|
if(failsafe.state == FAILSAFE_SHORT) {
|
|
if(!failsafe.rc_failsafe || g.fs_action_short == FS_ACTION_SHORT_DISABLED) {
|
|
failsafe_short_off_event(MODE_REASON_RADIO_FAILSAFE);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void Plane::startup_INS_ground(void)
|
|
{
|
|
#if HIL_SUPPORT
|
|
if (g.hil_mode == 1) {
|
|
while (barometer.get_last_update() == 0) {
|
|
// the barometer begins updating when we get the first
|
|
// HIL_STATE message
|
|
gcs().send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
|
|
hal.scheduler->delay(1000);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
if (ins.gyro_calibration_timing() != AP_InertialSensor::GYRO_CAL_NEVER) {
|
|
gcs().send_text(MAV_SEVERITY_ALERT, "Beginning INS calibration. Do not move plane");
|
|
hal.scheduler->delay(100);
|
|
}
|
|
|
|
ahrs.init();
|
|
ahrs.set_fly_forward(true);
|
|
ahrs.set_vehicle_class(AHRS_VEHICLE_FIXED_WING);
|
|
ahrs.set_wind_estimation(true);
|
|
|
|
ins.init(scheduler.get_loop_rate_hz());
|
|
ahrs.reset();
|
|
|
|
// read Baro pressure at ground
|
|
//-----------------------------
|
|
init_barometer(true);
|
|
|
|
if (airspeed.enabled()) {
|
|
// initialize airspeed sensor
|
|
// --------------------------
|
|
zero_airspeed(true);
|
|
} else {
|
|
gcs().send_text(MAV_SEVERITY_WARNING,"No airspeed");
|
|
}
|
|
}
|
|
|
|
// updates the status of the notify objects
|
|
// should be called at 50hz
|
|
void Plane::update_notify()
|
|
{
|
|
notify.update();
|
|
}
|
|
|
|
// sets notify object flight mode information
|
|
void Plane::notify_flight_mode(enum FlightMode mode)
|
|
{
|
|
AP_Notify::flags.flight_mode = mode;
|
|
|
|
// set flight mode string
|
|
switch (mode) {
|
|
case MANUAL:
|
|
notify.set_flight_mode_str("MANU");
|
|
break;
|
|
case CIRCLE:
|
|
notify.set_flight_mode_str("CIRC");
|
|
break;
|
|
case STABILIZE:
|
|
notify.set_flight_mode_str("STAB");
|
|
break;
|
|
case TRAINING:
|
|
notify.set_flight_mode_str("TRAN");
|
|
break;
|
|
case ACRO:
|
|
notify.set_flight_mode_str("ACRO");
|
|
break;
|
|
case FLY_BY_WIRE_A:
|
|
notify.set_flight_mode_str("FBWA");
|
|
break;
|
|
case FLY_BY_WIRE_B:
|
|
notify.set_flight_mode_str("FBWB");
|
|
break;
|
|
case CRUISE:
|
|
notify.set_flight_mode_str("CRUS");
|
|
break;
|
|
case AUTOTUNE:
|
|
notify.set_flight_mode_str("ATUN");
|
|
break;
|
|
case AUTO:
|
|
notify.set_flight_mode_str("AUTO");
|
|
break;
|
|
case RTL:
|
|
notify.set_flight_mode_str("RTL ");
|
|
break;
|
|
case LOITER:
|
|
notify.set_flight_mode_str("LOITER");
|
|
break;
|
|
case AVOID_ADSB:
|
|
notify.set_flight_mode_str("AVOI");
|
|
break;
|
|
case GUIDED:
|
|
notify.set_flight_mode_str("GUID");
|
|
break;
|
|
case INITIALISING:
|
|
notify.set_flight_mode_str("INIT");
|
|
break;
|
|
case QSTABILIZE:
|
|
notify.set_flight_mode_str("QSTB");
|
|
break;
|
|
case QHOVER:
|
|
notify.set_flight_mode_str("QHOV");
|
|
break;
|
|
case QLOITER:
|
|
notify.set_flight_mode_str("QLOT");
|
|
break;
|
|
case QLAND:
|
|
notify.set_flight_mode_str("QLND");
|
|
break;
|
|
case QRTL:
|
|
notify.set_flight_mode_str("QRTL");
|
|
break;
|
|
default:
|
|
notify.set_flight_mode_str("----");
|
|
break;
|
|
}
|
|
}
|
|
|
|
/*
|
|
should we log a message type now?
|
|
*/
|
|
bool Plane::should_log(uint32_t mask)
|
|
{
|
|
#if LOGGING_ENABLED == ENABLED
|
|
return DataFlash.should_log(mask);
|
|
#else
|
|
return false;
|
|
#endif
|
|
}
|
|
|
|
/*
|
|
return throttle percentage from 0 to 100 for normal use and -100 to 100 when using reverse thrust
|
|
*/
|
|
int8_t Plane::throttle_percentage(void)
|
|
{
|
|
if (quadplane.in_vtol_mode()) {
|
|
return quadplane.throttle_percentage();
|
|
}
|
|
// to get the real throttle we need to use norm_output() which
|
|
// returns a number from -1 to 1.
|
|
float throttle = SRV_Channels::get_output_norm(SRV_Channel::k_throttle);
|
|
if (aparm.throttle_min >= 0) {
|
|
return constrain_int16(50*(throttle+1), 0, 100);
|
|
} else {
|
|
// reverse thrust
|
|
return constrain_int16(100*throttle, -100, 100);
|
|
}
|
|
}
|
|
|
|
/*
|
|
update AHRS soft arm state and log as needed
|
|
*/
|
|
void Plane::change_arm_state(void)
|
|
{
|
|
Log_Arm_Disarm();
|
|
update_soft_armed();
|
|
quadplane.set_armed(hal.util->get_soft_armed());
|
|
}
|
|
|
|
/*
|
|
arm motors
|
|
*/
|
|
bool Plane::arm_motors(AP_Arming::ArmingMethod method)
|
|
{
|
|
if (!arming.arm(method)) {
|
|
return false;
|
|
}
|
|
|
|
change_arm_state();
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
disarm motors
|
|
*/
|
|
bool Plane::disarm_motors(void)
|
|
{
|
|
if (!arming.disarm()) {
|
|
return false;
|
|
}
|
|
if (control_mode != AUTO) {
|
|
// reset the mission on disarm if we are not in auto
|
|
mission.reset();
|
|
}
|
|
|
|
// suppress the throttle in auto-throttle modes
|
|
throttle_suppressed = auto_throttle_mode;
|
|
|
|
//only log if disarming was successful
|
|
change_arm_state();
|
|
|
|
// reload target airspeed which could have been modified by a mission
|
|
plane.aparm.airspeed_cruise_cm.load();
|
|
|
|
return true;
|
|
}
|