mirror of https://github.com/ArduPilot/ardupilot
446 lines
14 KiB
C++
446 lines
14 KiB
C++
#include "Copter.h"
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// return barometric altitude in centimeters
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void Copter::read_barometer(void)
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{
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barometer.update();
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baro_alt = barometer.get_altitude() * 100.0f;
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motors->set_air_density_ratio(barometer.get_air_density_ratio());
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}
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void Copter::init_rangefinder(void)
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{
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#if RANGEFINDER_ENABLED == ENABLED
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rangefinder.init();
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rangefinder_state.alt_cm_filt.set_cutoff_frequency(RANGEFINDER_WPNAV_FILT_HZ);
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rangefinder_state.enabled = rangefinder.has_orientation(ROTATION_PITCH_270);
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#endif
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}
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// return rangefinder altitude in centimeters
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void Copter::read_rangefinder(void)
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{
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#if RANGEFINDER_ENABLED == ENABLED
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rangefinder.update();
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if (rangefinder.num_sensors() > 0 &&
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should_log(MASK_LOG_CTUN)) {
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logger.Write_RFND(rangefinder);
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}
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rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX));
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int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270);
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#if RANGEFINDER_TILT_CORRECTION == ENABLED
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// correct alt for angle of the rangefinder
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temp_alt = (float)temp_alt * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);
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#endif
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rangefinder_state.alt_cm = temp_alt;
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// filter rangefinder for use by AC_WPNav
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uint32_t now = AP_HAL::millis();
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if (rangefinder_state.alt_healthy) {
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if (now - rangefinder_state.last_healthy_ms > RANGEFINDER_TIMEOUT_MS) {
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// reset filter if we haven't used it within the last second
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rangefinder_state.alt_cm_filt.reset(rangefinder_state.alt_cm);
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} else {
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rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.05f);
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}
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rangefinder_state.last_healthy_ms = now;
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}
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// send rangefinder altitude and health to waypoint navigation library
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wp_nav->set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
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#else
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rangefinder_state.enabled = false;
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rangefinder_state.alt_healthy = false;
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rangefinder_state.alt_cm = 0;
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#endif
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}
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// return true if rangefinder_alt can be used
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bool Copter::rangefinder_alt_ok()
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{
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return (rangefinder_state.enabled && rangefinder_state.alt_healthy);
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}
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/*
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update RPM sensors
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*/
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void Copter::rpm_update(void)
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{
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#if RPM_ENABLED == ENABLED
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rpm_sensor.update();
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if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
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if (should_log(MASK_LOG_RCIN)) {
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logger.Write_RPM(rpm_sensor);
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}
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}
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#endif
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}
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// initialise compass
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void Copter::init_compass()
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{
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if (!g.compass_enabled) {
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return;
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}
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if (!compass.init() || !compass.read()) {
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// make sure we don't pass a broken compass to DCM
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hal.console->printf("COMPASS INIT ERROR\n");
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Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
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return;
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}
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ahrs.set_compass(&compass);
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}
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/*
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initialise compass's location used for declination
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*/
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void Copter::init_compass_location()
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{
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// update initial location used for declination
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if (!ap.compass_init_location) {
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Location loc;
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if (ahrs.get_position(loc)) {
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compass.set_initial_location(loc.lat, loc.lng);
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ap.compass_init_location = true;
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}
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}
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}
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// initialise optical flow sensor
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void Copter::init_optflow()
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{
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#if OPTFLOW == ENABLED
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// initialise optical flow sensor
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optflow.init(MASK_LOG_OPTFLOW);
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#endif // OPTFLOW == ENABLED
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}
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void Copter::compass_cal_update()
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{
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static uint32_t compass_cal_stick_gesture_begin = 0;
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if (!hal.util->get_soft_armed()) {
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compass.compass_cal_update();
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}
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if (compass.is_calibrating()) {
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if (channel_yaw->get_control_in() < -4000 && channel_throttle->get_control_in() > 900) {
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compass.cancel_calibration_all();
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}
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} else {
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bool stick_gesture_detected = compass_cal_stick_gesture_begin != 0 && !motors->armed() && channel_yaw->get_control_in() > 4000 && channel_throttle->get_control_in() > 900;
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uint32_t tnow = millis();
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if (!stick_gesture_detected) {
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compass_cal_stick_gesture_begin = tnow;
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} else if (tnow-compass_cal_stick_gesture_begin > 1000*COMPASS_CAL_STICK_GESTURE_TIME) {
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#ifdef CAL_ALWAYS_REBOOT
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compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,true);
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#else
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compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,false);
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#endif
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}
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}
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}
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void Copter::accel_cal_update()
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{
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if (hal.util->get_soft_armed()) {
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return;
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}
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ins.acal_update();
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// check if new trim values, and set them
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float trim_roll, trim_pitch;
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if(ins.get_new_trim(trim_roll, trim_pitch)) {
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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#ifdef CAL_ALWAYS_REBOOT
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if (ins.accel_cal_requires_reboot()) {
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hal.scheduler->delay(1000);
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hal.scheduler->reboot(false);
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}
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#endif
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}
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// initialise proximity sensor
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void Copter::init_proximity(void)
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{
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#if PROXIMITY_ENABLED == ENABLED
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g2.proximity.init();
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g2.proximity.set_rangefinder(&rangefinder);
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#endif
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}
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// update error mask of sensors and subsystems. The mask
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// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
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// then it indicates that the sensor or subsystem is present but
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// not functioning correctly.
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void Copter::update_sensor_status_flags(void)
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{
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// default sensors present
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
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// first what sensors/controllers we have
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if (g.compass_enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
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}
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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#if PRECISION_LANDING == ENABLED
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if (precland.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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#if VISUAL_ODOMETRY_ENABLED == ENABLED
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if (g2.visual_odom.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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if (ap.rc_receiver_present) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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}
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if (copter.logger.logging_present()) { // primary logging only (usually File)
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control_sensors_present |= MAV_SYS_STATUS_LOGGING;
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}
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#if PROXIMITY_ENABLED == ENABLED
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if (copter.g2.proximity.sensor_present()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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#endif
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#if AC_FENCE == ENABLED
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if (copter.fence.sys_status_present()) {
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control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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if (rangefinder.has_orientation(ROTATION_PITCH_270)) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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#endif
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// all sensors are present except these, which may be set as enabled below:
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control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
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~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
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~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
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~MAV_SYS_STATUS_LOGGING &
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~MAV_SYS_STATUS_SENSOR_BATTERY &
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~MAV_SYS_STATUS_GEOFENCE &
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~MAV_SYS_STATUS_SENSOR_LASER_POSITION &
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~MAV_SYS_STATUS_SENSOR_PROXIMITY);
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switch (control_mode) {
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case AUTO:
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case AVOID_ADSB:
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case GUIDED:
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case LOITER:
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case RTL:
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case CIRCLE:
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case LAND:
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case POSHOLD:
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case BRAKE:
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case THROW:
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case SMART_RTL:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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break;
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case ALT_HOLD:
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case GUIDED_NOGPS:
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case SPORT:
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case AUTOTUNE:
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case FLOWHOLD:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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break;
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default:
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// stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)
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break;
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}
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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}
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if (copter.logger.logging_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
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}
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if (battery.num_instances() > 0) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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#if AC_FENCE == ENABLED
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if (copter.fence.sys_status_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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#if PROXIMITY_ENABLED == ENABLED
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if (copter.g2.proximity.sensor_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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#endif
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// default to all healthy
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control_sensors_health = control_sensors_present;
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if (!barometer.all_healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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if (!g.compass_enabled || !compass.healthy() || !ahrs.use_compass()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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if (!gps.is_healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_GPS;
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}
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if (!ap.rc_receiver_present || failsafe.radio) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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}
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#if OPTFLOW == ENABLED
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if (!optflow.healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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#if PRECISION_LANDING == ENABLED
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if (precland.enabled() && !precland.healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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#if VISUAL_ODOMETRY_ENABLED == ENABLED
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if (g2.visual_odom.enabled() && !g2.visual_odom.healthy()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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#endif
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if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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if (!ins.get_accel_health_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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}
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if (ahrs.initialised() && !ahrs.healthy()) {
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// AHRS subsystem is unhealthy
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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if (copter.logger.logging_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
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}
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#if PROXIMITY_ENABLED == ENABLED
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if (copter.g2.proximity.sensor_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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#endif
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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switch (terrain.status()) {
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case AP_Terrain::TerrainStatusDisabled:
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break;
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case AP_Terrain::TerrainStatusUnhealthy:
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// To-Do: restore unhealthy terrain status reporting once terrain is used in copter
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//control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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//control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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//break;
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case AP_Terrain::TerrainStatusOK:
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
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break;
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}
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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if (rangefinder_state.enabled) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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if (!rangefinder.has_data_orient(ROTATION_PITCH_270)) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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}
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#endif
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if (!ap.initialised || ins.calibrating()) {
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// while initialising the gyros and accels are not enabled
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control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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}
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if (!copter.battery.healthy() || copter.battery.has_failsafed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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#if AC_FENCE == ENABLED
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if (copter.fence.sys_status_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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#if FRSKY_TELEM_ENABLED == ENABLED
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// give mask of error flags to Frsky_Telemetry
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frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
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#endif
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}
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// init visual odometry sensor
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void Copter::init_visual_odom()
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{
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#if VISUAL_ODOMETRY_ENABLED == ENABLED
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g2.visual_odom.init();
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#endif
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}
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// update visual odometry sensor
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void Copter::update_visual_odom()
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{
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#if VISUAL_ODOMETRY_ENABLED == ENABLED
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// check for updates
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if (g2.visual_odom.enabled() && (g2.visual_odom.get_last_update_ms() != visual_odom_last_update_ms)) {
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visual_odom_last_update_ms = g2.visual_odom.get_last_update_ms();
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float time_delta_sec = g2.visual_odom.get_time_delta_usec() / 1000000.0f;
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ahrs.writeBodyFrameOdom(g2.visual_odom.get_confidence(),
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g2.visual_odom.get_position_delta(),
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g2.visual_odom.get_angle_delta(),
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time_delta_sec,
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visual_odom_last_update_ms,
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g2.visual_odom.get_pos_offset());
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// log sensor data
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logger.Write_VisualOdom(time_delta_sec,
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g2.visual_odom.get_angle_delta(),
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g2.visual_odom.get_position_delta(),
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g2.visual_odom.get_confidence());
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}
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#endif
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}
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// winch and wheel encoder initialisation
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void Copter::winch_init()
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{
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#if WINCH_ENABLED == ENABLED
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g2.wheel_encoder.init();
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g2.winch.init(&g2.wheel_encoder);
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#endif
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}
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// winch and wheel encoder update
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void Copter::winch_update()
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{
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#if WINCH_ENABLED == ENABLED
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g2.wheel_encoder.update();
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g2.winch.update();
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#endif
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}
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