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ardupilot/ArduPlane/ArduPlane.cpp

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/*
Lead developer: Andrew Tridgell
Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Amilcar Lucas, Gregory Fletcher, Paul Riseborough, Brandon Jones, Jon Challinger, Tom Pittenger
Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier, Yury MonZon
Please contribute your ideas! See https://ardupilot.org/dev for details
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "Plane.h"
#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Plane, &plane, func, rate_hz, max_time_micros)
/*
scheduler table - all regular tasks are listed here, along with how
often they should be called (in Hz) and the maximum time
they are expected to take (in microseconds)
*/
const AP_Scheduler::Task Plane::scheduler_tasks[] = {
// Units: Hz us
SCHED_TASK(ahrs_update, 400, 400),
SCHED_TASK(read_radio, 50, 100),
SCHED_TASK(check_short_failsafe, 50, 100),
SCHED_TASK(update_speed_height, 50, 200),
SCHED_TASK(update_control_mode, 400, 100),
SCHED_TASK(stabilize, 400, 100),
SCHED_TASK(set_servos, 400, 100),
SCHED_TASK(update_throttle_hover, 100, 90),
SCHED_TASK(read_control_switch, 7, 100),
SCHED_TASK(update_GPS_50Hz, 50, 300),
SCHED_TASK(update_GPS_10Hz, 10, 400),
SCHED_TASK(navigate, 10, 150),
SCHED_TASK(update_compass, 10, 200),
SCHED_TASK(read_airspeed, 10, 100),
SCHED_TASK(update_alt, 10, 200),
SCHED_TASK(adjust_altitude_target, 10, 200),
#if ADVANCED_FAILSAFE == ENABLED
SCHED_TASK(afs_fs_check, 10, 100),
#endif
SCHED_TASK(ekf_check, 10, 75),
SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update_receive, 300, 500),
SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update_send, 300, 750),
SCHED_TASK_CLASS(AP_ServoRelayEvents, &plane.ServoRelayEvents, update_events, 50, 150),
SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read, 10, 300),
SCHED_TASK_CLASS(AP_Baro, &plane.barometer, accumulate, 50, 150),
SCHED_TASK_CLASS(AP_Notify, &plane.notify, update, 50, 300),
#if AC_FENCE == ENABLED
SCHED_TASK_CLASS(AC_Fence, &plane.fence, update, 10, 100),
#endif
SCHED_TASK(read_rangefinder, 50, 100),
SCHED_TASK_CLASS(AP_ICEngine, &plane.g2.ice_control, update, 10, 100),
SCHED_TASK_CLASS(Compass, &plane.compass, cal_update, 50, 50),
SCHED_TASK(accel_cal_update, 10, 50),
#if OPTFLOW == ENABLED
SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update, 50, 50),
#endif
SCHED_TASK(one_second_loop, 1, 400),
SCHED_TASK(three_hz_loop, 3, 75),
SCHED_TASK(check_long_failsafe, 3, 400),
SCHED_TASK(rpm_update, 10, 100),
#if AP_AIRSPEED_AUTOCAL_ENABLE
SCHED_TASK(airspeed_ratio_update, 1, 100),
#endif // AP_AIRSPEED_AUTOCAL_ENABLE
#if HAL_MOUNT_ENABLED
SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100),
#endif // HAL_MOUNT_ENABLED
#if CAMERA == ENABLED
SCHED_TASK_CLASS(AP_Camera, &plane.camera, update, 50, 100),
#endif // CAMERA == ENABLED
SCHED_TASK_CLASS(AP_Scheduler, &plane.scheduler, update_logging, 0.2, 100),
SCHED_TASK(compass_save, 0.1, 200),
SCHED_TASK(Log_Write_Fast, 25, 300),
SCHED_TASK(update_logging1, 25, 300),
SCHED_TASK(update_logging2, 25, 300),
#if HAL_SOARING_ENABLED
SCHED_TASK(update_soaring, 50, 400),
#endif
SCHED_TASK(parachute_check, 10, 200),
#if AP_TERRAIN_AVAILABLE
SCHED_TASK_CLASS(AP_Terrain, &plane.terrain, update, 10, 200),
#endif // AP_TERRAIN_AVAILABLE
SCHED_TASK(update_is_flying_5Hz, 5, 100),
#if LOGGING_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Logger, &plane.logger, periodic_tasks, 50, 400),
#endif
SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins, periodic, 50, 50),
#if HAL_ADSB_ENABLED
SCHED_TASK(avoidance_adsb_update, 10, 100),
#endif
SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&plane.g2.rc_channels, read_aux_all, 10, 200),
SCHED_TASK_CLASS(AP_Button, &plane.button, update, 5, 100),
#if STATS_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Stats, &plane.g2.stats, update, 1, 100),
#endif
#if GRIPPER_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75),
#endif
#if LANDING_GEAR_ENABLED == ENABLED
SCHED_TASK(landing_gear_update, 5, 50),
#endif
#if HAL_EFI_ENABLED
SCHED_TASK(efi_update, 10, 200),
#endif
};
void Plane::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
uint8_t &task_count,
uint32_t &log_bit)
{
tasks = &scheduler_tasks[0];
task_count = ARRAY_SIZE(scheduler_tasks);
log_bit = MASK_LOG_PM;
}
constexpr int8_t Plane::_failsafe_priorities[7];
// update AHRS system
void Plane::ahrs_update()
{
arming.update_soft_armed();
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// update hil before AHRS update
gcs().update_receive();
}
#endif
ahrs.update();
if (should_log(MASK_LOG_IMU)) {
AP::ins().Write_IMU();
}
// calculate a scaled roll limit based on current pitch
roll_limit_cd = aparm.roll_limit_cd;
pitch_limit_min_cd = aparm.pitch_limit_min_cd;
if (!quadplane.tailsitter_active()) {
roll_limit_cd *= ahrs.cos_pitch();
pitch_limit_min_cd *= fabsf(ahrs.cos_roll());
}
// updated the summed gyro used for ground steering and
// auto-takeoff. Dot product of DCM.c with gyro vector gives earth
// frame yaw rate
steer_state.locked_course_err += ahrs.get_yaw_rate_earth() * G_Dt;
steer_state.locked_course_err = wrap_PI(steer_state.locked_course_err);
// check if we have had a yaw reset from the EKF
quadplane.check_yaw_reset();
// update inertial_nav for quadplane
quadplane.inertial_nav.update();
}
/*
update 50Hz speed/height controller
*/
void Plane::update_speed_height(void)
{
if (control_mode->does_auto_throttle()) {
// Call TECS 50Hz update. Note that we call this regardless of
// throttle suppressed, as this needs to be running for
// takeoff detection
SpdHgt_Controller->update_50hz();
}
if (quadplane.in_vtol_mode() ||
quadplane.in_assisted_flight()) {
quadplane.update_throttle_mix();
}
}
/*
read and update compass
*/
void Plane::update_compass(void)
{
if (AP::compass().enabled() && compass.read()) {
ahrs.set_compass(&compass);
}
}
/*
do 10Hz logging
*/
void Plane::update_logging1(void)
{
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
}
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_IMU))
AP::ins().Write_IMU();
if (should_log(MASK_LOG_ATTITUDE_MED))
ahrs.Write_AOA_SSA();
}
/*
do 10Hz logging - part2
*/
void Plane::update_logging2(void)
{
if (should_log(MASK_LOG_CTUN)) {
Log_Write_Control_Tuning();
#if HAL_GYROFFT_ENABLED
gyro_fft.write_log_messages();
#else
write_notch_log_messages();
#endif
}
if (should_log(MASK_LOG_NTUN)) {
Log_Write_Nav_Tuning();
Log_Write_Guided();
}
if (should_log(MASK_LOG_RC))
Log_Write_RC();
if (should_log(MASK_LOG_IMU))
AP::ins().Write_Vibration();
}
/*
check for AFS failsafe check
*/
#if ADVANCED_FAILSAFE == ENABLED
void Plane::afs_fs_check(void)
{
// perform AFS failsafe checks
#if AC_FENCE == ENABLED
const bool fence_breached = fence.get_breaches() != 0;
#else
const bool fence_breached = false;
#endif
afs.check(fence_breached, failsafe.AFS_last_valid_rc_ms);
}
#endif
#if HAL_WITH_IO_MCU
#include <AP_IOMCU/AP_IOMCU.h>
extern AP_IOMCU iomcu;
#endif
void Plane::one_second_loop()
{
// make it possible to change control channel ordering at runtime
set_control_channels();
#if HAL_WITH_IO_MCU
iomcu.setup_mixing(&rcmap, g.override_channel.get(), g.mixing_gain, g2.manual_rc_mask);
#endif
// make it possible to change orientation at runtime
ahrs.update_orientation();
#if HAL_ADSB_ENABLED
adsb.set_stall_speed_cm(aparm.airspeed_min);
adsb.set_max_speed(aparm.airspeed_max);
#endif
ahrs.writeDefaultAirSpeed((float)((aparm.airspeed_min + aparm.airspeed_max)/2),
(float)((aparm.airspeed_max - aparm.airspeed_min)/2));
// sync MAVLink system ID
mavlink_system.sysid = g.sysid_this_mav;
SRV_Channels::enable_aux_servos();
// update notify flags
AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
AP_Notify::flags.pre_arm_gps_check = true;
AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::Required::NO;
#if AP_TERRAIN_AVAILABLE
if (should_log(MASK_LOG_GPS)) {
terrain.log_terrain_data();
}
#endif
// update home position if NOT armed and gps position has
// changed. Update every 5s at most
if (!arming.is_armed() &&
gps.last_message_time_ms() - last_home_update_ms > 5000 &&
gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
last_home_update_ms = gps.last_message_time_ms();
update_home();
// reset the landing altitude correction
landing.alt_offset = 0;
}
}
void Plane::three_hz_loop()
{
#if AC_FENCE == ENABLED
fence_check();
#endif
}
void Plane::compass_save()
{
if (AP::compass().enabled() &&
compass.get_learn_type() >= Compass::LEARN_INTERNAL &&
!hal.util->get_soft_armed()) {
/*
only save offsets when disarmed
*/
compass.save_offsets();
}
}
void Plane::efi_update(void)
{
#if HAL_EFI_ENABLED
g2.efi.update();
#endif
}
#if AP_AIRSPEED_AUTOCAL_ENABLE
/*
once a second update the airspeed calibration ratio
*/
void Plane::airspeed_ratio_update(void)
{
if (!airspeed.enabled() ||
gps.status() < AP_GPS::GPS_OK_FIX_3D ||
gps.ground_speed() < 4) {
// don't calibrate when not moving
return;
}
if (airspeed.get_airspeed() < aparm.airspeed_min &&
gps.ground_speed() < (uint32_t)aparm.airspeed_min) {
// don't calibrate when flying below the minimum airspeed. We
// check both airspeed and ground speed to catch cases where
// the airspeed ratio is way too low, which could lead to it
// never coming up again
return;
}
if (labs(ahrs.roll_sensor) > roll_limit_cd ||
ahrs.pitch_sensor > aparm.pitch_limit_max_cd ||
ahrs.pitch_sensor < pitch_limit_min_cd) {
// don't calibrate when going beyond normal flight envelope
return;
}
const Vector3f &vg = gps.velocity();
airspeed.update_calibration(vg, aparm.airspeed_max);
}
#endif // AP_AIRSPEED_AUTOCAL_ENABLE
/*
read the GPS and update position
*/
void Plane::update_GPS_50Hz(void)
{
gps.update();
// get position from AHRS
have_position = ahrs.get_position(current_loc);
ahrs.get_relative_position_D_home(relative_altitude);
relative_altitude *= -1.0f;
}
/*
read update GPS position - 10Hz update
*/
void Plane::update_GPS_10Hz(void)
{
static uint32_t last_gps_msg_ms;
if (gps.last_message_time_ms() != last_gps_msg_ms && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
last_gps_msg_ms = gps.last_message_time_ms();
if (ground_start_count > 1) {
ground_start_count--;
} else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes
// so that the altitude is more accurate
// -------------------------------------
if (current_loc.lat == 0 && current_loc.lng == 0) {
ground_start_count = 5;
} else {
if (!set_home_persistently(gps.location())) {
// silently ignore failure...
}
next_WP_loc = prev_WP_loc = home;
ground_start_count = 0;
}
}
// update wind estimate
ahrs.estimate_wind();
} else if (gps.status() < AP_GPS::GPS_OK_FIX_3D && ground_start_count != 0) {
// lost 3D fix, start again
ground_start_count = 5;
}
calc_gndspeed_undershoot();
}
/*
main control mode dependent update code
*/
void Plane::update_control_mode(void)
{
Mode *effective_mode = control_mode;
if (control_mode == &mode_auto && g.auto_fbw_steer == 42) {
effective_mode = &mode_fbwa;
}
if (effective_mode != &mode_auto) {
// hold_course is only used in takeoff and landing
steer_state.hold_course_cd = -1;
}
// ensure we are fly-forward when we are flying as a pure fixed
// wing aircraft. This helps the EKF produce better state
// estimates as it can make stronger assumptions
if (quadplane.in_vtol_mode() ||
quadplane.in_assisted_flight()) {
ahrs.set_fly_forward(false);
} else if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
ahrs.set_fly_forward(landing.is_flying_forward());
} else {
ahrs.set_fly_forward(true);
}
effective_mode->update();
}
/*
set the flight stage
*/
void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs)
{
if (fs == flight_stage) {
return;
}
landing.handle_flight_stage_change(fs == AP_Vehicle::FixedWing::FLIGHT_LAND);
if (fs == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm",
int(auto_state.takeoff_altitude_rel_cm/100));
}
flight_stage = fs;
Log_Write_Status();
}
void Plane::update_alt()
{
barometer.update();
if (quadplane.available()) {
quadplane.motors->set_air_density_ratio(barometer.get_air_density_ratio());
}
// calculate the sink rate.
float sink_rate;
Vector3f vel;
if (ahrs.get_velocity_NED(vel)) {
sink_rate = vel.z;
} else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.have_vertical_velocity()) {
sink_rate = gps.velocity().z;
} else {
sink_rate = -barometer.get_climb_rate();
}
// low pass the sink rate to take some of the noise out
auto_state.sink_rate = 0.8f * auto_state.sink_rate + 0.2f*sink_rate;
#if PARACHUTE == ENABLED
parachute.set_sink_rate(auto_state.sink_rate);
#endif
update_flight_stage();
if (control_mode->does_auto_throttle() && !throttle_suppressed) {
float distance_beyond_land_wp = 0;
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND && current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
distance_beyond_land_wp = current_loc.get_distance(next_WP_loc);
}
float target_alt = relative_target_altitude_cm();
if (control_mode == &mode_rtl && !rtl.done_climb && (g2.rtl_climb_min > 0 || (plane.g2.flight_options & FlightOptions::CLIMB_BEFORE_TURN))) {
// ensure we do the initial climb in RTL. We add an extra
// 10m in the demanded height to push TECS to climb
// quickly
target_alt = MAX(target_alt, prev_WP_loc.alt - home.alt) + (g2.rtl_climb_min+10)*100;
}
SpdHgt_Controller->update_pitch_throttle(target_alt,
target_airspeed_cm,
flight_stage,
distance_beyond_land_wp,
get_takeoff_pitch_min_cd(),
throttle_nudge,
tecs_hgt_afe(),
aerodynamic_load_factor);
}
}
/*
recalculate the flight_stage
*/
void Plane::update_flight_stage(void)
{
// Update the speed & height controller states
if (control_mode->does_auto_throttle() && !throttle_suppressed) {
if (control_mode == &mode_auto) {
if (quadplane.in_vtol_auto()) {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL);
} else if (auto_state.takeoff_complete == false) {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_TAKEOFF);
} else if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND) {
if (landing.is_commanded_go_around() || flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
// abort mode is sticky, it must complete while executing NAV_LAND
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND);
} else if (landing.get_abort_throttle_enable() && get_throttle_input() >= 90 &&
landing.request_go_around()) {
gcs().send_text(MAV_SEVERITY_INFO,"Landing aborted via throttle");
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND);
} else {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND);
}
} else if (quadplane.in_assisted_flight()) {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL);
} else {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL);
}
} else if (control_mode != &mode_takeoff) {
// If not in AUTO then assume normal operation for normal TECS operation.
// This prevents TECS from being stuck in the wrong stage if you switch from
// AUTO to, say, FBWB during a landing, an aborted landing or takeoff.
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL);
}
} else if (quadplane.in_vtol_mode() ||
quadplane.in_assisted_flight()) {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL);
} else {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL);
}
}
/*
If land_DisarmDelay is enabled (non-zero), check for a landing then auto-disarm after time expires
only called from AP_Landing, when the landing library is ready to disarm
*/
void Plane::disarm_if_autoland_complete()
{
if (landing.get_disarm_delay() > 0 &&
!is_flying() &&
arming.arming_required() != AP_Arming::Required::NO &&
arming.is_armed()) {
/* we have auto disarm enabled. See if enough time has passed */
if (millis() - auto_state.last_flying_ms >= landing.get_disarm_delay()*1000UL) {
if (arming.disarm(AP_Arming::Method::AUTOLANDED)) {
gcs().send_text(MAV_SEVERITY_INFO,"Auto disarmed");
}
}
}
}
/*
the height above field elevation that we pass to TECS
*/
float Plane::tecs_hgt_afe(void)
{
/*
pass the height above field elevation as the height above
the ground when in landing, which means that TECS gets the
rangefinder information and thus can know when the flare is
coming.
*/
float hgt_afe;
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
hgt_afe = height_above_target();
hgt_afe -= rangefinder_correction();
} else {
// when in normal flight we pass the hgt_afe as relative
// altitude to home
hgt_afe = relative_altitude;
}
return hgt_afe;
}
// vehicle specific waypoint info helpers
bool Plane::get_wp_distance_m(float &distance) const
{
// see GCS_MAVLINK_Plane::send_nav_controller_output()
if (control_mode == &mode_manual) {
return false;
}
if (quadplane.in_vtol_mode()) {
distance = quadplane.using_wp_nav() ? quadplane.wp_nav->get_wp_distance_to_destination() : 0;
} else {
distance = auto_state.wp_distance;
}
return true;
}
bool Plane::get_wp_bearing_deg(float &bearing) const
{
// see GCS_MAVLINK_Plane::send_nav_controller_output()
if (control_mode == &mode_manual) {
return false;
}
if (quadplane.in_vtol_mode()) {
bearing = quadplane.using_wp_nav() ? quadplane.wp_nav->get_wp_bearing_to_destination() : 0;
} else {
bearing = nav_controller->target_bearing_cd() * 0.01;
}
return true;
}
bool Plane::get_wp_crosstrack_error_m(float &xtrack_error) const
{
// see GCS_MAVLINK_Plane::send_nav_controller_output()
if (control_mode == &mode_manual) {
return false;
}
if (quadplane.in_vtol_mode()) {
xtrack_error = quadplane.using_wp_nav() ? quadplane.wp_nav->crosstrack_error() : 0;
} else {
xtrack_error = nav_controller->crosstrack_error();
}
return true;
}
// set target location (for use by scripting)
bool Plane::set_target_location(const Location& target_loc)
{
if (plane.control_mode != &plane.mode_guided) {
// only accept position updates when in GUIDED mode
return false;
}
plane.guided_WP_loc = target_loc;
// add home alt if needed
if (plane.guided_WP_loc.relative_alt) {
plane.guided_WP_loc.alt += plane.home.alt;
plane.guided_WP_loc.relative_alt = 0;
}
plane.set_guided_WP();
return true;
}
// set target location (for use by scripting)
bool Plane::get_target_location(Location& target_loc)
{
switch (control_mode->mode_number()) {
case Mode::Number::RTL:
case Mode::Number::AVOID_ADSB:
case Mode::Number::GUIDED:
case Mode::Number::AUTO:
case Mode::Number::LOITER:
case Mode::Number::QLOITER:
case Mode::Number::QLAND:
case Mode::Number::QRTL:
target_loc = next_WP_loc;
return true;
break;
default:
break;
}
return false;
}
AP_HAL_MAIN_CALLBACKS(&plane);
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