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ardupilot/ArduPlane/system.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*****************************************************************************
The init_ardupilot function processes everything we need for an in - air restart
We will determine later if we are actually on the ground and process a
ground start in that case.
*****************************************************************************/
#if CLI_ENABLED == ENABLED
// Functions called from the top-level menu
static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
static int8_t planner_mode(uint8_t argc, const Menu::arg *argv); // in planner.pde
// This is the help function
// PSTR is an AVR macro to read strings from flash memory
// printf_P is a version of print_f that reads from flash memory
static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
{
Serial.printf_P(PSTR("Commands:\n"
" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
"\n"
"Move the slide switch and reset to FLY.\n"
"\n"));
return(0);
}
// Command/function table for the top-level menu.
static const struct Menu::command main_menu_commands[] PROGMEM = {
// command function called
// ======= ===============
{"logs", process_logs},
{"setup", setup_mode},
{"test", test_mode},
{"help", main_menu_help},
{"planner", planner_mode}
};
// Create the top-level menu object.
MENU(main_menu, "APM trunk", main_menu_commands);
#endif // CLI_ENABLED
static void init_ardupilot()
{
// Console serial port
//
// The console port buffers are defined to be sufficiently large to support
// the console's use as a logging device, optionally as the GPS port when
// GPS_PROTOCOL_IMU is selected, and as the telemetry port.
//
// XXX This could be optimised to reduce the buffer sizes in the cases
// where they are not otherwise required.
//
Serial.begin(SERIAL0_BAUD, 128, 128);
// GPS serial port.
//
// Not used if the IMU/X-Plane GPS is in use.
//
// XXX currently the EM406 (SiRF receiver) is nominally configured
// at 57600, however it's not been supported to date. We should
// probably standardise on 38400.
//
// XXX the 128 byte receive buffer may be too small for NMEA, depending
// on the message set configured.
//
#if HIL_MODE != HIL_MODE_DISABLED && HIL_PORT == 1 // TODO: figure out a better way to do this
// Steal gps port for hardware in the loop
Serial1.begin(115200, 128, 128);
#else
// standard gps running
Serial1.begin(38400, 128, 16);
#endif
Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %lu\n"),
freeRAM());
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
if (!g.format_version.load()) {
Serial.println_P(PSTR("\nEEPROM blank - resetting all parameters to defaults...\n"));
delay(100); // wait for serial msg to flush
AP_Var::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
} else if (g.format_version != Parameters::k_format_version) {
Serial.printf_P(PSTR("\n\nEEPROM format version %d not compatible with this firmware (requires %d)"
"\n\nForcing complete parameter reset..."),
g.format_version.get(), Parameters::k_format_version);
delay(100); // wait for serial msg to flush
// erase all parameters
AP_Var::erase_all();
// save the new format version
g.format_version.set_and_save(Parameters::k_format_version);
Serial.println_P(PSTR("done."));
} else {
unsigned long before = micros();
// Load all auto-loaded EEPROM variables
AP_Var::load_all();
Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
Serial.printf_P(PSTR("using %u bytes of memory (%u resets)\n"),
AP_Var::get_memory_use(), (unsigned)g.num_resets);
}
// keep a record of how many resets have happened. This can be
// used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1);
// Telemetry port.
//
// Not used if telemetry is going to the console.
//
// XXX for unidirectional protocols, we could (should) minimize
// the receive buffer, and the transmit buffer could also be
// shrunk for protocols that don't send large messages.
//
Serial3.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
mavlink_system.sysid = g.sysid_this_mav;
#if HIL_MODE != HIL_MODE_ATTITUDE
adc.Init(); // APM ADC library initialization
barometer.Init(); // APM Abs Pressure sensor initialization
if (g.compass_enabled==true) {
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
if (!compass.init()) {
Serial.println_P(PSTR("Compass initialisation failed!"));
g.compass_enabled = false;
} else {
dcm.set_compass(&compass);
compass.get_offsets(); // load offsets to account for airframe magnetic interference
}
}
/*
Init is depricated - Jason
if(g.sonar_enabled){
sonar.init(SONAR_PIN, &adc);
Serial.print("Sonar init: "); Serial.println(SONAR_PIN, DEC);
}
*/
#endif
DataFlash.Init(); // DataFlash log initialization
// Do GPS init
g_gps = &g_gps_driver;
g_gps->init(); // GPS Initialization
g_gps->callback = mavlink_delay;
// init the GCS
#if GCS_PORT == 3
gcs.init(&Serial3);
#else
gcs.init(&Serial);
#endif
//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
mavlink_system.type = MAV_FIXED_WING;
// init the HIL
#if HIL_MODE != HIL_MODE_DISABLED
#if HIL_PORT == 3
hil.init(&Serial3);
#elif HIL_PORT == 1
hil.init(&Serial1);
#else
hil.init(&Serial);
#endif
#endif
// We may have a hil object instantiated just for mission planning
#if HIL_MODE == HIL_MODE_DISABLED && HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_PORT == 0
hil.init(&Serial);
#endif
rc_override_active = APM_RC.setHIL(rc_override); // Set initial values for no override
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
pinMode(C_LED_PIN, OUTPUT); // GPS status LED
pinMode(A_LED_PIN, OUTPUT); // GPS status LED
pinMode(B_LED_PIN, OUTPUT); // GPS status LED
pinMode(SLIDE_SWITCH_PIN, INPUT); // To enter interactive mode
pinMode(PUSHBUTTON_PIN, INPUT); // unused
DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
// If the switch is in 'menu' mode, run the main menu.
//
// Since we can't be sure that the setup or test mode won't leave
// the system in an odd state, we don't let the user exit the top
// menu; they must reset in order to fly.
//
#if CLI_ENABLED == ENABLED
if (digitalRead(SLIDE_SWITCH_PIN) == 0) {
digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED
Serial.printf_P(PSTR("\n"
"Entering interactive setup mode...\n"
"\n"
"If using the Arduino Serial Monitor, ensure Line Ending is set to Carriage Return.\n"
"Type 'help' to list commands, 'exit' to leave a submenu.\n"
"Visit the 'setup' menu for first-time configuration.\n"));
for (;;) {
Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
main_menu.run();
}
}
#endif // CLI_ENABLED
if(g.log_bitmask != 0){
// TODO - Here we will check on the length of the last log
// We don't want to create a bunch of little logs due to powering on and off
byte last_log_num = get_num_logs();
start_new_log(last_log_num);
}
// read in the flight switches
update_servo_switches();
if (ENABLE_AIR_START == 1) {
// Perform an air start and get back to flying
gcs.send_text_P(SEVERITY_LOW,PSTR("<init_ardupilot> AIR START"));
// Get necessary data from EEPROM
//----------------
//read_EEPROM_airstart_critical();
#if HIL_MODE != HIL_MODE_ATTITUDE
imu.init(IMU::WARM_START);
dcm.set_centripetal(1);
#endif
// This delay is important for the APM_RC library to work.
// We need some time for the comm between the 328 and 1280 to be established.
int old_pulse = 0;
while (millis()<=1000 && (abs(old_pulse - APM_RC.InputCh(g.flight_mode_channel)) > 5 ||
APM_RC.InputCh(g.flight_mode_channel) == 1000 ||
APM_RC.InputCh(g.flight_mode_channel) == 1200)) {
old_pulse = APM_RC.InputCh(g.flight_mode_channel);
delay(25);
}
GPS_enabled = false;
g_gps->update();
if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED) GPS_enabled = true;
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Startup(TYPE_AIRSTART_MSG);
reload_commands_airstart(); // Get set to resume AUTO from where we left off
}else {
startup_ground();
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
}
set_mode(MANUAL);
// set the correct flight mode
// ---------------------------
reset_control_switch();
}
//********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//********************************************************************************
static void startup_ground(void)
{
set_mode(INITIALISING);
gcs.send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
#if(GROUND_START_DELAY > 0)
gcs.send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
delay(GROUND_START_DELAY * 1000);
#endif
// Output waypoints for confirmation
// --------------------------------
for(int i = 1; i < g.waypoint_total + 1; i++) {
gcs.send_message(MSG_COMMAND_LIST, i);
}
// Makes the servos wiggle
// step 1 = 1 wiggle
// -----------------------
demo_servos(1);
//IMU ground start
//------------------------
//
startup_IMU_ground();
// read the radio to set trims
// ---------------------------
trim_radio(); // This was commented out as a HACK. Why? I don't find a problem.
#if HIL_MODE != HIL_MODE_ATTITUDE
if (g.airspeed_enabled == true)
{
// initialize airspeed sensor
// --------------------------
zero_airspeed();
gcs.send_text_P(SEVERITY_LOW,PSTR("<startup_ground> zero airspeed calibrated"));
}
else
{
gcs.send_text_P(SEVERITY_LOW,PSTR("<startup_ground> NO airspeed"));
}
#endif
// Save the settings for in-air restart
// ------------------------------------
//save_EEPROM_groundstart();
// initialize commands
// -------------------
init_commands();
// Read in the GPS - see if one is connected
GPS_enabled = false;
for (byte counter = 0; ; counter++) {
g_gps->update();
if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED){
GPS_enabled = true;
break;
}
if (counter >= 2) {
GPS_enabled = false;
break;
}
}
// Makes the servos wiggle - 3 times signals ready to fly
// -----------------------
demo_servos(3);
gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
}
static void set_mode(byte mode)
{
if(control_mode == mode){
// don't switch modes if we are already in the correct mode.
return;
}
if(g.auto_trim > 0 && control_mode == MANUAL)
trim_control_surfaces();
control_mode = mode;
crash_timer = 0;
switch(control_mode)
{
case INITIALISING:
case MANUAL:
case CIRCLE:
case STABILIZE:
case FLY_BY_WIRE_A:
case FLY_BY_WIRE_B:
break;
case AUTO:
update_auto();
break;
case RTL:
do_RTL();
break;
case LOITER:
do_loiter_at_location();
break;
case GUIDED:
set_guided_WP();
break;
default:
do_RTL();
break;
}
// output control mode to the ground station
gcs.send_message(MSG_MODE_CHANGE);
if (g.log_bitmask & MASK_LOG_MODE)
Log_Write_Mode(control_mode);
}
static void check_long_failsafe()
{
// only act on changes
// -------------------
if(failsafe != FAILSAFE_LONG && failsafe != FAILSAFE_GCS){
if(rc_override_active && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe = FAILSAFE_LONG;
failsafe_long_on_event();
}
if(! rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
failsafe = FAILSAFE_LONG;
failsafe_long_on_event();
}
if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe = FAILSAFE_GCS;
failsafe_long_on_event();
}
} else {
// We do not change state but allow for user to change mode
if(failsafe == FAILSAFE_GCS && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
if(failsafe == FAILSAFE_LONG && rc_override_active && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
if(failsafe == FAILSAFE_LONG && !rc_override_active && !ch3_failsafe) failsafe = FAILSAFE_NONE;
}
}
static void check_short_failsafe()
{
// only act on changes
// -------------------
if(failsafe == FAILSAFE_NONE){
if(ch3_failsafe) { // The condition is checked and the flag ch3_failsafe is set in radio.pde
failsafe_short_on_event();
}
}
if(failsafe == FAILSAFE_SHORT){
if(!ch3_failsafe) {
failsafe_short_off_event();
}
}
}
static void startup_IMU_ground(void)
{
#if HIL_MODE != HIL_MODE_ATTITUDE
gcs.send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
mavlink_delay(500);
// Makes the servos wiggle twice - about to begin IMU calibration - HOLD LEVEL AND STILL!!
// -----------------------
demo_servos(2);
gcs.send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane"));
mavlink_delay(1000);
imu.init(IMU::COLD_START, mavlink_delay);
dcm.set_centripetal(1);
// read Baro pressure at ground
//-----------------------------
init_barometer();
#endif // HIL_MODE_ATTITUDE
digitalWrite(B_LED_PIN, HIGH); // Set LED B high to indicate IMU ready
digitalWrite(A_LED_PIN, LOW);
digitalWrite(C_LED_PIN, LOW);
}
static void update_GPS_light(void)
{
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
switch (g_gps->status()) {
case(2):
digitalWrite(C_LED_PIN, HIGH); //Turn LED C on when gps has valid fix.
break;
case(1):
if (g_gps->valid_read == true){
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
if (GPS_light){
digitalWrite(C_LED_PIN, LOW);
} else {
digitalWrite(C_LED_PIN, HIGH);
}
g_gps->valid_read = false;
}
break;
default:
digitalWrite(C_LED_PIN, LOW);
break;
}
}
static void resetPerfData(void) {
mainLoop_count = 0;
G_Dt_max = 0;
dcm.gyro_sat_count = 0;
imu.adc_constraints = 0;
dcm.renorm_sqrt_count = 0;
dcm.renorm_blowup_count = 0;
gps_fix_count = 0;
pmTest1 = 0;
perf_mon_timer = millis();
}
/*
* This function gets the current value of the heap and stack pointers.
* The stack pointer starts at the top of RAM and grows downwards. The heap pointer
* starts just above the static variables etc. and grows upwards. SP should always
* be larger than HP or you'll be in big trouble! The smaller the gap, the more
* careful you need to be. Julian Gall 6 - Feb - 2009.
*/
static unsigned long freeRAM() {
uint8_t * heapptr, * stackptr;
stackptr = (uint8_t *)malloc(4); // use stackptr temporarily
heapptr = stackptr; // save value of heap pointer
free(stackptr); // free up the memory again (sets stackptr to 0)
stackptr = (uint8_t *)(SP); // save value of stack pointer
return stackptr - heapptr;
}
/*
map from a 8 bit EEPROM baud rate to a real baud rate
*/
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
{
switch (rate) {
case 9: return 9600;
case 19: return 19200;
case 38: return 38400;
case 57: return 57600;
case 111: return 111100;
case 115: return 115200;
}
Serial.println_P(PSTR("Invalid SERIAL3_BAUD"));
return default_baud;
}
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