mirror of https://github.com/ArduPilot/ardupilot
354 lines
9.8 KiB
C++
354 lines
9.8 KiB
C++
/*****************************************************************************
|
|
The init_ardupilot function processes everything we need for an in - air restart
|
|
We will determine later if we are actually on the ground and process a
|
|
ground start in that case.
|
|
|
|
*****************************************************************************/
|
|
|
|
#include "Rover.h"
|
|
|
|
static void failsafe_check_static()
|
|
{
|
|
rover.failsafe_check();
|
|
}
|
|
|
|
void Rover::init_ardupilot()
|
|
{
|
|
// init gripper
|
|
#if AP_GRIPPER_ENABLED
|
|
g2.gripper.init();
|
|
#endif
|
|
|
|
// initialise notify system
|
|
notify.init();
|
|
notify_mode(control_mode);
|
|
|
|
battery.init();
|
|
|
|
#if AP_RPM_ENABLED
|
|
// Initialise RPM sensor
|
|
rpm_sensor.init();
|
|
#endif
|
|
|
|
rssi.init();
|
|
|
|
g2.windvane.init(serial_manager);
|
|
|
|
// init baro before we start the GCS, so that the CLI baro test works
|
|
barometer.init();
|
|
|
|
// setup telem slots with serial ports
|
|
gcs().setup_uarts();
|
|
|
|
#if OSD_ENABLED == ENABLED
|
|
osd.init();
|
|
#endif
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
log_init();
|
|
#endif
|
|
|
|
// initialise compass
|
|
AP::compass().set_log_bit(MASK_LOG_COMPASS);
|
|
AP::compass().init();
|
|
|
|
#if AP_AIRSPEED_ENABLED
|
|
airspeed.set_log_bit(MASK_LOG_IMU);
|
|
#endif
|
|
|
|
// initialise rangefinder
|
|
rangefinder.set_log_rfnd_bit(MASK_LOG_RANGEFINDER);
|
|
rangefinder.init(ROTATION_NONE);
|
|
|
|
#if HAL_PROXIMITY_ENABLED
|
|
// init proximity sensor
|
|
g2.proximity.init();
|
|
#endif
|
|
|
|
#if AP_BEACON_ENABLED
|
|
// init beacons used for non-gps position estimation
|
|
g2.beacon.init();
|
|
#endif
|
|
|
|
// and baro for EKF
|
|
barometer.set_log_baro_bit(MASK_LOG_IMU);
|
|
barometer.calibrate();
|
|
|
|
// Do GPS init
|
|
gps.set_log_gps_bit(MASK_LOG_GPS);
|
|
gps.init(serial_manager);
|
|
|
|
ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
|
|
|
|
init_rc_in(); // sets up rc channels deadzone
|
|
g2.motors.init(get_frame_type()); // init motors including setting servo out channels ranges
|
|
SRV_Channels::enable_aux_servos();
|
|
|
|
// init wheel encoders
|
|
g2.wheel_encoder.init();
|
|
|
|
#if HAL_TORQEEDO_ENABLED
|
|
// init torqeedo motor driver
|
|
g2.torqeedo.init();
|
|
#endif
|
|
|
|
#if AP_OPTICALFLOW_ENABLED
|
|
// initialise optical flow sensor
|
|
optflow.init(MASK_LOG_OPTFLOW);
|
|
#endif // AP_OPTICALFLOW_ENABLED
|
|
|
|
#if AP_RELAY_ENABLED
|
|
relay.init();
|
|
#endif
|
|
|
|
#if HAL_MOUNT_ENABLED
|
|
// initialise camera mount
|
|
camera_mount.init();
|
|
#endif
|
|
|
|
#if AP_CAMERA_ENABLED
|
|
// initialise camera
|
|
camera.init();
|
|
#endif
|
|
|
|
#if AC_PRECLAND_ENABLED
|
|
// initialise precision landing
|
|
init_precland();
|
|
#endif
|
|
|
|
/*
|
|
setup the 'main loop is dead' check. Note that this relies on
|
|
the RC library being initialised.
|
|
*/
|
|
hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
|
|
|
|
// initialize SmartRTL
|
|
g2.smart_rtl.init();
|
|
|
|
// initialise object avoidance
|
|
g2.oa.init();
|
|
|
|
startup_ground();
|
|
|
|
Mode *initial_mode = mode_from_mode_num((enum Mode::Number)g.initial_mode.get());
|
|
if (initial_mode == nullptr) {
|
|
initial_mode = &mode_initializing;
|
|
}
|
|
set_mode(*initial_mode, ModeReason::INITIALISED);
|
|
|
|
// initialise rc channels
|
|
rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
|
|
rc().convert_options(RC_Channel::AUX_FUNC::SAVE_TRIM, RC_Channel::AUX_FUNC::TRIM_TO_CURRENT_SERVO_RC);
|
|
rc().init();
|
|
|
|
rover.g2.sailboat.init();
|
|
|
|
// boat should loiter after completing a mission to avoid drifting off
|
|
if (is_boat()) {
|
|
rover.g2.mis_done_behave.set_default(ModeAuto::Mis_Done_Behave::MIS_DONE_BEHAVE_LOITER);
|
|
}
|
|
|
|
// flag that initialisation has completed
|
|
initialised = true;
|
|
}
|
|
|
|
//*********************************************************************************
|
|
// This function does all the calibrations, etc. that we need during a ground start
|
|
//*********************************************************************************
|
|
void Rover::startup_ground(void)
|
|
{
|
|
set_mode(mode_initializing, ModeReason::INITIALISED);
|
|
|
|
// IMU ground start
|
|
//------------------------
|
|
//
|
|
|
|
startup_INS_ground();
|
|
|
|
// initialise mission library
|
|
mode_auto.mission.init();
|
|
|
|
// initialise AP_Logger library
|
|
#if HAL_LOGGING_ENABLED
|
|
logger.setVehicle_Startup_Writer(
|
|
FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
|
|
);
|
|
#endif
|
|
}
|
|
|
|
// update the ahrs flyforward setting which can allow
|
|
// the vehicle's movements to be used to estimate heading
|
|
void Rover::update_ahrs_flyforward()
|
|
{
|
|
bool flyforward = false;
|
|
|
|
// boats never use movement to estimate heading
|
|
if (!is_boat()) {
|
|
// throttle threshold is 15% or 1/2 cruise throttle
|
|
bool throttle_over_thresh = g2.motors.get_throttle() > MIN(g.throttle_cruise * 0.50f, 15.0f);
|
|
// desired speed threshold of 1m/s
|
|
bool desired_speed_over_thresh = g2.attitude_control.speed_control_active() && (g2.attitude_control.get_desired_speed() > 0.5f);
|
|
if (throttle_over_thresh || (is_positive(g2.motors.get_throttle()) && desired_speed_over_thresh)) {
|
|
uint32_t now = AP_HAL::millis();
|
|
// if throttle over threshold start timer
|
|
if (flyforward_start_ms == 0) {
|
|
flyforward_start_ms = now;
|
|
}
|
|
// if throttle over threshold for 2 seconds set flyforward to true
|
|
flyforward = (now - flyforward_start_ms > 2000);
|
|
} else {
|
|
// reset timer
|
|
flyforward_start_ms = 0;
|
|
}
|
|
}
|
|
|
|
ahrs.set_fly_forward(flyforward);
|
|
}
|
|
|
|
// Check if this mode can be entered from the GCS
|
|
bool Rover::gcs_mode_enabled(const Mode::Number mode_num) const
|
|
{
|
|
// List of modes that can be blocked, index is bit number in parameter bitmask
|
|
static const uint8_t mode_list [] {
|
|
(uint8_t)Mode::Number::MANUAL,
|
|
(uint8_t)Mode::Number::ACRO,
|
|
(uint8_t)Mode::Number::STEERING,
|
|
(uint8_t)Mode::Number::LOITER,
|
|
(uint8_t)Mode::Number::FOLLOW,
|
|
(uint8_t)Mode::Number::SIMPLE,
|
|
(uint8_t)Mode::Number::CIRCLE,
|
|
(uint8_t)Mode::Number::AUTO,
|
|
(uint8_t)Mode::Number::RTL,
|
|
(uint8_t)Mode::Number::SMART_RTL,
|
|
(uint8_t)Mode::Number::GUIDED,
|
|
#if MODE_DOCK_ENABLED == ENABLED
|
|
(uint8_t)Mode::Number::DOCK
|
|
#endif
|
|
};
|
|
|
|
return !block_GCS_mode_change((uint8_t)mode_num, mode_list, ARRAY_SIZE(mode_list));
|
|
}
|
|
|
|
bool Rover::set_mode(Mode &new_mode, ModeReason reason)
|
|
{
|
|
if (control_mode == &new_mode) {
|
|
// don't switch modes if we are already in the correct mode.
|
|
return true;
|
|
}
|
|
|
|
// Check if GCS mode change is disabled via parameter
|
|
if ((reason == ModeReason::GCS_COMMAND) && !gcs_mode_enabled((Mode::Number)new_mode.mode_number())) {
|
|
gcs().send_text(MAV_SEVERITY_NOTICE,"Mode change to %s denied, GCS entry disabled (FLTMODE_GCSBLOCK)", new_mode.name4());
|
|
return false;
|
|
}
|
|
|
|
Mode &old_mode = *control_mode;
|
|
if (!new_mode.enter()) {
|
|
// Log error that we failed to enter desired flight mode
|
|
LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE,
|
|
LogErrorCode(new_mode.mode_number()));
|
|
gcs().send_text(MAV_SEVERITY_WARNING, "Flight mode change failed");
|
|
return false;
|
|
}
|
|
|
|
control_mode = &new_mode;
|
|
|
|
#if AP_FENCE_ENABLED
|
|
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
|
|
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
|
|
// but it should be harmless to disable the fence temporarily in these situations as well
|
|
fence.manual_recovery_start();
|
|
#endif
|
|
|
|
#if AP_CAMERA_ENABLED
|
|
camera.set_is_auto_mode(control_mode->mode_number() == Mode::Number::AUTO);
|
|
#endif
|
|
|
|
old_mode.exit();
|
|
|
|
control_mode_reason = reason;
|
|
#if HAL_LOGGING_ENABLED
|
|
logger.Write_Mode((uint8_t)control_mode->mode_number(), control_mode_reason);
|
|
#endif
|
|
gcs().send_message(MSG_HEARTBEAT);
|
|
|
|
notify_mode(control_mode);
|
|
return true;
|
|
}
|
|
|
|
bool Rover::set_mode(const uint8_t new_mode, ModeReason reason)
|
|
{
|
|
static_assert(sizeof(Mode::Number) == sizeof(new_mode), "The new mode can't be mapped to the vehicles mode number");
|
|
return rover.set_mode(static_cast<Mode::Number>(new_mode), reason);
|
|
}
|
|
|
|
bool Rover::set_mode(Mode::Number new_mode, ModeReason reason)
|
|
{
|
|
Mode *mode = rover.mode_from_mode_num(new_mode);
|
|
if (mode == nullptr) {
|
|
notify_no_such_mode((uint8_t)new_mode);
|
|
return false;
|
|
}
|
|
return rover.set_mode(*mode, reason);
|
|
}
|
|
|
|
void Rover::startup_INS_ground(void)
|
|
{
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
|
|
hal.scheduler->delay(100);
|
|
|
|
ahrs.init();
|
|
// say to EKF that rover only move by going forward
|
|
ahrs.set_fly_forward(true);
|
|
ahrs.set_vehicle_class(AP_AHRS::VehicleClass::GROUND);
|
|
|
|
ins.init(scheduler.get_loop_rate_hz());
|
|
ahrs.reset();
|
|
}
|
|
|
|
// update notify with mode change
|
|
void Rover::notify_mode(const Mode *mode)
|
|
{
|
|
AP_Notify::flags.autopilot_mode = mode->is_autopilot_mode();
|
|
notify.flags.flight_mode = (uint8_t)mode->mode_number();
|
|
notify.set_flight_mode_str(mode->name4());
|
|
}
|
|
|
|
/*
|
|
check a digital pin for high,low (1/0)
|
|
*/
|
|
uint8_t Rover::check_digital_pin(uint8_t pin)
|
|
{
|
|
// ensure we are in input mode
|
|
hal.gpio->pinMode(pin, HAL_GPIO_INPUT);
|
|
|
|
// enable pullup
|
|
hal.gpio->write(pin, 1);
|
|
|
|
return hal.gpio->read(pin);
|
|
}
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
/*
|
|
should we log a message type now?
|
|
*/
|
|
bool Rover::should_log(uint32_t mask)
|
|
{
|
|
return logger.should_log(mask);
|
|
}
|
|
#endif
|
|
|
|
// returns true if vehicle is a boat
|
|
// this affects whether the vehicle tries to maintain position after reaching waypoints
|
|
bool Rover::is_boat() const
|
|
{
|
|
return ((enum frame_class)g2.frame_class.get() == FRAME_BOAT);
|
|
}
|
|
|
|
#include <AP_Avoidance/AP_Avoidance.h>
|
|
#include <AP_ADSB/AP_ADSB.h>
|
|
#if HAL_ADSB_ENABLED
|
|
// dummy method to avoid linking AP_Avoidance
|
|
AP_Avoidance *AP::ap_avoidance() { return nullptr; }
|
|
#endif
|