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ardupilot/ArduPlane/system.cpp

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#include "Plane.h"
#include "qautotune.h"
/*****************************************************************************
* 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.
*
*****************************************************************************/
static void failsafe_check_static()
{
plane.failsafe_check();
}
void Plane::init_ardupilot()
{
#if STATS_ENABLED == ENABLED
// initialise stats module
g2.stats.init();
#endif
ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
// setup any board specific drivers
BoardConfig.init();
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
can_mgr.init();
#endif
rollController.convert_pid();
pitchController.convert_pid();
// initialise rc channels including setting mode
#if HAL_QUADPLANE_ENABLED
rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, (quadplane.enabled() && (quadplane.options & QuadPlane::OPTION_AIRMODE_UNUSED) && (rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRMODE) == nullptr)) ? RC_Channel::AUX_FUNC::ARMDISARM_AIRMODE : RC_Channel::AUX_FUNC::ARMDISARM);
#else
rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
#endif
rc().init();
relay.init();
// initialise notify system
notify.init();
notify_mode(*control_mode);
init_rc_out_main();
// 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);
// init baro
barometer.init();
// initialise rangefinder
rangefinder.set_log_rfnd_bit(MASK_LOG_SONAR);
rangefinder.init(ROTATION_PITCH_270);
// initialise battery monitoring
battery.init();
rssi.init();
rpm_sensor.init();
// setup telem slots with serial ports
gcs().setup_uarts();
#if OSD_ENABLED == ENABLED
osd.init();
#endif
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
AP::compass().set_log_bit(MASK_LOG_COMPASS);
AP::compass().init();
#if AP_AIRSPEED_ENABLED
airspeed.set_log_bit(MASK_LOG_IMU);
#endif
// GPS Initialization
gps.set_log_gps_bit(MASK_LOG_GPS);
gps.init(serial_manager);
init_rc_in(); // sets up rc channels from radio
#if HAL_MOUNT_ENABLED
// initialise camera mount
camera_mount.init();
#endif
#if LANDING_GEAR_ENABLED == ENABLED
// initialise landing gear position
g2.landing_gear.init();
#endif
#if FENCE_TRIGGERED_PIN > 0
hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
hal.gpio->write(FENCE_TRIGGERED_PIN, 0);
#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);
#if HAL_QUADPLANE_ENABLED
quadplane.setup();
#endif
AP_Param::reload_defaults_file(true);
startup_ground();
// don't initialise aux rc output until after quadplane is setup as
// that can change initial values of channels
init_rc_out_aux();
if (g2.oneshot_mask != 0) {
hal.rcout->set_output_mode(g2.oneshot_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
}
set_mode_by_number((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED);
// set the correct flight mode
// ---------------------------
reset_control_switch();
// initialise sensor
#if AP_OPTICALFLOW_ENABLED
if (optflow.enabled()) {
optflow.init(-1);
}
#endif
// init cargo gripper
#if GRIPPER_ENABLED == ENABLED
g2.gripper.init();
#endif
// init fence
#if AC_FENCE == ENABLED
fence.init();
#endif
}
//********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//********************************************************************************
void Plane::startup_ground(void)
{
set_mode(mode_initializing, ModeReason::INITIALISED);
#if (GROUND_START_DELAY > 0)
gcs().send_text(MAV_SEVERITY_NOTICE,"Ground start with delay");
delay(GROUND_START_DELAY * 1000);
#else
gcs().send_text(MAV_SEVERITY_INFO,"Ground start");
#endif
//INS ground start
//------------------------
//
startup_INS_ground();
// Save the settings for in-air restart
// ------------------------------------
//save_EEPROM_groundstart();
// initialise mission library
mission.init();
// initialise AP_Logger library
#if LOGGING_ENABLED == ENABLED
logger.setVehicle_Startup_Writer(
FUNCTOR_BIND(&plane, &Plane::Log_Write_Vehicle_Startup_Messages, void)
);
#endif
#if AP_SCRIPTING_ENABLED
g2.scripting.init();
#endif // AP_SCRIPTING_ENABLED
// reset last heartbeat time, so we don't trigger failsafe on slow
// startup
gcs().sysid_myggcs_seen(AP_HAL::millis());
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
// ready to fly
serial_manager.set_blocking_writes_all(false);
}
bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
{
// update last reason
const ModeReason last_reason = _last_reason;
_last_reason = reason;
if (control_mode == &new_mode) {
// don't switch modes if we are already in the correct mode.
// only make happy noise if using a difent method to switch, this stops beeping for repeated change mode requests from GCS
if ((reason != last_reason) && (reason != ModeReason::INITIALISED)) {
AP_Notify::events.user_mode_change = 1;
}
return true;
}
#if HAL_QUADPLANE_ENABLED
if (new_mode.is_vtol_mode() && !plane.quadplane.available()) {
// dont try and switch to a Q mode if quadplane is not enabled and initalized
gcs().send_text(MAV_SEVERITY_INFO,"Q_ENABLE 0");
// make sad noise
if (reason != ModeReason::INITIALISED) {
AP_Notify::events.user_mode_change_failed = 1;
}
return false;
}
#if !QAUTOTUNE_ENABLED
if (&new_mode == &plane.mode_qautotune) {
gcs().send_text(MAV_SEVERITY_INFO,"QAUTOTUNE disabled");
set_mode(plane.mode_qhover, ModeReason::UNAVAILABLE);
// make sad noise
if (reason != ModeReason::INITIALISED) {
AP_Notify::events.user_mode_change_failed = 1;
}
return false;
}
#endif // !QAUTOTUNE_ENABLED
#else
if (new_mode.is_vtol_mode()) {
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
gcs().send_text(MAV_SEVERITY_INFO,"HAL_QUADPLANE_ENABLED=0");
// make sad noise
if (reason != ModeReason::INITIALISED) {
AP_Notify::events.user_mode_change_failed = 1;
}
return false;
}
#endif // HAL_QUADPLANE_ENABLED
// backup current control_mode and previous_mode
Mode &old_previous_mode = *previous_mode;
Mode &old_mode = *control_mode;
// update control_mode assuming success
// TODO: move these to be after enter() once start_command_callback() no longer checks control_mode
previous_mode = control_mode;
control_mode = &new_mode;
const ModeReason previous_mode_reason = control_mode_reason;
control_mode_reason = reason;
// attempt to enter new mode
if (!new_mode.enter()) {
// Log error that we failed to enter desired flight mode
gcs().send_text(MAV_SEVERITY_WARNING, "Flight mode change failed");
// we failed entering new mode, roll back to old
previous_mode = &old_previous_mode;
control_mode = &old_mode;
control_mode_reason = previous_mode_reason;
// make sad noise
if (reason != ModeReason::INITIALISED) {
AP_Notify::events.user_mode_change_failed = 1;
}
return false;
}
if (previous_mode == &mode_autotune) {
// restore last gains
autotune_restore();
}
// exit previous mode
old_mode.exit();
// record reasons
control_mode_reason = reason;
// log and notify mode change
logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
notify_mode(*control_mode);
gcs().send_message(MSG_HEARTBEAT);
// make happy noise
if (reason != ModeReason::INITIALISED) {
AP_Notify::events.user_mode_change = 1;
}
return true;
}
bool Plane::set_mode(const uint8_t new_mode, const ModeReason reason)
{
static_assert(sizeof(Mode::Number) == sizeof(new_mode), "The new mode can't be mapped to the vehicles mode number");
return set_mode_by_number(static_cast<Mode::Number>(new_mode), reason);
}
bool Plane::set_mode_by_number(const Mode::Number new_mode_number, const ModeReason reason)
{
Mode *new_mode = plane.mode_from_mode_num(new_mode_number);
if (new_mode == nullptr) {
notify_no_such_mode(new_mode_number);
return false;
}
return set_mode(*new_mode, reason);
}
void Plane::check_long_failsafe()
{
const uint32_t gcs_last_seen_ms = gcs().sysid_myggcs_last_seen_time_ms();
const uint32_t tnow = millis();
// only act on changes
// -------------------
if (failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
uint32_t radio_timeout_ms = failsafe.last_valid_rc_ms;
if (failsafe.state == FAILSAFE_SHORT) {
// time is relative to when short failsafe enabled
radio_timeout_ms = failsafe.short_timer_ms;
}
if (failsafe.rc_failsafe &&
(tnow - radio_timeout_ms) > g.fs_timeout_long*1000) {
failsafe_long_on_event(FAILSAFE_LONG, ModeReason::RADIO_FAILSAFE);
} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_AUTO && control_mode == &mode_auto &&
gcs_last_seen_ms != 0 &&
(tnow - gcs_last_seen_ms) > g.fs_timeout_long*1000) {
failsafe_long_on_event(FAILSAFE_GCS, ModeReason::GCS_FAILSAFE);
} else if ((g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HEARTBEAT ||
g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI) &&
gcs_last_seen_ms != 0 &&
(tnow - gcs_last_seen_ms) > g.fs_timeout_long*1000) {
failsafe_long_on_event(FAILSAFE_GCS, ModeReason::GCS_FAILSAFE);
} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI &&
gcs().chan(0) != nullptr &&
gcs().chan(0)->last_radio_status_remrssi_ms() != 0 &&
(tnow - gcs().chan(0)->last_radio_status_remrssi_ms()) > g.fs_timeout_long*1000) {
failsafe_long_on_event(FAILSAFE_GCS, ModeReason::GCS_FAILSAFE);
}
} else {
uint32_t timeout_seconds = g.fs_timeout_long;
if (g.fs_action_short != FS_ACTION_SHORT_DISABLED) {
// avoid dropping back into short timeout
timeout_seconds = g.fs_timeout_short;
}
// We do not change state but allow for user to change mode
if (failsafe.state == FAILSAFE_GCS &&
(tnow - gcs_last_seen_ms) < timeout_seconds*1000) {
failsafe_long_off_event(ModeReason::GCS_FAILSAFE);
} else if (failsafe.state == FAILSAFE_LONG &&
!failsafe.rc_failsafe) {
failsafe_long_off_event(ModeReason::RADIO_FAILSAFE);
}
}
}
void Plane::check_short_failsafe()
{
// 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, ModeReason::RADIO_FAILSAFE);
}
}
if(failsafe.state == FAILSAFE_SHORT) {
if(!failsafe.rc_failsafe || g.fs_action_short == FS_ACTION_SHORT_DISABLED) {
failsafe_short_off_event(ModeReason::RADIO_FAILSAFE);
}
}
}
void Plane::startup_INS_ground(void)
{
if (ins.gyro_calibration_timing() != AP_InertialSensor::GYRO_CAL_NEVER) {
gcs().send_text(MAV_SEVERITY_ALERT, "Beginning INS calibration. Do not move plane");
} else {
gcs().send_text(MAV_SEVERITY_ALERT, "Skipping INS calibration");
}
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_vehicle_class(AP_AHRS::VehicleClass::FIXED_WING);
ahrs.set_wind_estimation_enabled(true);
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
// read Baro pressure at ground
//-----------------------------
barometer.set_log_baro_bit(MASK_LOG_IMU);
barometer.calibrate();
}
// sets notify object flight mode information
void Plane::notify_mode(const Mode& mode)
{
notify.flags.flight_mode = mode.mode_number();
notify.set_flight_mode_str(mode.name4());
}
/*
should we log a message type now?
*/
bool Plane::should_log(uint32_t mask)
{
#if LOGGING_ENABLED == ENABLED
return logger.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 HAL_QUADPLANE_ENABLED
if (quadplane.in_vtol_mode() && !quadplane.tailsitter.in_vtol_transition()) {
return quadplane.motors->get_throttle_out() * 100.0;
}
#endif
float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
if (!have_reverse_thrust()) {
return constrain_int16(throttle, 0, 100);
}
return constrain_int16(throttle, -100, 100);
}
// update the harmonic notch filter center frequency dynamically
void Plane::update_dynamic_notch(uint8_t idx)
{
if (!ins.gyro_harmonic_notch_enabled(idx)) {
return;
}
const float ref_freq = ins.get_gyro_harmonic_notch_center_freq_hz(idx);
const float ref = ins.get_gyro_harmonic_notch_reference(idx);
if (is_zero(ref)) {
ins.update_harmonic_notch_freq_hz(idx, ref_freq);
return;
}
switch (ins.get_gyro_harmonic_notch_tracking_mode(idx)) {
case HarmonicNotchDynamicMode::UpdateThrottle: // throttle based tracking
// set the harmonic notch filter frequency approximately scaled on motor rpm implied by throttle
#if HAL_QUADPLANE_ENABLED
if (quadplane.available()) {
ins.update_harmonic_notch_freq_hz(idx, ref_freq * MAX(1.0f, sqrtf(quadplane.motors->get_throttle_out() / ref)));
}
#endif
break;
case HarmonicNotchDynamicMode::UpdateRPM: // rpm sensor based tracking
case HarmonicNotchDynamicMode::UpdateRPM2: {
uint8_t sensor = (ins.get_gyro_harmonic_notch_tracking_mode(idx)==HarmonicNotchDynamicMode::UpdateRPM?0:1);
float rpm;
if (rpm_sensor.get_rpm(sensor, rpm)) {
// set the harmonic notch filter frequency from the main rotor rpm
ins.update_harmonic_notch_freq_hz(idx, MAX(ref_freq, rpm * ref * (1/60.0)));
} else {
ins.update_harmonic_notch_freq_hz(idx, ref_freq);
}
break;
}
#if HAL_WITH_ESC_TELEM
case HarmonicNotchDynamicMode::UpdateBLHeli: // BLHeli based tracking
// set the harmonic notch filter frequency scaled on measured frequency
if (ins.has_harmonic_option(idx, HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
float notches[INS_MAX_NOTCHES];
const uint8_t num_notches = AP::esc_telem().get_motor_frequencies_hz(ins.get_num_gyro_dynamic_notches(idx), notches);
for (uint8_t i = 0; i < num_notches; i++) {
notches[i] = MAX(ref_freq, notches[i]);
}
if (num_notches > 0) {
ins.update_harmonic_notch_frequencies_hz(idx, num_notches, notches);
#if HAL_QUADPLANE_ENABLED
} else if (quadplane.available()) { // throttle fallback
ins.update_harmonic_notch_freq_hz(idx, ref_freq * MAX(1.0f, sqrtf(quadplane.motors->get_throttle_out() / ref)));
#endif
} else {
ins.update_harmonic_notch_freq_hz(idx, ref_freq);
}
} else {
ins.update_harmonic_notch_freq_hz(idx, MAX(ref_freq, AP::esc_telem().get_average_motor_frequency_hz() * ref));
}
break;
#endif
#if HAL_GYROFFT_ENABLED
case HarmonicNotchDynamicMode::UpdateGyroFFT: // FFT based tracking
// set the harmonic notch filter frequency scaled on measured frequency
if (ins.has_harmonic_option(idx, HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
float notches[INS_MAX_NOTCHES];
const uint8_t peaks = gyro_fft.get_weighted_noise_center_frequencies_hz(ins.get_num_gyro_dynamic_notches(idx), notches);
ins.update_harmonic_notch_frequencies_hz(idx, peaks, notches);
} else {
ins.update_harmonic_notch_freq_hz(idx, gyro_fft.get_weighted_noise_center_freq_hz());
}
break;
#endif
case HarmonicNotchDynamicMode::Fixed: // static
default:
ins.update_harmonic_notch_freq_hz(idx, ref_freq);
break;
}
}
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