mirror of https://github.com/ArduPilot/ardupilot
257 lines
9.2 KiB
C++
257 lines
9.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "AntennaTracker V0.7.1"
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/*
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Lead developers: Matthew Ridley and Andrew Tridgell
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Please contribute your ideas! See http://dev.ardupilot.com for details
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Header includes
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////////////////////////////////////////////////////////////////////////////////
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#include <math.h>
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#include <stdarg.h>
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#include <stdio.h>
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_Param.h>
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#include <StorageManager.h>
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <AP_Baro.h> // ArduPilot barometer library
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_ADC_AnalogSource.h>
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#include <AP_InertialSensor.h> // Inertial Sensor Library
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#include <AP_AHRS.h> // ArduPilot Mega DCM Library
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#include <Filter.h> // Filter library
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#include <AP_Buffer.h> // APM FIFO Buffer
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#include <memcheck.h>
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <AP_SerialManager.h> // Serial manager library
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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#include <DataFlash.h>
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#include <SITL.h>
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#include <PID.h>
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#include <AP_Scheduler.h> // main loop scheduler
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#include <AP_NavEKF.h>
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#include <AP_Vehicle.h>
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#include <AP_Mission.h>
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#include <AP_Terrain.h>
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#include <AP_Rally.h>
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#include <AP_Notify.h> // Notify library
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#include <AP_BattMonitor.h> // Battery monitor library
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#include <AP_Airspeed.h>
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#include <RC_Channel.h>
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#include <AP_BoardConfig.h>
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#include <AP_OpticalFlow.h>
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#include <AP_RangeFinder.h>
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// Configuration
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#include "config.h"
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#include "defines.h"
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#include "Parameters.h"
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#include "GCS.h"
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_SITL.h>
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#include <AP_HAL_PX4.h>
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#include <AP_HAL_FLYMAPLE.h>
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#include <AP_HAL_Linux.h>
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#include <AP_HAL_Empty.h>
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class Tracker {
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public:
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friend class GCS_MAVLINK;
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friend class Parameters;
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Tracker(void);
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void setup();
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void loop();
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private:
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const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
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Parameters g;
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// main loop scheduler
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AP_Scheduler scheduler;
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// notification object for LEDs, buzzers etc
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AP_Notify notify;
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uint32_t start_time_ms = 0;
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bool usb_connected = false;
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AP_GPS gps;
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AP_Baro barometer;
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Compass compass;
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AP_InertialSensor ins;
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RangeFinder rng;
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// Inertial Navigation EKF
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#if AP_AHRS_NAVEKF_AVAILABLE
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NavEKF EKF{&ahrs, barometer, rng};
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AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF};
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#else
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AP_AHRS_DCM ahrs{ins, barometer, gps};
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SITL sitl;
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#endif
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/**
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antenna control channels
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*/
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RC_Channel channel_yaw{CH_YAW};
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RC_Channel channel_pitch{CH_PITCH};
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AP_SerialManager serial_manager;
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const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
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GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
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AP_BoardConfig BoardConfig;
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struct Location current_loc;
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enum ControlMode control_mode = INITIALISING;
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// Vehicle state
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struct {
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bool location_valid; // true if we have a valid location for the vehicle
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Location location; // lat, long in degrees * 10^7; alt in meters * 100
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Location location_estimate; // lat, long in degrees * 10^7; alt in meters * 100
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uint32_t last_update_us; // last position update in micxroseconds
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uint32_t last_update_ms; // last position update in milliseconds
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float heading; // last known direction vehicle is moving
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float ground_speed; // vehicle's last known ground speed in m/s
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} vehicle;
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// Navigation controller state
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struct {
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float bearing; // bearing to vehicle in centi-degrees
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float distance; // distance to vehicle in meters
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float pitch; // pitch to vehicle in degrees (positive means vehicle is above tracker, negative means below)
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float altitude_difference; // altitude difference between tracker and vehicle in meters. positive value means vehicle is above tracker
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float altitude_offset; // offset in meters which is added to tracker altitude to align altitude measurements with vehicle's barometer
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bool manual_control_yaw : 1;// true if tracker yaw is under manual control
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bool manual_control_pitch : 1;// true if tracker pitch is manually controlled
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bool need_altitude_calibration : 1;// true if tracker altitude has not been determined (true after startup)
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bool scan_reverse_pitch : 1;// controls direction of pitch movement in SCAN mode
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bool scan_reverse_yaw : 1;// controls direction of yaw movement in SCAN mode
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} nav_status = {0.0f, 0.0f, 0.0f, 0.0f, false, false, true, false, false};
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// Servo state
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struct {
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bool yaw_lower : 1; // true if yaw servo has been limited from moving to a lower position (i.e. position or rate limited)
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bool yaw_upper : 1; // true if yaw servo has been limited from moving to a higher position (i.e. position or rate limited)
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bool pitch_lower : 1; // true if pitch servo has been limited from moving to a lower position (i.e. position or rate limited)
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bool pitch_upper : 1; // true if pitch servo has been limited from moving to a higher position (i.e. position or rate limited)
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} servo_limit = {true, true, true, true};
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// setup the var_info table
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AP_Param param_loader{var_info};
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uint8_t one_second_counter = 0;
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bool target_set = false;
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int8_t slew_dir = 0;
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uint32_t slew_start_ms = 0;
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static const AP_Scheduler::Task scheduler_tasks[];
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static const AP_Param::Info var_info[];
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void one_second_loop();
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void send_heartbeat(mavlink_channel_t chan);
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void send_attitude(mavlink_channel_t chan);
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void send_location(mavlink_channel_t chan);
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void send_radio_out(mavlink_channel_t chan);
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void send_hwstatus(mavlink_channel_t chan);
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void send_waypoint_request(mavlink_channel_t chan);
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void send_statustext(mavlink_channel_t chan);
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void send_nav_controller_output(mavlink_channel_t chan);
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void send_simstate(mavlink_channel_t chan);
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void mavlink_check_target(const mavlink_message_t* msg);
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void gcs_send_message(enum ap_message id);
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void gcs_data_stream_send(void);
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void gcs_update(void);
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void gcs_send_text_P(gcs_severity severity, const prog_char_t *str);
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void gcs_retry_deferred(void);
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void load_parameters(void);
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void update_auto(void);
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void update_manual(void);
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void update_scan(void);
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bool servo_test_set_servo(uint8_t servo_num, uint16_t pwm);
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void read_radio();
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void init_barometer(void);
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void update_barometer(void);
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void update_ahrs();
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void update_compass(void);
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void compass_accumulate(void);
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void barometer_accumulate(void);
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void update_GPS(void);
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void init_servos();
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void update_pitch_servo(float pitch);
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void update_pitch_position_servo(float pitch);
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void update_pitch_cr_servo(float pitch);
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void update_pitch_onoff_servo(float pitch);
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void update_yaw_servo(float yaw);
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void update_yaw_position_servo(float yaw);
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void update_yaw_cr_servo(float yaw);
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void update_yaw_onoff_servo(float yaw);
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void init_tracker();
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void update_notify();
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bool get_home_eeprom(struct Location &loc);
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void set_home_eeprom(struct Location temp);
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void set_home(struct Location temp);
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void arm_servos();
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void disarm_servos();
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void prepare_servos();
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void set_mode(enum ControlMode mode);
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bool mavlink_set_mode(uint8_t mode);
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void check_usb_mux(void);
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void update_vehicle_pos_estimate();
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void update_tracker_position();
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void update_bearing_and_distance();
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void update_tracking(void);
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void tracking_update_position(const mavlink_global_position_int_t &msg);
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void tracking_update_pressure(const mavlink_scaled_pressure_t &msg);
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void tracking_manual_control(const mavlink_manual_control_t &msg);
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void update_armed_disarmed();
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void gcs_send_text_fmt(const prog_char_t *fmt, ...);
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public:
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void mavlink_snoop(const mavlink_message_t* msg);
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void mavlink_delay_cb();
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};
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#define MENU_FUNC(func) FUNCTOR_BIND(&tracker, &Tracker::func, int8_t, uint8_t, const Menu::arg *)
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extern const AP_HAL::HAL& hal;
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extern Tracker tracker;
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