mirror of https://github.com/ArduPilot/ardupilot
142 lines
4.8 KiB
C++
142 lines
4.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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/*
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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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constructor for main Copter class
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*/
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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Copter::Copter(void) :
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ins_sample_rate(AP_InertialSensor::RATE_400HZ),
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flight_modes(&g.flight_mode1),
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sonar_enabled(true),
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mission(ahrs,
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FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)),
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control_mode(STABILIZE),
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#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
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motors(g.rc_7, g.heli_servo_rsc, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE),
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#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
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motors(MAIN_LOOP_RATE),
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#elif FRAME_CONFIG == SINGLE_FRAME // single constructor requires extra servos for flaps
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motors(g.single_servo_1, g.single_servo_2, g.single_servo_3, g.single_servo_4, MAIN_LOOP_RATE),
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#elif FRAME_CONFIG == COAX_FRAME // single constructor requires extra servos for flaps
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motors(g.single_servo_1, g.single_servo_2, MAIN_LOOP_RATE),
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#else
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motors(MAIN_LOOP_RATE),
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#endif
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scaleLongDown(1),
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wp_bearing(0),
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home_bearing(0),
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home_distance(0),
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wp_distance(0),
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auto_mode(Auto_TakeOff),
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guided_mode(Guided_TakeOff),
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rtl_state(RTL_InitialClimb),
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rtl_state_complete(false),
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rtl_alt(0.0f),
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circle_pilot_yaw_override(false),
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simple_cos_yaw(1.0f),
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simple_sin_yaw(0.0f),
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super_simple_last_bearing(0),
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super_simple_cos_yaw(1.0),
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super_simple_sin_yaw(0.0f),
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initial_armed_bearing(0),
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throttle_average(0.0f),
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desired_climb_rate(0),
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loiter_time_max(0),
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loiter_time(0),
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#if FRSKY_TELEM_ENABLED == ENABLED
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frsky_telemetry(ahrs, battery),
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#endif
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climb_rate(0),
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sonar_alt(0),
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sonar_alt_health(0),
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target_sonar_alt(0.0f),
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baro_alt(0),
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baro_climbrate(0.0f),
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land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),
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auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
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yaw_look_at_WP_bearing(0.0f),
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yaw_look_at_heading(0),
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yaw_look_at_heading_slew(0),
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yaw_look_ahead_bearing(0.0f),
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condition_value(0),
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condition_start(0),
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G_Dt(0.0025f),
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inertial_nav(ahrs),
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#if FRAME_CONFIG == HELI_FRAME
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attitude_control(ahrs, aparm, motors, g.p_stabilize_roll, g.p_stabilize_pitch, g.p_stabilize_yaw,
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g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw),
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#else
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attitude_control(ahrs, aparm, motors, g.p_stabilize_roll, g.p_stabilize_pitch, g.p_stabilize_yaw,
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g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw),
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#endif
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pos_control(ahrs, inertial_nav, motors, attitude_control,
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g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
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g.p_pos_xy, g.pi_vel_xy),
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wp_nav(inertial_nav, ahrs, pos_control, attitude_control),
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circle_nav(inertial_nav, ahrs, pos_control),
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pmTest1(0),
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fast_loopTimer(0),
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mainLoop_count(0),
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rtl_loiter_start_time(0),
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auto_trim_counter(0),
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ServoRelayEvents(relay),
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#if CAMERA == ENABLED
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camera(&relay),
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#endif
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#if MOUNT == ENABLED
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camera_mount(ahrs, current_loc),
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#endif
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#if AC_FENCE == ENABLED
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fence(inertial_nav),
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#endif
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#if AC_RALLY == ENABLED
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rally(ahrs),
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#endif
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#if SPRAYER == ENABLED
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sprayer(&inertial_nav),
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#endif
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#if PARACHUTE == ENABLED
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parachute(relay),
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#endif
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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terrain(ahrs, mission, rally),
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#endif
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#if PRECISION_LANDING == ENABLED
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precland(ahrs, inertial_nav, g.pi_precland, MAIN_LOOP_SECONDS),
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#endif
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#if FRAME_CONFIG == HELI_FRAME
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// ToDo: Input Manager is only used by Heli for 3.3, but will be used by all frames for 3.4
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input_manager(MAIN_LOOP_RATE),
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#endif
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in_mavlink_delay(false),
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gcs_out_of_time(false),
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param_loader(var_info)
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{
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memset(¤t_loc, 0, sizeof(current_loc));
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// init sensor error logging flags
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sensor_health.baro = true;
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sensor_health.compass = true;
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}
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Copter copter;
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