mirror of https://github.com/ArduPilot/ardupilot
503 lines
16 KiB
C++
503 lines
16 KiB
C++
/*
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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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#pragma once
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#include "AP_Vehicle_config.h"
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#if AP_VEHICLE_ENABLED
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/*
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this header holds a parameter structure for each vehicle type for
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parameters needed by multiple libraries
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*/
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#include "ModeReason.h" // reasons can't be defined in this header due to circular loops
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_AccelCal/AP_AccelCal.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library
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#include <AP_CANManager/AP_CANManager.h>
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#include <AP_Button/AP_Button.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_EFI/AP_EFI.h>
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#include <AP_ExternalControl/AP_ExternalControl_config.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Generator/AP_Generator.h>
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_Param/AP_Param.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_Relay/AP_Relay.h> // APM relay
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#include <AP_RSSI/AP_RSSI.h> // RSSI Library
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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#include <AP_Camera/AP_RunCam.h>
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#include <AP_OpenDroneID/AP_OpenDroneID.h>
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#include <AP_Hott_Telem/AP_Hott_Telem.h>
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#include <AP_ESC_Telem/AP_ESC_Telem.h>
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#include <AP_GyroFFT/AP_GyroFFT.h>
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#include <AP_Networking/AP_Networking.h>
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#include <AP_VisualOdom/AP_VisualOdom.h>
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#include <AP_VideoTX/AP_VideoTX.h>
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#include <AP_MSP/AP_MSP.h>
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#include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
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#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
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#include <AP_VideoTX/AP_SmartAudio.h>
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#include <AP_VideoTX/AP_Tramp.h>
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#include <AP_TemperatureSensor/AP_TemperatureSensor.h>
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#include <SITL/SITL.h>
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#include <AP_CustomRotations/AP_CustomRotations.h>
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#include <AP_AIS/AP_AIS.h>
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#include <AP_NMEA_Output/AP_NMEA_Output.h>
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#include <AC_Fence/AC_Fence.h>
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#include <AP_CheckFirmware/AP_CheckFirmware.h>
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#include <Filter/LowPassFilter.h>
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#include <AP_KDECAN/AP_KDECAN.h>
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#include <Filter/AP_Filter.h>
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class AP_DDS_Client;
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class AP_Vehicle : public AP_HAL::HAL::Callbacks {
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public:
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AP_Vehicle() {
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if (_singleton) {
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AP_HAL::panic("Too many Vehicles");
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}
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AP_Param::setup_object_defaults(this, var_info);
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_singleton = this;
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}
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Vehicle);
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static AP_Vehicle *get_singleton();
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// setup() is called once during vehicle startup to initialise the
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// vehicle object and the objects it contains. The
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// AP_HAL_MAIN_CALLBACKS pragma creates a main(...) function
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// referencing an object containing setup() and loop() functions.
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// A vehicle is not expected to override setup(), but
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// subclass-specific initialisation can be done in init_ardupilot
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// which is called from setup().
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void setup(void) override final;
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// HAL::Callbacks implementation.
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void loop() override final;
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// set_mode *must* set control_mode_reason
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virtual bool set_mode(const uint8_t new_mode, const ModeReason reason) = 0;
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virtual uint8_t get_mode() const = 0;
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ModeReason get_control_mode_reason() const {
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return control_mode_reason;
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}
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virtual bool current_mode_requires_mission() const { return false; }
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// perform any notifications required to indicate a mode change
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// failed due to a bad mode number being supplied. This can
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// happen for many reasons - bad mavlink packet and bad mode
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// parameters for example.
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void notify_no_such_mode(uint8_t mode_number);
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void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);
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// implementations *MUST* fill in all passed-in fields or we get
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// Valgrind errors
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virtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0;
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/*
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set the "likely flying" flag. This is not guaranteed to be
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accurate, but is the vehicle codes best guess as to the whether
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the vehicle is currently flying
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*/
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void set_likely_flying(bool b) {
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if (b && !likely_flying) {
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_last_flying_ms = AP_HAL::millis();
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}
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likely_flying = b;
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}
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/*
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get the likely flying status. Returns true if the vehicle code
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thinks we are flying at the moment. Not guaranteed to be
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accurate
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*/
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bool get_likely_flying(void) const {
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return likely_flying;
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}
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/*
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return time in milliseconds since likely_flying was set
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true. Returns zero if likely_flying is currently false
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*/
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uint32_t get_time_flying_ms(void) const {
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if (!likely_flying) {
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return 0;
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}
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return AP_HAL::millis() - _last_flying_ms;
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}
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// returns true if the vehicle has crashed
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virtual bool is_crashed() const;
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#if AP_EXTERNAL_CONTROL_ENABLED
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// Method to control vehicle position for use by external control
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virtual bool set_target_location(const Location& target_loc) { return false; }
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#endif // AP_EXTERNAL_CONTROL_ENABLED
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#if AP_SCRIPTING_ENABLED
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/*
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methods to control vehicle for use by scripting
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*/
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virtual bool start_takeoff(float alt) { return false; }
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virtual bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) { return false; }
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virtual bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) { return false; }
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virtual bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }
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virtual bool set_target_velocity_NED(const Vector3f& vel_ned) { return false; }
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virtual bool set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }
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virtual bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) { return false; }
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// command throttle percentage and roll, pitch, yaw target
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// rates. For use with scripting controllers
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virtual void set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps) {}
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virtual void set_rudder_offset(float rudder_pct, bool run_yaw_rate_controller) {}
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virtual bool nav_scripting_enable(uint8_t mode) {return false;}
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// get target location (for use by scripting)
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virtual bool get_target_location(Location& target_loc) { return false; }
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virtual bool update_target_location(const Location &old_loc, const Location &new_loc) { return false; }
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// circle mode controls (only used by scripting with Copter)
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virtual bool get_circle_radius(float &radius_m) { return false; }
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virtual bool set_circle_rate(float rate_dps) { return false; }
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// get or set steering and throttle (-1 to +1) (for use by scripting with Rover)
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virtual bool set_steering_and_throttle(float steering, float throttle) { return false; }
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virtual bool get_steering_and_throttle(float& steering, float& throttle) { return false; }
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// set turn rate in deg/sec and speed in meters/sec (for use by scripting with Rover)
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virtual bool set_desired_turn_rate_and_speed(float turn_rate, float speed) { return false; }
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// set auto mode speed in meters/sec (for use by scripting with Copter/Rover)
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virtual bool set_desired_speed(float speed) { return false; }
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// support for NAV_SCRIPT_TIME mission command
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virtual bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) { return false; }
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virtual void nav_script_time_done(uint16_t id) {}
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// allow for VTOL velocity matching of a target
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virtual bool set_velocity_match(const Vector2f &velocity) { return false; }
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// returns true if the EKF failsafe has triggered
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virtual bool has_ekf_failsafed() const { return false; }
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// allow for landing descent rate to be overridden by a script, may be -ve to climb
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virtual bool set_land_descent_rate(float descent_rate) { return false; }
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// control outputs enumeration
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enum class ControlOutput {
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Roll = 1,
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Pitch = 2,
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Throttle = 3,
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Yaw = 4,
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Lateral = 5,
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MainSail = 6,
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WingSail = 7,
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Walking_Height = 8,
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Last_ControlOutput // place new values before this
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};
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// get control output (for use in scripting)
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// returns true on success and control_value is set to a value in the range -1 to +1
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virtual bool get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value) { return false; }
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#endif // AP_SCRIPTING_ENABLED
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// returns true if vehicle is in the process of landing
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virtual bool is_landing() const { return false; }
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// returns true if vehicle is in the process of taking off
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virtual bool is_taking_off() const { return false; }
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// zeroing the RC outputs can prevent unwanted motor movement:
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virtual bool should_zero_rc_outputs_on_reboot() const { return false; }
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// reboot the vehicle in an orderly manner, doing various cleanups
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// and flashing LEDs as appropriate
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void reboot(bool hold_in_bootloader);
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/*
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get the distance to next wp in meters
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return false if failed or n/a
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*/
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virtual bool get_wp_distance_m(float &distance) const { return false; }
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/*
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get the current wp bearing in degrees
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return false if failed or n/a
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*/
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virtual bool get_wp_bearing_deg(float &bearing) const { return false; }
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/*
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get the current wp crosstrack error in meters
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return false if failed or n/a
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*/
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virtual bool get_wp_crosstrack_error_m(float &xtrack_error) const { return false; }
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#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
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AP_Frsky_Parameters frsky_parameters;
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#endif
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/*
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Returns the pan and tilt for use by onvif camera in scripting
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*/
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virtual bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const { return false; }
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// Returns roll and pitch for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing TRIM_PITCH_CD
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virtual void get_osd_roll_pitch_rad(float &roll, float &pitch) const;
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/*
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get the target earth-frame angular velocities in rad/s (Z-axis component used by some gimbals)
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*/
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virtual bool get_rate_ef_targets(Vector3f& rate_ef_targets) const { return false; }
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protected:
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virtual void init_ardupilot() = 0;
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virtual void load_parameters() = 0;
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virtual void set_control_channels() {}
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// board specific config
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AP_BoardConfig BoardConfig;
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#if HAL_CANMANAGER_ENABLED
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// board specific config for CAN bus
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AP_CANManager can_mgr;
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#endif
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// main loop scheduler
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AP_Scheduler scheduler;
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// IMU variables
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// Integration time; time last loop took to run
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float G_Dt;
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// sensor drivers
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#if AP_GPS_ENABLED
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AP_GPS gps;
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#endif
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AP_Baro barometer;
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Compass compass;
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AP_InertialSensor ins;
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#if HAL_BUTTON_ENABLED
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AP_Button button;
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#endif
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RangeFinder rangefinder;
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#if AP_RSSI_ENABLED
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AP_RSSI rssi;
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#endif
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#if HAL_RUNCAM_ENABLED
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AP_RunCam runcam;
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#endif
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#if HAL_GYROFFT_ENABLED
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AP_GyroFFT gyro_fft;
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#endif
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#if AP_VIDEOTX_ENABLED
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AP_VideoTX vtx;
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#endif
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AP_SerialManager serial_manager;
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#if AP_RELAY_ENABLED
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AP_Relay relay;
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#endif
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#if AP_SERVORELAYEVENTS_ENABLED
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AP_ServoRelayEvents ServoRelayEvents;
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#endif
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// notification object for LEDs, buzzers etc (parameter set to
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// false disables external leds)
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AP_Notify notify;
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// Inertial Navigation EKF
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AP_AHRS ahrs;
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#if HAL_HOTT_TELEM_ENABLED
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AP_Hott_Telem hott_telem;
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#endif
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#if HAL_VISUALODOM_ENABLED
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AP_VisualOdom visual_odom;
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#endif
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#if HAL_WITH_ESC_TELEM
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AP_ESC_Telem esc_telem;
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#endif
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#if AP_OPENDRONEID_ENABLED
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AP_OpenDroneID opendroneid;
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#endif
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#if HAL_MSP_ENABLED
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AP_MSP msp;
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#endif
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#if HAL_GENERATOR_ENABLED
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AP_Generator generator;
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#endif
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#if HAL_EXTERNAL_AHRS_ENABLED
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AP_ExternalAHRS externalAHRS;
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#endif
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#if AP_SMARTAUDIO_ENABLED
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AP_SmartAudio smartaudio;
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#endif
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#if AP_TRAMP_ENABLED
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AP_Tramp tramp;
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#endif
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#if AP_NETWORKING_ENABLED
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AP_Networking networking;
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#endif
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#if HAL_EFI_ENABLED
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// EFI Engine Monitor
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AP_EFI efi;
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#endif
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#if AP_AIRSPEED_ENABLED
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AP_Airspeed airspeed;
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#endif
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#if AP_AIS_ENABLED
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// Automatic Identification System - for tracking sea-going vehicles
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AP_AIS ais;
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#endif
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#if HAL_NMEA_OUTPUT_ENABLED
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AP_NMEA_Output nmea;
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#endif
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#if AP_KDECAN_ENABLED
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AP_KDECAN kdecan;
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#endif
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#if AP_FENCE_ENABLED
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AC_Fence fence;
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#endif
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#if AP_TEMPERATURE_SENSOR_ENABLED
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AP_TemperatureSensor temperature_sensor;
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#endif
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static const struct AP_Param::GroupInfo var_info[];
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static const struct AP_Scheduler::Task scheduler_tasks[];
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#if OSD_ENABLED
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void publish_osd_info();
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#endif
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#if HAL_INS_ACCELCAL_ENABLED
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// update accel calibration
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void accel_cal_update();
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#endif
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// call the arming library's update function
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void update_arming();
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// check for motor noise at a particular frequency
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void check_motor_noise();
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ModeReason control_mode_reason = ModeReason::UNKNOWN;
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#if AP_SIM_ENABLED
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SITL::SIM sitl;
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#endif
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#if AP_DDS_ENABLED
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// Declare the dds client for communication with ROS2 and DDS(common for all vehicles)
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AP_DDS_Client *dds_client;
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bool init_dds_client() WARN_IF_UNUSED;
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#endif
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// Check if this mode can be entered from the GCS
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bool block_GCS_mode_change(uint8_t mode_num, const uint8_t *mode_list, uint8_t mode_list_length) const;
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private:
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// delay() callback that processing MAVLink packets
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static void scheduler_delay_callback();
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// if there's been a watchdog reset, notify the world via a
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// statustext:
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void send_watchdog_reset_statustext();
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// update the harmonic notch for throttle based notch
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void update_throttle_notch(AP_InertialSensor::HarmonicNotch ¬ch);
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// update the harmonic notch
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void update_dynamic_notch(AP_InertialSensor::HarmonicNotch ¬ch);
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// run notch update at either loop rate or 200Hz
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void update_dynamic_notch_at_specified_rate();
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// decimation for 1Hz update
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uint8_t one_Hz_counter;
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void one_Hz_update();
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bool likely_flying; // true if vehicle is probably flying
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uint32_t _last_flying_ms; // time when likely_flying last went true
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uint32_t _last_notch_update_ms[HAL_INS_NUM_HARMONIC_NOTCH_FILTERS]; // last time update_dynamic_notch() was run
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static AP_Vehicle *_singleton;
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#if HAL_GYROFFT_ENABLED && HAL_WITH_ESC_TELEM
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LowPassFilterFloat esc_noise[ESC_TELEM_MAX_ESCS];
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uint32_t last_motor_noise_ms;
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#endif
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bool done_safety_init;
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uint32_t _last_internal_errors; // backup of AP_InternalError::internal_errors bitmask
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AP_CustomRotations custom_rotations;
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#if AP_FILTER_ENABLED
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AP_Filters filters;
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#endif
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// Bitmask of modes to disable from gcs
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AP_Int32 flight_mode_GCS_block;
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};
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namespace AP {
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AP_Vehicle *vehicle();
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};
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extern const AP_HAL::HAL& hal;
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extern const AP_Param::Info vehicle_var_info[];
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#include "AP_Vehicle_Type.h"
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#endif // AP_VEHICLE_ENABLED
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