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Sub: Changes to match recent Copter updates.

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This commit is contained in:
Rustom Jehangir 2016-06-07 21:49:10 -07:00 committed by Andrew Tridgell
parent 7e33957af2
commit 9198b8cb29
12 changed files with 63 additions and 71 deletions
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23
ArduSub/GCS_Mavlink.h Normal file
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@ -0,0 +1,23 @@
#pragma once
#include <GCS_MAVLink/GCS.h>
class GCS_MAVLINK_Sub : public GCS_MAVLINK
{
public:
void data_stream_send(void) override;
protected:
uint32_t telem_delay() const override;
private:
void handleMessage(mavlink_message_t * msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override;
};

2
ArduSub/Log.cpp
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@ -215,7 +215,7 @@ void Sub::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
// Write a Current data packet
void Sub::Log_Write_Current()
{
DataFlash.Log_Write_Current(battery, (int16_t)(motors.get_throttle()));
DataFlash.Log_Write_Current(battery);
// also write power status
DataFlash.Log_Write_Power();

13
ArduSub/Parameters.cpp
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@ -146,7 +146,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Increment: .1
// @Values: 0:Disabled,1:Shallow,3:Steep
// @User: Standard
GSCALAR(rtl_cone_slope, "RTL_CONE_SLOPE", RTL_CONE_SLOPE),
GSCALAR(rtl_cone_slope, "RTL_CONE_SLOPE", RTL_CONE_SLOPE_DEFAULT),
// @Param: RTL_SPEED
// @DisplayName: RTL speed
@ -1128,7 +1128,10 @@ void Sub::convert_pid_parameters(void)
{ Parameters::k_param_pid_rate_pitch, 5, AP_PARAM_FLOAT, "ATC_RAT_PIT_IMAX" },
{ Parameters::k_param_pid_rate_yaw, 5, AP_PARAM_FLOAT, "ATC_RAT_YAW_IMAX" }
};
AP_Param::ConversionInfo filt_conversion_info[] = {
AP_Param::ConversionInfo angle_and_filt_conversion_info[] = {
{ Parameters::k_param_p_stabilize_roll, 0, AP_PARAM_FLOAT, "ATC_ANG_RLL_P" },
{ Parameters::k_param_p_stabilize_pitch, 0, AP_PARAM_FLOAT, "ATC_ANG_PIT_P" },
{ Parameters::k_param_p_stabilize_yaw, 0, AP_PARAM_FLOAT, "ATC_ANG_YAW_P" },
{ Parameters::k_param_pid_rate_roll, 6, AP_PARAM_FLOAT, "ATC_RAT_RLL_FILT" },
{ Parameters::k_param_pid_rate_pitch, 6, AP_PARAM_FLOAT, "ATC_RAT_PIT_FILT" },
{ Parameters::k_param_pid_rate_yaw, 6, AP_PARAM_FLOAT, "ATC_RAT_YAW_FILT" }
@ -1153,9 +1156,9 @@ void Sub::convert_pid_parameters(void)
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&imax_conversion_info[i], 1.0f/4500.0f);
}
// convert filter without scaling
table_size = ARRAY_SIZE(filt_conversion_info);
// convert angle controller gain and filter without scaling
table_size = ARRAY_SIZE(angle_and_filt_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&filt_conversion_info[i], 1.0f);
AP_Param::convert_old_parameter(&angle_and_filt_conversion_info[i], 1.0f);
}
}

3
ArduSub/Parameters.h
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@ -53,7 +53,8 @@ public:
k_param_software_type,
k_param_ins_old, // *** Deprecated, remove with next eeprom number change
k_param_ins, // libraries/AP_InertialSensor variables
k_param_NavEKF2,
k_param_NavEKF2_old, // deprecated
k_param_NavEKF2,
// simulation
k_param_sitl = 10,

9
ArduSub/Sub.h
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@ -42,7 +42,6 @@
// Application dependencies
#include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/GCS_MAVLink.h> // MAVLink GCS definitions
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
#include <DataFlash/DataFlash.h> // ArduPilot Mega Flash Memory Library
@ -96,6 +95,8 @@
#include "defines.h"
#include "config.h"
#include "GCS_Mavlink.h"
// libraries which are dependent on #defines in defines.h and/or config.h
#if SPRAYER == ENABLED
#include <AC_Sprayer/AC_Sprayer.h> // crop sprayer library
@ -120,7 +121,7 @@
class Sub : public AP_HAL::HAL::Callbacks {
public:
friend class GCS_MAVLINK;
friend class GCS_MAVLINK_Sub;
friend class Parameters;
Sub(void);
@ -214,7 +215,7 @@ private:
AP_SerialManager serial_manager;
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
GCS_MAVLINK_Sub gcs[MAVLINK_COMM_NUM_BUFFERS];
// User variables
#ifdef USERHOOK_VARIABLES
@ -640,7 +641,6 @@ private:
void send_rpm(mavlink_channel_t chan);
void rpm_update();
void send_pid_tuning(mavlink_channel_t chan);
bool telemetry_delayed(mavlink_channel_t chan);
void gcs_send_message(enum ap_message id);
void gcs_send_mission_item_reached_message(uint16_t mission_index);
void gcs_data_stream_send(void);
@ -918,7 +918,6 @@ private:
uint16_t perf_info_get_num_long_running();
uint32_t perf_info_get_num_dropped();
Vector3f pv_location_to_vector(const Location& loc);
Vector3f pv_location_to_vector_with_default(const Location& loc, const Vector3f& default_posvec);
float pv_alt_above_origin(float alt_above_home_cm);
float pv_alt_above_home(float alt_above_origin_cm);
float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination);

7
ArduSub/commands.cpp
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@ -137,6 +137,13 @@ void Sub::set_system_time_from_GPS()
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
// set system clock for log timestamps
hal.util->set_system_clock(gps.time_epoch_usec());
uint64_t gps_timestamp = gps.time_epoch_usec();
hal.util->set_system_clock(gps_timestamp);
// update signing timestamp
GCS_MAVLINK::update_signing_timestamp(gps_timestamp);
ap.system_time_set = true;
Log_Write_Event(DATA_SYSTEM_TIME_SET);
}

6
ArduSub/config.h
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@ -221,7 +221,7 @@
#ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX 600 // PX4 onboard compass has high offsets
#endif
#else // SITL, FLYMAPLE, etc
#else // SITL, etc
#ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX 500
#endif
@ -417,8 +417,8 @@
# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb
#endif
#ifndef RTL_CONE_SLOPE
# define RTL_CONE_SLOPE 3.0f // slope of RTL cone (height / distance). 0 = No cone
#ifndef RTL_CONE_SLOPE_DEFAULT
# define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone
#endif
#ifndef RTL_MIN_CONE_SLOPE

30
ArduSub/control_flip.cpp
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@ -20,8 +20,8 @@
* Flip_Recover (while copter is between -90deg and original target angle) : use earth frame angle controller to return vehicle to original attitude
*/
#define FLIP_THR_INC 200 // throttle increase during Flip_Start stage (under 45deg lean angle)
#define FLIP_THR_DEC 240 // throttle decrease during Flip_Roll stage (between 45deg ~ -90deg roll)
#define FLIP_THR_INC 0.20f // throttle increase during Flip_Start stage (under 45deg lean angle)
#define FLIP_THR_DEC 0.24f // throttle decrease during Flip_Roll stage (between 45deg ~ -90deg roll)
#define FLIP_ROTATION_RATE 40000 // rotation rate request in centi-degrees / sec (i.e. 400 deg/sec)
#define FLIP_TIMEOUT_MS 2500 // timeout after 2.5sec. Vehicle will switch back to original flight mode
#define FLIP_RECOVERY_ANGLE 500 // consider successful recovery when roll is back within 5 degrees of original
@ -34,7 +34,6 @@
FlipState flip_state; // current state of flip
control_mode_t flip_orig_control_mode; // flight mode when flip was initated
mode_reason_t flip_orig_control_mode_reason;
uint32_t flip_start_time; // time since flip began
int8_t flip_roll_dir; // roll direction (-1 = roll left, 1 = roll right)
int8_t flip_pitch_dir; // pitch direction (-1 = pitch forward, 1 = pitch back)
@ -64,7 +63,6 @@ bool Sub::flip_init(bool ignore_checks)
// capture original flight mode so that we can return to it after completion
flip_orig_control_mode = control_mode;
flip_orig_control_mode_reason = control_mode_reason;
// initialise state
flip_state = Flip_Start;
@ -145,9 +143,7 @@ void Sub::flip_run()
// between 45deg ~ -90deg request 400deg/sec roll
attitude_control.input_rate_bf_roll_pitch_yaw(FLIP_ROTATION_RATE * flip_roll_dir, 0.0, 0.0);
// decrease throttle
if (throttle_out >= g.throttle_min) {
throttle_out = MAX(throttle_out - FLIP_THR_DEC, g.throttle_min);
}
throttle_out = MAX(throttle_out - FLIP_THR_DEC, 0.0f);
// beyond -90deg move on to recovery
if ((flip_angle < 4500) && (flip_angle > -9000)) {
@ -157,11 +153,9 @@ void Sub::flip_run()
case Flip_Pitch_A:
// between 45deg ~ -90deg request 400deg/sec pitch
attitude_control.input_rate_bf_roll_pitch_yaw(0.0, FLIP_ROTATION_RATE * flip_pitch_dir, 0.0);
attitude_control.input_rate_bf_roll_pitch_yaw(0.0f, FLIP_ROTATION_RATE * flip_pitch_dir, 0.0);
// decrease throttle
if (throttle_out >= g.throttle_min) {
throttle_out = MAX(throttle_out - FLIP_THR_DEC, g.throttle_min);
}
throttle_out = MAX(throttle_out - FLIP_THR_DEC, 0.0f);
// check roll for inversion
if ((labs(ahrs.roll_sensor) > 9000) && (flip_angle > 4500)) {
@ -173,9 +167,7 @@ void Sub::flip_run()
// between 45deg ~ -90deg request 400deg/sec pitch
attitude_control.input_rate_bf_roll_pitch_yaw(0.0, FLIP_ROTATION_RATE * flip_pitch_dir, 0.0);
// decrease throttle
if (throttle_out >= g.throttle_min) {
throttle_out = MAX(throttle_out - FLIP_THR_DEC, g.throttle_min);
}
throttle_out = MAX(throttle_out - FLIP_THR_DEC, 0.0f);
// check roll for inversion
if ((labs(ahrs.roll_sensor) < 9000) && (flip_angle > -4500)) {
@ -201,7 +193,7 @@ void Sub::flip_run()
// check for successful recovery
if (fabsf(recovery_angle) <= FLIP_RECOVERY_ANGLE) {
// restore original flight mode
if (!set_mode(flip_orig_control_mode, flip_orig_control_mode_reason)) {
if (!set_mode(flip_orig_control_mode, MODE_REASON_FLIP_COMPLETE)) {
// this should never happen but just in case
set_mode(STABILIZE, MODE_REASON_UNKNOWN);
}
@ -212,7 +204,7 @@ void Sub::flip_run()
case Flip_Abandon:
// restore original flight mode
if (!set_mode(flip_orig_control_mode, flip_orig_control_mode_reason)) {
if (!set_mode(flip_orig_control_mode, MODE_REASON_FLIP_COMPLETE)) {
// this should never happen but just in case
set_mode(STABILIZE, MODE_REASON_UNKNOWN);
}
@ -222,9 +214,5 @@ void Sub::flip_run()
}
// output pilot's throttle without angle boost
if (is_zero(throttle_out)) {
attitude_control.set_throttle_out_unstabilized(0,false,g.throttle_filt);
} else {
attitude_control.set_throttle_out(throttle_out, false, g.throttle_filt);
}
attitude_control.set_throttle_out(throttle_out, false, g.throttle_filt);
}

3
ArduSub/defines.h
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@ -128,7 +128,8 @@ enum mode_reason_t {
MODE_REASON_THROTTLE_LAND_ESCAPE,
MODE_REASON_FENCE_BREACH,
MODE_REASON_TERRAIN_FAILSAFE,
MODE_REASON_BRAKE_TIMEOUT
MODE_REASON_BRAKE_TIMEOUT,
MODE_REASON_FLIP_COMPLETE
};
// Tuning enumeration

3
ArduSub/motors.cpp
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@ -194,9 +194,6 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
sprayer.test_pump(false);
#endif
// short delay to allow reading of rc inputs
delay(30);
// enable output to motors
enable_motor_output();

20
ArduSub/position_vector.cpp
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@ -17,26 +17,6 @@ Vector3f Sub::pv_location_to_vector(const Location& loc)
return Vector3f((loc.lat-origin.lat) * LATLON_TO_CM, (loc.lng-origin.lng) * LATLON_TO_CM * scaleLongDown, alt_above_origin);
}
// pv_location_to_vector_with_default - convert lat/lon coordinates to a position vector,
// defaults to the default_posvec's lat/lon and alt if the provided lat/lon or alt are zero
Vector3f Sub::pv_location_to_vector_with_default(const Location& loc, const Vector3f& default_posvec)
{
Vector3f pos = pv_location_to_vector(loc);
// set target altitude to default if not provided
if (loc.alt == 0) {
pos.z = default_posvec.z;
}
// set target position to default if not provided
if (loc.lat == 0 && loc.lng == 0) {
pos.x = default_posvec.x;
pos.y = default_posvec.y;
}
return pos;
}
// pv_alt_above_origin - convert altitude above home to altitude above EKF origin
float Sub::pv_alt_above_origin(float alt_above_home_cm)
{

15
ArduSub/system.cpp
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@ -138,17 +138,10 @@ void Sub::init_ardupilot()
ap.usb_connected = true;
check_usb_mux();
// init the GCS connected to the console
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// init telemetry port
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
// setup serial port for fourth telemetry port (not used by default)
gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
// setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
#if FRSKY_TELEM_ENABLED == ENABLED
// setup frsky