// one_hz_loop - runs at 1Hz
void Sub::one_hz_loop()
{
bool arm_check = arming.pre_arm_checks(false);
ap.pre_arm_check = arm_check;
AP_Notify::flags.pre_arm_check = arm_check;
AP_Notify::flags.pre_arm_gps_check = position_ok();
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
if (!motors.armed()) {
// make it possible to change ahrs orientation at runtime during initial config
ahrs.set_orientation();
// set all throttle channel settings
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
}
// update assigned functions and enable auxiliary servos
SRV_Channels::enable_aux_servos();
// update position controller alt limits
update_poscon_alt_max();
// log terrain data
terrain_logging();
}
// one_hz_loop - runs at 1Hz
void Sub::one_hz_loop()
{
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
update_arming_checks();
if (!motors.armed()) {
// make it possible to change ahrs orientation at runtime during initial config
ahrs.set_orientation();
update_using_interlock();
// set all throttle channel settings
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
}
// update assigned functions and enable auxiliary servos
SRV_Channels::enable_aux_servos();
check_usb_mux();
// update position controller alt limits
update_poscon_alt_max();
// enable/disable raw gyro/accel logging
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
// log terrain data
terrain_logging();
}
// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
// perform pre-arm checks & display failures every 30 seconds
static uint8_t pre_arm_display_counter = 15;
pre_arm_display_counter++;
if (pre_arm_display_counter >= 30) {
pre_arm_checks(true);
pre_arm_display_counter = 0;
}else{
pre_arm_checks(false);
}
// auto disarm checks
auto_disarm_check();
if (!motors.armed()) {
// make it possible to change ahrs orientation at runtime during initial config
ahrs.set_orientation();
// check the user hasn't updated the frame orientation
motors.set_frame_orientation(g.frame_orientation);
#if FRAME_CONFIG != HELI_FRAME
// set all throttle channel settings
motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
// set hover throttle
motors.set_hover_throttle(g.throttle_mid);
#endif
}
// update assigned functions and enable auxiliar servos
RC_Channel_aux::enable_aux_servos();
check_usb_mux();
#if AP_TERRAIN_AVAILABLE
terrain.update();
// tell the rangefinder our height, so it can go into power saving
// mode if available
#if CONFIG_SONAR == ENABLED
float height;
if (terrain.height_above_terrain(height, true)) {
sonar.set_estimated_terrain_height(height);
}
#endif
#endif
// update position controller alt limits
update_poscon_alt_max();
// enable/disable raw gyro/accel logging
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
}
void Copter::init_simple_bearing()
{
// capture current cos_yaw and sin_yaw values
simple_cos_yaw = ahrs.cos_yaw();
simple_sin_yaw = ahrs.sin_yaw();
// initialise super simple heading (i.e. heading towards home) to be 180 deg from simple mode heading
super_simple_last_bearing = wrap_360_cd(ahrs.yaw_sensor+18000);
super_simple_cos_yaw = simple_cos_yaw;
super_simple_sin_yaw = simple_sin_yaw;
// log the simple bearing to dataflash
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
}
}
// one_hz_loop - runs at 1Hz
void Sub::one_hz_loop()
{
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
update_arming_checks();
if (!motors.armed()) {
// make it possible to change ahrs orientation at runtime during initial config
ahrs.set_orientation();
update_using_interlock();
// check the user hasn't updated the frame orientation
motors.set_frame_orientation(g.frame_orientation);
// set all throttle channel settings
motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
// set hover throttle
motors.set_hover_throttle(g.throttle_mid);
}
// update assigned functions and enable auxiliary servos
RC_Channel_aux::enable_aux_servos();
check_usb_mux();
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain.update();
// tell the rangefinder our height, so it can go into power saving
// mode if available
#if CONFIG_SONAR == ENABLED
float height;
if (terrain.height_above_terrain(height, true)) {
sonar.set_estimated_terrain_height(height);
}
#endif
#endif
// update position controller alt limits
update_poscon_alt_max();
// enable/disable raw gyro/accel logging
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
}
// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
arming.update();
if (!motors->armed()) {
// make it possible to change ahrs orientation at runtime during initial config
ahrs.update_orientation();
update_using_interlock();
// check the user hasn't updated the frame class or type
motors->set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
#if FRAME_CONFIG != HELI_FRAME
// set all throttle channel settings
motors->set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif
}
// update assigned functions and enable auxiliary servos
SRV_Channels::enable_aux_servos();
// log terrain data
terrain_logging();
#if ADSB_ENABLED == ENABLED
adsb.set_is_flying(!ap.land_complete);
#endif
AP_Notify::flags.flying = !ap.land_complete;
// update error mask of sensors and subsystems. The mask uses the
// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
// indicates that the sensor or subsystem is present but not
// functioning correctly
gcs().update_sensor_status_flags();
// init compass location for declination
init_compass_location();
}
// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
update_arming_checks();
if (!motors.armed()) {
// make it possible to change ahrs orientation at runtime during initial config
ahrs.set_orientation();
update_using_interlock();
#if FRAME_CONFIG != HELI_FRAME
// check the user hasn't updated the frame orientation
motors.set_frame_orientation(g.frame_orientation);
// set all throttle channel settings
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif
}
// update assigned functions and enable auxiliary servos
RC_Channel_aux::enable_aux_servos();
check_usb_mux();
// update position controller alt limits
update_poscon_alt_max();
// enable/disable raw gyro/accel logging
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
// log terrain data
terrain_logging();
adsb.set_is_flying(!ap.land_complete);
}