bool calibration_enter(void)
{
// If not flying
if (!sys_state_is_flying())
{
calibration_prev_state = sys_get_state();
calibration_prev_mode = sys_get_mode();
// Lock vehicle during calibration
sys_set_mode((uint8_t)MAV_MODE_LOCKED);
sys_set_state((uint8_t)MAV_STATE_CALIBRATING);
debug_message_buffer("Starting calibration.");
mavlink_msg_sys_status_send(MAVLINK_COMM_0, global_data.state.mav_mode, global_data.state.nav_mode,
global_data.state.status, global_data.cpu_usage, global_data.battery_voltage,
global_data.motor_block, communication_get_uart_drop_rate());
mavlink_msg_sys_status_send(MAVLINK_COMM_1, global_data.state.mav_mode, global_data.state.nav_mode,
global_data.state.status, global_data.cpu_usage, global_data.battery_voltage,
global_data.motor_block, communication_get_uart_drop_rate());
debug_message_send_one();
debug_message_send_one();
return true;
}
else
{
//Can't calibrate during flight
debug_message_buffer("Can't calibrate during flight!!!");
return false;
}
}
void execute_action(uint8_t action)
{
switch (action)
{
case MAV_ACTION_LAUNCH:
if (global_data.state.mav_mode > (uint8_t)MAV_MODE_LOCKED)
{
global_data.state.status = (uint8_t)MAV_STATE_ACTIVE;
}
break;
case MAV_ACTION_MOTORS_START:
if (global_data.state.mav_mode > (uint8_t)MAV_MODE_LOCKED)
{
global_data.state.status = (uint8_t)MAV_STATE_ACTIVE;
}
break;
case MAV_ACTION_MOTORS_STOP:
global_data.state.status = (uint8_t)MAV_STATE_STANDBY;
break;
case MAV_ACTION_EMCY_KILL:
global_data.state.status = (uint8_t)MAV_STATE_EMERGENCY;
break;
case MAV_ACTION_STORAGE_READ:
param_read_all();
debug_message_buffer("Started reading params from eeprom");
break;
case MAV_ACTION_STORAGE_WRITE:
debug_message_buffer("Started writing params to eeprom");
param_write_all();
break;
case MAV_ACTION_CALIBRATE_GYRO:
start_gyro_calibration();
break;
case MAV_ACTION_CALIBRATE_RC:
start_rc_calibration();
break;
case MAV_ACTION_CALIBRATE_MAG:
start_mag_calibration();
break;
case MAV_ACTION_CALIBRATE_PRESSURE:
start_pressure_calibration();
break;
case MAV_ACTION_SET_ORIGIN:
// If not flying
if (!sys_state_is_flying())
{
gps_set_local_origin();
altitude_set_local_origin();
}
break;
default:
// Should never be reached, ignore unknown commands
debug_message_buffer_sprintf("Rejected unknown action Number: %u", action);
break;
}
}
void handle_eeprom_write_request(void)
{
//GET UPDATES FROM PARAMS
//testing eeprom params
if (global_data.state.status == MAV_STATE_STANDBY)
{
switch ((uint8_t) global_data.param[PARAM_IMU_RESET])
{
case 2:
debug_message_buffer("start writing params to eeprom");
param_write_all();
global_data.param[PARAM_IMU_RESET] = 0;
break;
case 3:
param_read_all();
debug_message_buffer("start reading params from eeprom");
global_data.param[PARAM_IMU_RESET] = 0;
break;
case 4:
global_data.param[PARAM_IMU_RESET] = 0;
debug_message_buffer("params reset to defaults");
global_data_reset_param_defaults();
break;
case 5:
global_data.param[PARAM_IMU_RESET] = 0;
if (param_size_check())
{
debug_message_buffer("check true");
}
else
{
debug_message_buffer("check false");
}
break;
case 6:
global_data.param[PARAM_IMU_RESET] = 0;
eeprom_check_start();
break;
default:
break;
}
}
}
void gps_set_local_origin(void)
{
gps_local_origin.x = gps_lat / 1e7f;
gps_local_origin.y = gps_lon / 1e7f;
gps_local_origin.z = gps_alt / 100e0f;
gps_cos_origin_lat = cos(gps_local_origin.x * 3.1415 / 180);
gps_local_origin_init = true;
debug_message_buffer("GPS Local Origin saved");
}
/**
* @brief Set the current system state
* @param state the new system state
*/
bool sys_set_state(uint8_t state)
{
if (state == MAV_STATE_ACTIVE)
{
global_data.state.status = MAV_STATE_ACTIVE;
return true;
}
else if (state == MAV_STATE_BOOT)
{
global_data.state.status = MAV_STATE_BOOT;
return true;
}
else if (state == MAV_STATE_CALIBRATING)
{
global_data.state.status = MAV_STATE_CALIBRATING;
return true;
}
else if (state == MAV_STATE_CRITICAL)
{
global_data.state.status = MAV_STATE_CRITICAL;
return true;
}
else if (state == MAV_STATE_EMERGENCY)
{
global_data.state.status = MAV_STATE_EMERGENCY;
return true;
}
else if (state == MAV_STATE_POWEROFF)
{
global_data.state.status = MAV_STATE_POWEROFF;
return true;
}
else if (state == MAV_STATE_STANDBY)
{
global_data.state.status = MAV_STATE_STANDBY;
return true;
}
else if (state == MAV_STATE_UNINIT)
{
global_data.state.status = MAV_STATE_STANDBY;
return true;
}
else
{
// UNINIT or invalid state, ignore value and return false
debug_message_buffer("WARNING: Attempted to set invalid state");
return false;
}
// FIXME Remove this once new interface is existent
global_data.state.status = state;
}
/**
* @note Buffer one debug message with a integer variable in it
* @param string
* */
uint8_t debug_message_buffer_sprintf(const char* string, const uint32_t num)
{
if (debug_message_buffer(string))
{
// Could write, save integer to buffer
m_debug_buf_int[m_debug_index_write] = num;
return 1;
}
else
{
// Could not write, do nothing
return 0;
}
}
/**
* @brief Add a string debug message to the send buffer
*
* @param string Message
* @return 1 if successfully added, 0 else
*/
uint8_t debug_string_message_buffer(const char* string)
{
if (debug_message_buffer(string))
{
/* Could write, save message to buffer */
m_debug_buf_type[m_debug_index_write] = DEBUG_STRING;
return 1;
}
else
{
/* Could not write, do nothing */
return 0;
}
}
void start_rc_calibration(void)
{
if (calibration_enter())
{
// Calibration routine: Read out remote control and wait for all channels.
// Read initial values.
const uint8_t chan_count = 9;
uint32_t chan_initial[chan_count];
uint32_t chan_min[chan_count];
uint32_t chan_max[chan_count];
for (int i = 0; i < chan_count; i++)
{
chan_initial[i] = ppm_get_channel(i + 1);
chan_min[i]=2000;
chan_max[i]=1000;
}
bool abort_rc_cal = 0;
uint64_t timeout = sys_time_clock_get_time_usec() + 30 * 1000000;
while (!abort_rc_cal)
{
// Now save the min and max values for each channel
for (int i = 0; i < chan_count; i++)
{
uint32_t ppm_value = (uint32_t) ppm_get_channel(i + 1);
chan_min[i] = min(chan_min[i], ppm_value);
chan_min[i] = min(chan_min[i], ppm_value);
}
// until motors stop conditions are met.
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) > PPM_HIGH_TRIG))
{
abort_rc_cal = 1;
}
if(sys_time_clock_get_time_usec()>timeout){
abort_rc_cal = 1;
debug_message_buffer("RC calibration abborted after 30 seconds");
}
}
calibration_exit();
}
}
/**
* @brief Add a string-float debug message to the send buffers
*
* @param string Message
* @return 1 if successfully added, 0 else
*/
uint8_t debug_float_message_buffer(const char* string, float num)
{
if (debug_message_buffer(string))
{
/* Could write, save float to buffer */
m_debug_buf_float[m_debug_index_write] = num;
m_debug_buf_type[m_debug_index_write] = DEBUG_FLOAT;
return 1;
}
else
{
/* Could not write, do nothing */
return 0;
}
}
/**
* @brief Add a string-integer debug message to the send buffers
*
* @param string Message
* @return 1 if successfully added, 0 else
*/
uint8_t debug_int_message_buffer(const char* string, int32_t num)
{
if (debug_message_buffer(string))
{
/* Could write, save integer to buffer */
m_debug_buf_int[m_debug_index_write] = num;
m_debug_buf_type[m_debug_index_write] = DEBUG_INT;
return 1;
}
else
{
/* Could not write, do nothing */
return 0;
}
}
void calibration_exit(void)
{
// Go back to old state
sys_set_mode(calibration_prev_mode);
sys_set_state(calibration_prev_state);
// Clear debug message buffers
for (int i = 0; i < DEBUG_COUNT; i++)
{
debug_message_send_one();
}
// Clear UART buffers
while (uart0_char_available())
{uart0_get_char();}
while (uart1_char_available())
{uart1_get_char();}
debug_message_buffer("Calibration finished. UART buffers cleared.");
}
void attitude_tobi_laurens(void)
{
//Transform accelerometer used in all directions
// float_vect3 acc_nav;
//body2navi(&global_data.accel_si, &global_data.attitude, &acc_nav);
// Kalman Filter
//Calculate new linearized A matrix
attitude_tobi_laurens_update_a();
kalman_predict(&attitude_tobi_laurens_kal);
//correction update
m_elem measurement[9] =
{ };
m_elem mask[9] =
{ 1.0f, 1.0f, 1.0f, 0, 0, 0, 1.0f, 1.0f, 1.0f };
float_vect3 acc;
float_vect3 mag;
float_vect3 gyro;
// acc.x = global_data.accel_raw.x * 9.81f /690;
// acc.y = global_data.accel_raw.y * 9.81f / 690;
// acc.z = global_data.accel_raw.z * 9.81f / 690;
#ifdef IMU_PIXHAWK_V250
acc.x = global_data.accel_raw.x * (650.0f/900.0f);
acc.y = global_data.accel_raw.y * (650.0f/900.0f);
acc.z = global_data.accel_raw.z * (650.0f/900.0f);
#else
acc.x = global_data.accel_raw.x;
acc.y = global_data.accel_raw.y;
acc.z = global_data.accel_raw.z;
#endif
float acc_norm = sqrt(global_data.accel_raw.x * global_data.accel_raw.x + global_data.accel_raw.y * global_data.accel_raw.y + global_data.accel_raw.z * global_data.accel_raw.z);
static float acc_norm_filt = SCA3100_COUNTS_PER_G;
float acc_norm_lp = 0.05f;
acc_norm_filt = (1.0f - acc_norm_lp) * acc_norm_filt + acc_norm_lp
* acc_norm;
// static float acc_norm_filtz = SCA3100_COUNTS_PER_G;
// float acc_norm_lpz = 0.05;
// acc_norm_filtz = (1.0f - acc_norm_lpz) * acc_norm_filtz + acc_norm_lpz * -acc.z;
float acc_diff = fabs(acc_norm_filt - SCA3100_COUNTS_PER_G);
if (acc_diff > 200.0f)
{
//Don't correct when acc high
mask[0] = 0;
mask[1] = 0;
mask[2] = 0;
}
else if (acc_diff > 100.0f)
{
//fade linearely out between 100 and 200
float mask_lin = (200.0f - acc_diff) / 100.0f;
mask[0] = mask_lin;
mask[1] = mask_lin;
mask[2] = mask_lin;
}
//else mask stays 1
// static uint8_t i = 0;
// if (i++ > 10)
// {
// i = 0;
// float_vect3 debug;
// debug.x = mask[0];
// debug.y = acc_norm;
// debug.z = acc_norm_filt;
// debug_vect("acc_norm", debug);
// }
// mag.x = (global_data.magnet_corrected.x ) * 1.f / 510.f;
// mag.y = (global_data.magnet_corrected.y) * 1.f / 510.f;
// mag.z = (global_data.magnet_corrected.z) * 1.f / 510.f;
mag.x = (global_data.magnet_corrected.x ) ;
mag.y = (global_data.magnet_corrected.y) ;
mag.z = (global_data.magnet_corrected.z) ;
// gyro.x = -(global_data.gyros_raw.x-global_data.param[PARAM_GYRO_OFFSET_X]) * 0.000955;
// gyro.y = (global_data.gyros_raw.y-global_data.param[PARAM_GYRO_OFFSET_Y]) * 0.000955;
// gyro.z = -(global_data.gyros_raw.z-global_data.param[PARAM_GYRO_OFFSET_Z]) * 0.001010;
gyro.x = -(global_data.gyros_raw.x-global_data.param[PARAM_GYRO_OFFSET_X]) * 0.001008f;
gyro.y = (global_data.gyros_raw.y-global_data.param[PARAM_GYRO_OFFSET_Y]) * 0.001008f;
gyro.z = -(global_data.gyros_raw.z-global_data.param[PARAM_GYRO_OFFSET_Z]) * 0.001010f;
measurement[0] = acc.x;
measurement[1] = acc.y;
measurement[2] = acc.z;
if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_VISION)
{
measurement[3] = global_data.vision_magnetometer_replacement.x;
measurement[4] = global_data.vision_magnetometer_replacement.y;
measurement[5] = global_data.vision_magnetometer_replacement.z;
}
else if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_GLOBAL_VISION)
{
// measurement[3] = global_data.vision_global_magnetometer_replacement.x;
// measurement[4] = global_data.vision_global_magnetometer_replacement.y;
// measurement[5] = global_data.vision_global_magnetometer_replacement.z;
}
else if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_VICON)
{
measurement[3] = global_data.vicon_magnetometer_replacement.x;
measurement[4] = global_data.vicon_magnetometer_replacement.y;
measurement[5] = global_data.vicon_magnetometer_replacement.z;
}
else if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_INTEGRATION)
{
// Do nothing
// KEEP THIS IN HERE
}
else if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_MAGNETOMETER) // YAW_ESTIMATION_MODE_MAGNETOMETER
{
measurement[3] = mag.x;
measurement[4] = mag.y;
measurement[5] = mag.z;
// debug_vect("mag_f", mag);
}
else
{
static uint8_t errcount = 0;
if (errcount == 0) debug_message_buffer("ATT EST. ERROR: No valid yaw estimation mode set!");
errcount++;
global_data.state.status = MAV_STATE_CRITICAL;
}
measurement[6] = gyro.x;
measurement[7] = gyro.y;
measurement[8] = gyro.z;
//Put measurements into filter
static int j = 0;
// MASK
if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_INTEGRATION)
{
// Do nothing, pure integration
}
else if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_VICON)
{
// If our iteration count is right and new vicon data is available, update measurement
if (j >= 3 && global_data.state.vicon_attitude_new_data == 1)
{
j = 0;
mask[3]=1;
mask[4]=1;
mask[5]=1;
}
else
{
j++;
}
global_data.state.vicon_attitude_new_data = 0;
}
else if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_VISION)
{
// If the iteration count is right and new vision data is available, update measurement
if (j >= 3 && global_data.state.vision_attitude_new_data == 1)
{
j = 0;
mask[3]=1;
mask[4]=1;
mask[5]=1;
}
else
{
j++;
}
global_data.state.vision_attitude_new_data = 0;
}
else if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_GLOBAL_VISION)
{
// // If the iteration count is right and new vision data is available, update measurement
// if (j >= 3 && global_data.state.global_vision_attitude_new_data == 1)
// {
// j = 0;
//
// mask[3]=1;
// mask[4]=1;
// mask[5]=1;
// j=0;
// }
// else
// {
// j++;
// }
// global_data.state.global_vision_attitude_new_data = 0;
}
else
{
if (j >= 3 && global_data.state.magnet_ok)
{
j = 0;
mask[3]=1;
mask[4]=1;
mask[5]=1;
}
else
{
j++;
}
}
kalman_correct(&attitude_tobi_laurens_kal, measurement, mask);
//debug
// save outputs
float_vect3 kal_acc, kal_mag, kal_w0, kal_w;
kal_acc.x = kalman_get_state(&attitude_tobi_laurens_kal, 0);
kal_acc.y = kalman_get_state(&attitude_tobi_laurens_kal, 1);
kal_acc.z = kalman_get_state(&attitude_tobi_laurens_kal, 2);
kal_mag.x = kalman_get_state(&attitude_tobi_laurens_kal, 3);
kal_mag.y = kalman_get_state(&attitude_tobi_laurens_kal, 4);
kal_mag.z = kalman_get_state(&attitude_tobi_laurens_kal, 5);
kal_w0.x = kalman_get_state(&attitude_tobi_laurens_kal, 6);
kal_w0.y = kalman_get_state(&attitude_tobi_laurens_kal, 7);
kal_w0.z = kalman_get_state(&attitude_tobi_laurens_kal, 8);
kal_w.x = kalman_get_state(&attitude_tobi_laurens_kal, 9);
kal_w.y = kalman_get_state(&attitude_tobi_laurens_kal, 10);
kal_w.z = kalman_get_state(&attitude_tobi_laurens_kal, 11);
float_vect3 x_n_b, y_n_b, z_n_b;
z_n_b.x = -kal_acc.x;
z_n_b.y = -kal_acc.y;
z_n_b.z = -kal_acc.z;
vect_norm(&z_n_b);
vect_cross_product(&z_n_b, &kal_mag, &y_n_b);
vect_norm(&y_n_b);
vect_cross_product(&y_n_b, &z_n_b, &x_n_b);
//save euler angles
global_data.attitude.x = atan2f(z_n_b.y, z_n_b.z);
global_data.attitude.y = -asinf(z_n_b.x);
if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_INTEGRATION)
{
global_data.attitude.z += 0.005f * global_data.gyros_si.z;
}
else if (global_data.state.yaw_estimation_mode == YAW_ESTIMATION_MODE_GLOBAL_VISION)
{
global_data.attitude.z += 0.0049f * global_data.gyros_si.z;
if (global_data.state.global_vision_attitude_new_data == 1)
{
global_data.attitude.z = 0.995f*global_data.attitude.z + 0.005f*global_data.vision_data_global.ang.z;
// Reset new data flag at roughly 1 Hz, detecting a vision timeout
static uint8_t new_data_reset = 0;
if (new_data_reset == 0)
{
global_data.state.global_vision_attitude_new_data = 0;
}
new_data_reset++;
}
}
else
{
// static hackMagLowpass = 0.0f;
global_data.attitude.z = global_data.attitude.z*0.9f+0.1f*atan2f(y_n_b.x, x_n_b.x);
}
//save rates
global_data.attitude_rate.x = kal_w.x;
global_data.attitude_rate.y = kal_w.y;
global_data.attitude_rate.z = kal_w.z;
global_data.yaw_lowpass = 0.99f * global_data.yaw_lowpass + 0.01f * global_data.attitude_rate.z;
}
/**
* @brief This is the main loop
*
* It will be executed at maximum MCU speed (60 Mhz)
*/
void main_loop_fixed_wing(void)
{
last_mainloop_idle = sys_time_clock_get_time_usec();
debug_message_buffer("Starting main loop");
while (1)
{
// Time Measurement
uint64_t loop_start_time = sys_time_clock_get_time_usec();
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// Camera Shutter
///////////////////////////////////////////////////////////////////////////
// Set camera shutter with 2.5ms resolution
if (us_run_every(2500, COUNTER1, loop_start_time))
{
camera_shutter_handling(loop_start_time);
}
if (global_data.state.mav_mode == MAV_MODE_RC_TRAINING)
{
///////////////////////////////////////////////////////////////////////////
/// RC INTERFACE HACK AT 50 Hz
///////////////////////////////////////////////////////////////////////////
if (us_run_every(20000, COUNTER8, loop_start_time))
{
// Write start byte
uart1_transmit(0xFF);
// Write channels 1-6
for (int i = 1; i < 7; i++)
{
uart1_transmit((radio_control_get_channel(1)+1)*127);
}
}
led_toggle(LED_GREEN);
led_toggle(LED_RED);
// Do not execute any of the functions below
continue;
}
///////////////////////////////////////////////////////////////////////////
/// CRITICAL 200 Hz functions
///////////////////////////////////////////////////////////////////////////
if (us_run_every(5000, COUNTER2, loop_start_time))
{
// Kalman Attitude filter, used on all systems
gyro_read();
sensors_read_acc();
// Read out magnetometer at its default 50 Hz rate
static uint8_t mag_count = 0;
if (mag_count == 3)
{
sensors_read_mag();
attitude_observer_correct_magnet(global_data.magnet_corrected);
mag_count = 0;
}
else
{
mag_count++;
}
// Correction step of observer filter
attitude_observer_correct_accel(global_data.accel_raw);
// Write in roll and pitch
static float_vect3 att; //if not static we have spikes in roll and pitch on bravo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
attitude_observer_get_angles(&att);
global_data.attitude.x = att.x;
global_data.attitude.y = att.y;
if (global_data.param[PARAM_ATT_KAL_IYAW])
{
global_data.attitude.z += 0.005 * global_data.gyros_si.z;
}
else
{
global_data.attitude.z = att.z;
}
// Prediction step of observer
attitude_observer_predict(global_data.gyros_si);
control_fixed_wing_attitude();
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// CRITICAL FAST 50 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(20000, COUNTER3, loop_start_time))
{
// Read Analog-to-Digital converter
adc_read();
// Read remote control
remote_control();
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// NON-CRITICAL SLOW 100 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(10000, COUNTER6, loop_start_time))
{
// Send the raw sensor/ADC values
communication_send_raw_data(loop_start_time);
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// UNCRITICAL SLOW 5 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(200000, COUNTER8, loop_start_time))
{
// The onboard controllers go into failsafe mode once
// position data is missing
handle_controller_timeouts(loop_start_time);
// Send buffered data such as debug text messages
communication_queued_send();
// Empty one message out of the buffer
debug_message_send_one();
// Toggle status led
//led_toggle(LED_YELLOW);
led_toggle(LED_RED); // just for green LED on alpha at the moment
// Toggle active mode led
if (global_data.state.mav_mode == MAV_MODE_MANUAL || global_data.state.mav_mode
== MAV_MODE_GUIDED || global_data.state.mav_mode == MAV_MODE_AUTO)
{
led_on(LED_GREEN);
}
else
{
led_off(LED_GREEN);
}
handle_eeprom_write_request();
handle_reset_request();
communication_send_controller_feedback();
communication_send_remote_control();
// Pressure sensor driver works, but not tested regarding stability
sensors_pressure_bmp085_read_out();
if (global_data.param[PARAM_POSITION_YAW_TRACKING] == 1)
{
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN],
90, global_data.param[PARAM_POSITION_SETPOINT_YAW]);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN],
91, global_data.yaw_pos_setpoint);
}
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// NON-CRITICAL SLOW 1 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(1000000, COUNTER9, loop_start_time))
{
// Send system state, mode, battery voltage, etc.
send_system_state();
if (global_data.param[PARAM_GPS_MODE] >= 10)
{
//Send GPS information
float_vect3 gps;
gps.x = gps_utm_north / 100.0f;//m
gps.y = gps_utm_east / 100.0f;//m
gps.z = gps_utm_zone;// gps_week;
debug_vect("GPS", gps);
}
beep_on_low_voltage();
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// NON-CRITICAL SLOW 20 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(50000, COUNTER7, loop_start_time))
{
led_toggle(LED_YELLOW);
if (global_data.param[PARAM_GPS_MODE] >= 10)
{
//get thru all gps messages
debug_message_send_one();
}
communication_send_attitude_position(loop_start_time);
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// NON-CRITICAL SLOW 200 Hz functions //
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(5000, COUNTER5, loop_start_time))
{
if (global_data.state.status == MAV_STATE_STANDBY)
{
//Check if parameters should be written or read
param_handler();
}
}
///////////////////////////////////////////////////////////////////////////
else {
// All Tasks are fine and we have no starvation
last_mainloop_idle = loop_start_time;
}
// Read out comm at max rate - takes only a few microseconds in worst case
communication_receive();
// MCU load measurement
uint64_t loop_stop_time = sys_time_clock_get_time_usec();
global_data.cpu_usage = measure_avg_cpu_load(loop_start_time, loop_stop_time, min_mainloop_time);
global_data.cpu_peak = measure_peak_cpu_load(loop_start_time, loop_stop_time, min_mainloop_time);
if (loop_start_time - last_mainloop_idle >= 5000)
{
debug_message_buffer(
"CRITICAL WARNING! CPU LOAD TO HIGH. STARVATION!");
last_mainloop_idle = loop_start_time;//reset to prevent multiple messages
}
if (global_data.cpu_usage > 800)
{
// CPU load higher than 80%
debug_message_buffer("CRITICAL WARNING! CPU LOAD HIGHER THAN 80%");
}
} // End while(1)
}
void update_system_statemachine(uint64_t loop_start_time)
{
// Update state machine, enable and disable controllers
switch (global_data.state.mav_mode)
{
case MAV_MODE_MANUAL:
global_data.param[PARAM_MIX_POSITION_WEIGHT] = 0;
global_data.param[PARAM_MIX_POSITION_YAW_WEIGHT] = 0;
global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] = 0;
global_data.param[PARAM_MIX_OFFSET_WEIGHT] = 1;
global_data.param[PARAM_MIX_REMOTE_WEIGHT] = 1;
break;
case MAV_MODE_AUTO:
// Same as guided mode, NO BREAK
case MAV_MODE_TEST1:
// Same as guided mode, NO BREAK
case MAV_MODE_GUIDED:
if (global_data.state.position_fix)
{
if (global_data.state.status == MAV_STATE_CRITICAL)
{
//get active again if we are in critical
//if we are in Emergency we don't want to start again!!!!
global_data.state.status = MAV_STATE_ACTIVE;
}
}
else
{
if (global_data.state.status == MAV_STATE_ACTIVE)
{
global_data.state.status = MAV_STATE_CRITICAL;
global_data.entry_critical = loop_start_time;
debug_message_buffer("CRITICAL! POSITION LOST");
}
else if (global_data.state.status == MAV_STATE_CRITICAL && (loop_start_time - global_data.entry_critical
> 3 * (uint32_t) global_data.param[PARAM_POSITION_TIMEOUT]))
{
//wait 3 times as long as waited for critical
global_data.state.status = MAV_STATE_EMERGENCY;
//Initiate Landing even if we didn't reach 0.7m
global_data.state.fly=FLY_LANDING;
debug_message_buffer("EMERGENCY! MAYDAY! MAYDAY! LANDING!");
}
}
switch (global_data.state.status)
{
case MAV_STATE_ACTIVE:
global_data.param[PARAM_MIX_POSITION_WEIGHT] = 1;
global_data.param[PARAM_MIX_POSITION_YAW_WEIGHT] = 1;
global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] = 1;
break;
case MAV_STATE_CRITICAL:
//global_data.param[PARAM_MIX_POSITION_WEIGHT] = 1; // estimate path without vision
global_data.param[PARAM_MIX_POSITION_WEIGHT] = 0; // try to hover on place
global_data.param[PARAM_MIX_POSITION_YAW_WEIGHT] = 1;
global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] = 1;
break;
case MAV_STATE_EMERGENCY:
global_data.param[PARAM_MIX_POSITION_WEIGHT] = 0;
global_data.param[PARAM_MIX_POSITION_YAW_WEIGHT] = 1;
global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] = 1;
break;
default:
global_data.param[PARAM_MIX_POSITION_WEIGHT] = 0;
global_data.param[PARAM_MIX_POSITION_YAW_WEIGHT] = 0;
global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] = 0;
}
global_data.param[PARAM_MIX_OFFSET_WEIGHT] = 1;
global_data.param[PARAM_MIX_REMOTE_WEIGHT] = 1;
break;
case MAV_MODE_TEST2:
//allow other mix params to be set by hand
global_data.param[PARAM_MIX_OFFSET_WEIGHT] = 1;
global_data.param[PARAM_MIX_REMOTE_WEIGHT] = 1;
break;
case MAV_MODE_TEST3:
// break;
case MAV_MODE_LOCKED:
// break;
case MAV_MODE_READY:
// break;
case MAV_MODE_UNINIT:
// break;
default:
global_data.param[PARAM_MIX_POSITION_WEIGHT] = 0;
global_data.param[PARAM_MIX_POSITION_YAW_WEIGHT] = 0;
global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] = 0;
global_data.param[PARAM_MIX_OFFSET_WEIGHT] = 0;
global_data.param[PARAM_MIX_REMOTE_WEIGHT] = 0;
}
if (global_data.state.remote_ok == 0)
{
global_data.param[PARAM_MIX_REMOTE_WEIGHT] = 0;
}
}
/* Interrupt handler for I2C0 interrupt */
static void I2C0_ISR(void)
{
//sprintf((char*)buffer, "h ");
//message_send_debug(COMM_1, buffer);
//uint8_t buffer[200]; // string buffer for debug messages
ISR_ENTRY();
if (error_counter0 > I2C_PERMANENT_ERROR_LIMIT)
{
//uint8_t buffer[50];
//sprintf(buffer, "i2c error limit %d \n", 1);
// sprintf((char*)buffer, package_buffer0[i2c_package_buffer0_current_idx].slave_address) ;
//message_send_debug(COMM_1, buffer);
// debug_message_buffer("i2c error limit reached");
debug_message_buffer_sprintf("i2c0 error limit reached. Dest: %i",
package_buffer0[i2c_package_buffer0_current_idx].slave_address);
if (i2c0_permanent_error_count++ % 256 == 0)
{
debug_message_buffer_sprintf(
"i2c0 error limit reached. Total: %i errors.",
i2c0_permanent_error_count);
}
package_buffer0[i2c_package_buffer0_current_idx].i2c_error_code
= I2C_CODE_ERROR;//set error code to error
//TODO set this to ok if everzthing was ok
if (package_buffer0[i2c_package_buffer0_current_idx].i2c_done_handler
!= NULL)
{ // check if there is a package handler registered
package_buffer0[i2c_package_buffer0_current_idx].i2c_done_handler(
&(package_buffer0[i2c_package_buffer0_current_idx])); // call package handler
}
i2c_package_buffer0_insert_idx = (i2c_package_buffer0_insert_idx + 1)
% I2C_PACKAGE_BUFFER_SIZE; // increment package insertion pointer
error_counter0 = 0;
if (i2c_package_buffer0_current_idx == i2c_package_buffer0_insert_idx)
{ // no unhandled packages
I2C0CONCLR = 1 << STAC;
I2C0CONSET = 1 << STO; // generate I2C stop condition on the bus without restart
I2C0CONCLR = 1 << SIC; // clear I2C interrupt flag
i2c0_busy = 0; // release I2C resource
}
else
{ // unhandled packages in package buffer
if (!(package_buffer0[i2c_package_buffer0_current_idx].write_read
== 1))
{
I2C0CONSET = 1 << STO; // generate stop condition on the bus if no repeated start is necessary
}
I2C0CONSET = 1 << STA; // generate "repeated start" condition on the bus -> next state: 0x10
I2C0CONCLR = 1 << SIC; // clear I2C interrupt flag
}
}
if (i2c0_busy == 1)
{ //Return if Package error
//message_debug_send(MAVLINK_COMM_1, 30, I2C0STAT);
switch (I2C0STAT)
{ // check current I2C0 state
case 0x08: // I2C start condition has been generated on the bus -> transmit slave address and read/write bit -> next state: 0x18 or 0x40
I2C0DAT
= package_buffer0[i2c_package_buffer0_current_idx].slave_address
| package_buffer0[i2c_package_buffer0_current_idx].direction;
I2C0CONCLR = 1 << STAC; // do not restart (continue normal I2C operation)
I2C0CONCLR = 1 << SIC; // clear I2C interrupt flag
break;
case 0x10: // "repeated start" condition has been generated on the bus -> transmit slave address and read/write bit -> next state: 0x18 or 0x40
I2C0DAT
= package_buffer0[i2c_package_buffer0_current_idx].slave_address
| package_buffer0[i2c_package_buffer0_current_idx].direction;
I2C0CONCLR = 1 << STAC;
I2C0CONCLR = 1 << SIC;
break;
case 0x18: // slave address and write bit has been transmitted -> transmit first data byte -> next state: 0x28
current_data_byte_i2c0 = 0;
I2C0CONCLR = 1 << STAC;
I2C0DAT
= package_buffer0[i2c_package_buffer0_current_idx].data[current_data_byte_i2c0];
current_data_byte_i2c0++;
I2C0CONCLR = 1 << SIC;
break;
case 0x28: // data byte has been transmitted
// if there's another byte to be transmitted, do it
if (current_data_byte_i2c0
< package_buffer0[i2c_package_buffer0_current_idx].length)
{
I2C0CONCLR = 1 << STAC;
I2C0DAT
= package_buffer0[i2c_package_buffer0_current_idx].data[current_data_byte_i2c0];
current_data_byte_i2c0++;
I2C0CONCLR = 1 << SIC;
}
// it the last byte has been transmitted, check if there are unhandled packages in the package buffer
else
{
i2c_package_buffer0_current_idx
= (i2c_package_buffer0_current_idx + 1)
% I2C_PACKAGE_BUFFER_SIZE; // increment pointer to package in processing
error_counter0 = 0;
if (i2c_package_buffer0_current_idx
== i2c_package_buffer0_insert_idx)
{ // no unhandled packages
I2C0CONCLR = 1 << STAC;
I2C0CONSET = 1 << STO; // generate I2C stop condition on the bus without restart
I2C0CONCLR = 1 << SIC; // clear I2C interrupt flag
i2c0_busy = 0; // release I2C resource
}
else
{ // unhandled packages in package buffer
if (!(package_buffer0[i2c_package_buffer0_current_idx].write_read
== 1))
{
I2C0CONSET = 1 << STO; // generate stop condition on the bus if no repeated start is necessary
}
I2C0CONSET = 1 << STA; // generate "repeated start" condition on the bus -> next state: 0x10
I2C0CONCLR = 1 << SIC; // clear I2C interrupt flag
}
}
break;
case 0x20: // I2C error state detection
I2C0CONSET = 1 << STO;
I2C0CONSET = 1 << STA; // restart I2C state machine with current package
error_counter0++;
//debug_message_buffer("I2C error: slave address not acknowledged (write)\n");
debug_message_buffer_sprintf(
"I2C0 error: slave address not acknowledged (write). Dest: %i",
package_buffer0[i2c_package_buffer0_current_idx].slave_address);
//message_send_debug(COMM_1, buffer);
I2C0CONCLR = 1 << SIC;
break;
case 0x30: // I2C error state detection
I2C0CONSET = 1 << STO;
I2C0CONSET = 1 << STA; // restart I2C state machine with current package
error_counter0++;
// debug_message_buffer("I2C error: data not acknowledged\n");
debug_message_buffer_sprintf(
"I2C0 error: data not acknowledged. Dest: %i",
package_buffer0[i2c_package_buffer0_current_idx].slave_address);
//message_send_debug(COMM_1, buffer);
I2C0CONCLR = 1 << SIC;
break;
case 0x38: // I2C error state detection
I2C0CONSET = 1 << STA; // restart I2C state machine with current package
error_counter0++;
// debug_message_buffer("I2C error: arbitration lost\n");
debug_message_buffer_sprintf(
"I2C0 error: arbitration lost. Dest: %i",
package_buffer0[i2c_package_buffer0_current_idx].slave_address);
//message_send_debug(COMM_1, buffer);
I2C0CONCLR = 1 << SIC;
break;
case 0x40: // slave address and read bit has been transmitted -> clear interrupt and wait for first data byte -> next state: 0x50 or 0x58
current_data_byte_i2c0 = 0;
if (package_buffer0[i2c_package_buffer0_current_idx].length > 1)
I2C0CONSET = 1 << AA; // if there's more than one byte to be received -> next state: 0x50
else
I2C0CONCLR = 1 << AAC; // if there's only one byte to be received -> next state: 0x58
I2C0CONCLR = 1 << SIC; // clear I2C interrupt flag
break;
case 0x50: // data byte has been received
package_buffer0[i2c_package_buffer0_current_idx].data[current_data_byte_i2c0]
= I2C0DAT; // copy data byte to data array in I2C package
current_data_byte_i2c0++; // increment data byte
if ((current_data_byte_i2c0 + 1)
< package_buffer0[i2c_package_buffer0_current_idx].length)
{ // there's more than one byte left to be received
I2C0CONSET = 1 << AA; // acknowledge next data byte -> next state: 0x50
}
else
{ // there's only one byte left to be received
I2C0CONCLR = 1 << AAC; // do not acknowledge next data byte -> next state: 0x58
}
I2C0CONCLR = 1 << SIC;
break;
case 0x58: // last data byte has been received
package_buffer0[i2c_package_buffer0_current_idx].data[current_data_byte_i2c0]
= I2C0DAT; // copy data byte to data array in I2C package
I2C0CONSET = 1 << STO; // generate STOP condition on the I2C bus
//uart0_transmit(package_buffer0[i2c_package_buffer0_current_idx].data[current_data_byte_i2c0]);
if (package_buffer0[i2c_package_buffer0_current_idx].i2c_done_handler
!= NULL)
{ // check if there is a package handler registered
package_buffer0[i2c_package_buffer0_current_idx].i2c_done_handler(
&(package_buffer0[i2c_package_buffer0_current_idx])); // call package handler
}
i2c_package_buffer0_current_idx = (i2c_package_buffer0_current_idx
+ 1) % I2C_PACKAGE_BUFFER_SIZE; // increment pointer to package in processing
error_counter0 = 0;
// check if there are unhandled packages in the package buffer
if (i2c_package_buffer0_current_idx
== i2c_package_buffer0_insert_idx)
{ // no unhandled packages
I2C0CONCLR = 1 << SIC; // clear I2C interrupt flag
i2c0_busy = 0; // release I2C resource
}
else
{ // unhandled packages in package buffer
I2C0CONSET = 1 << STA; // generate "repeated start" condition on the bus -> next state: 0x10
I2C0CONCLR = 1 << SIC; // clear I2C interrupt flag
}
break;
case 0x48: // I2C error state detection
I2C0CONSET = 1 << STO;
I2C0CONSET = 1 << STA; // restart I2C state machine with current package
error_counter0++;
debug_message_buffer(
"I2C0 error: slave address not acknowledged (read)\n");
//message_send_debug(COMM_1, buffer);
I2C0CONCLR = 1 << SIC;
break;
default: // I2C error state detection
I2C0CONSET = 1 << STO;
I2C0CONSET = 1 << STA; // restart I2C state machine with current package
error_counter0++;
debug_message_buffer_sprintf("I2C0 error: undefined I2C state: %i",I2C0STAT);
debug_message_buffer_sprintf("I2C0 error: prior state: %X",i2c0stat_prior_state);
// message_send_debug(COMM_1, buffer);
I2C0CONCLR = 1 << SIC;
}
}
// Sum up errors
global_data.i2c0_err_count += error_counter0;
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT();
// exit ISR
}
/**
* @brief Set the current mode of operation
* @param mode the new mode
*/
bool sys_set_mode(uint8_t mode)
{
if (mode == MAV_MODE_AUTO)
{
global_data.state.mav_mode = MAV_MODE_AUTO;
return true;
}
else if (mode == MAV_MODE_GUIDED)
{
global_data.state.mav_mode = MAV_MODE_GUIDED;
return true;
}
else if (mode == MAV_MODE_LOCKED)
{
global_data.state.mav_mode = MAV_MODE_LOCKED;
return true;
}
else if (mode == MAV_MODE_MANUAL)
{
global_data.state.mav_mode = MAV_MODE_MANUAL;
return true;
}
else if (mode == MAV_MODE_READY)
{
global_data.state.mav_mode = MAV_MODE_READY;
return true;
}
else if (mode == MAV_MODE_TEST1)
{
global_data.state.mav_mode = MAV_MODE_TEST1;
return true;
}
else if (mode == MAV_MODE_TEST2)
{
global_data.state.mav_mode = MAV_MODE_TEST2;
return true;
}
else if (mode == MAV_MODE_TEST3)
{
global_data.state.mav_mode = MAV_MODE_TEST3;
return true;
}
else if (mode == MAV_MODE_RC_TRAINING)
{
// Only go into RC training if not flying
if (! sys_state_is_flying())
{
global_data.state.mav_mode = MAV_MODE_RC_TRAINING;
return true;
}
else
{
debug_message_buffer("WARNING: SYSTEM IS IN FLIGHT! Denied to switch to RC mode");
return false;
}
}
// UNINIT is not a mode that should be actively set
// it will thus be rejected like any other invalid mode
else
{
// No valid mode
debug_message_buffer("WARNING: Attempted to set invalid mode");
return false;
}
}
void main_loop_quadrotor(void)
{
/**
* @brief Initialize the whole system
*
* All functions that need to be called before the first mainloop iteration
* should be placed here.
*/
main_init_generic();
control_quadrotor_position_init();
control_quadrotor_attitude_init();
attitude_tobi_laurens_init();
// FIXME XXX Make proper mode switching
// outdoor_position_kalman_init();
//vision_position_kalman_init();
// Default filters, allow Vision, Vicon and optical flow inputs
vicon_position_kalman_init();
optflow_speed_kalman_init();
/**
* @brief This is the main loop
*
* It will be executed at maximum MCU speed (60 Mhz)
*/
// Executiontime debugging
time_debug.x = 0;
time_debug.y = 0;
time_debug.z = 0;
last_mainloop_idle = sys_time_clock_get_time_usec();
debug_message_buffer("Starting main loop");
led_off(LED_GREEN);
led_off(LED_RED);
while (1)
{
// Time Measurement
uint64_t loop_start_time = sys_time_clock_set_loop_start_time(); // loop_start_time should not be used anymore
///////////////////////////////////////////////////////////////////////////
/// CRITICAL 200 Hz functions
///////////////////////////////////////////////////////////////////////////
if (us_run_every(5000, COUNTER2, loop_start_time))
{
// Kalman Attitude filter, used on all systems
gyro_read();
sensors_read_acc();
sensors_pressure_bmp085_read_out();
// Read out magnetometer at its default 50 Hz rate
static uint8_t mag_count = 0;
if (mag_count == 3)
{
sensors_read_mag();
//attitude_observer_correct_magnet(global_data.magnet_corrected);
mag_count = 0;
}else if(mag_count==1){
hmc5843_start_read();
mag_count++;
}
else
{
mag_count++;
}
// Correction step of observer filter
attitude_tobi_laurens();
if (global_data.state.position_estimation_mode == POSITION_ESTIMATION_MODE_VICON_ONLY ||
global_data.state.position_estimation_mode == POSITION_ESTIMATION_MODE_VISION_VICON_BACKUP)
{
vicon_position_kalman();
}
else if (global_data.state.position_estimation_mode == POSITION_ESTIMATION_MODE_GPS_ONLY)
{
outdoor_position_kalman();
}
control_quadrotor_attitude();
//debug counting number of executions
count++;
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// Camera Shutter - This takes 50 usecs!!!
///////////////////////////////////////////////////////////////////////////
// Set camera shutter with 2.5ms resolution
else if (us_run_every(5000, COUNTER1, loop_start_time)) //was 2500 !!!
{
camera_shutter_handling(loop_start_time);
// Measure time for debugging
time_debug.x = max(time_debug.x, sys_time_clock_get_time_usec()
- loop_start_time);
}
///////////////////////////////////////////////////////////////////////////
/// CRITICAL FAST 50 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(20000, COUNTER3, loop_start_time))
{
// Read infrared sensor
//adc_read();
// Control the quadrotor position
control_quadrotor_position();
// Read remote control
remote_control();
control_camera_angle();
// //float_vect3 opt;
// static float_vect3 opt_int;
// uint8_t valid = optical_flow_get_dxy(80, &global_data.optflow.x, &global_data.optflow.y, &global_data.optflow.z);
// if (valid)
// {
// opt_int.x += global_data.optflow.x;
// opt_int.y += global_data.optflow.y;
//
// }
//
// uint8_t supersampling = 10;
// for (int i = 0; i < supersampling; ++i)
// {
// global_data.sonar_distance += sonar_distance_get(ADC_5_CHANNEL);
// }
//
// global_data.sonar_distance /= supersampling;
//
// opt_int.z = valid;
// static unsigned int i = 0;
// if (i == 10)
// {
// mavlink_msg_optical_flow_send(global_data.param[PARAM_SEND_DEBUGCHAN], sys_time_clock_get_unix_loop_start_time(), 0, global_data.optflow.x, global_data.optflow.y, global_data.optflow.z, global_data.sonar_distance_filtered);
//
// i = 0;
// }
// i++;
//optical_flow_debug_vect_send();
//debug_vect("opt_int", opt_int);
// optical_flow_start_read(80);
if (global_data.state.position_estimation_mode
== POSITION_ESTIMATION_MODE_OPTICAL_FLOW_ULTRASONIC_INTEGRATING
|| global_data.state.position_estimation_mode
== POSITION_ESTIMATION_MODE_OPTICAL_FLOW_ULTRASONIC_NON_INTEGRATING
|| global_data.state.position_estimation_mode
== POSITION_ESTIMATION_MODE_OPTICAL_FLOW_ULTRASONIC_ADD_VICON_AS_OFFSET
|| global_data.state.position_estimation_mode
== POSITION_ESTIMATION_MODE_OPTICAL_FLOW_ULTRASONIC_ADD_VISION_AS_OFFSET
|| global_data.state.position_estimation_mode
== POSITION_ESTIMATION_MODE_OPTICAL_FLOW_ULTRASONIC_ODOMETRY_ADD_VISION_AS_OFFSET
|| global_data.state.position_estimation_mode
== POSITION_ESTIMATION_MODE_OPTICAL_FLOW_ULTRASONIC_VICON
|| global_data.state.position_estimation_mode
== POSITION_ESTIMATION_MODE_GPS_OPTICAL_FLOW
|| global_data.state.position_estimation_mode
== POSITION_ESTIMATION_MODE_OPTICAL_FLOW_ULTRASONIC_GLOBAL_VISION
|| global_data.state.position_estimation_mode
== POSITION_ESTIMATION_MODE_OPTICAL_FLOW_ULTRASONIC_VISUAL_ODOMETRY_GLOBAL_VISION)
{
optflow_speed_kalman();
}
// Send the raw sensor/ADC values
communication_send_raw_data(loop_start_time);
float_vect3 yy; yy.x = global_data.yaw_lowpass; yy.y = 0.f; yy.z = 0.f;
debug_vect("yaw_low", yy);
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// CRITICAL FAST 20 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(50000, COUNTER4, loop_start_time))
{
//*** this happens in handle_controller_timeouts already!!!!! ***
// //update global_data.state
// if (global_data.param[PARAM_VICON_MODE] == 1)
// {
// //VICON_MODE 1 only accepts vicon position
// global_data.state.position_fix = global_data.state.vicon_ok;
// }
// else
// {
// //VICON_MODEs 0, 2, 3 accepts vision additionally, so check vision
// global_data.state.position_fix = global_data.state.vision_ok;
// }
update_system_statemachine(loop_start_time);
update_controller_setpoints();
mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(
global_data.param[PARAM_SEND_DEBUGCHAN],
sys_time_clock_get_loop_start_time_boot_ms(),
global_data.attitude_setpoint.x,
global_data.attitude_setpoint.y,
global_data.position_yaw_control_output,
global_data.thrust_control_output);
//STARTING AND LANDING
quadrotor_start_land_handler(loop_start_time);
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// NON-CRITICAL SLOW 100 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(5000, COUNTER6, loop_start_time))
{
if (global_data.param[PARAM_SEND_SLOT_DEBUG_6])
{
debug_vect("att_ctrl_o", global_data.attitude_control_output);
}
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// UNCRITICAL SLOW 5 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(200000, COUNTER8, loop_start_time))
{
// The onboard controllers go into failsafe mode once
// position data is missing
handle_controller_timeouts(loop_start_time);
// Send buffered data such as debug text messages
// Empty one message out of the buffer
debug_message_send_one();
// Toggle status led
led_toggle(LED_RED);
// Toggle active mode led
if (global_data.state.mav_mode & MAV_MODE_FLAG_SAFETY_ARMED)
{
led_on(LED_GREEN);
}
else
{
led_off(LED_GREEN);
}
handle_eeprom_write_request();
handle_reset_request();
update_controller_parameters();
communication_send_controller_feedback();
communication_send_remote_control();
// Pressure sensor driver works, but not tested regarding stability
// sensors_pressure_bmp085_read_out();
if (global_data.param[PARAM_POSITION_YAW_TRACKING] == 1)
{
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0,
90, global_data.param[PARAM_POSITION_SETPOINT_YAW]);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0,
91, global_data.yaw_pos_setpoint);
}
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// NON-CRITICAL SLOW 1 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(1000000, COUNTER9, loop_start_time))
{
// Send system state, mode, battery voltage, etc.
send_system_state();
// Send position setpoint offset
//debug_vect("pos offs", global_data.position_setpoint_offset);
// Send current onboard time
mavlink_msg_system_time_send(MAVLINK_COMM_1, sys_time_clock_get_unix_loop_start_time(),sys_time_clock_get_loop_start_time_boot_ms());
mavlink_msg_system_time_send(MAVLINK_COMM_0, sys_time_clock_get_unix_loop_start_time(),sys_time_clock_get_loop_start_time_boot_ms());
//update state from received parameters
sync_state_parameters();
//debug number of execution
count = 0;
if (global_data.param[PARAM_GPS_MODE] >= 10)
{
//Send GPS information
float_vect3 gps;
gps.x = gps_utm_north / 100.0f;//m
gps.y = gps_utm_east / 100.0f;//m
gps.z = gps_utm_zone;// gps_week;
debug_vect("GPS", gps);
}
else if (global_data.param[PARAM_GPS_MODE] == 9
|| global_data.param[PARAM_GPS_MODE] == 8)
{
if (global_data.param[PARAM_GPS_MODE] == 8)
{
gps_set_local_origin();
// gps_local_home_init = false;
}
if (gps_lat == 0)
{
debug_message_buffer("GPS Signal Lost");
}
else
{
float_vect3 gps_local, gps_local_velocity;
gps_get_local_position(&gps_local);
debug_vect("GPS local", gps_local);
gps_get_local_velocity(&gps_local_velocity);
debug_vect("GPS loc velocity", gps_local_velocity);
}
}
if (global_data.state.gps_mode)
{
gps_send_local_origin();
}
beep_on_low_voltage();
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// NON-CRITICAL SLOW 20 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(50000, COUNTER7, loop_start_time))
{
//led_toggle(LED_YELLOW);
if (global_data.param[PARAM_GPS_MODE] >= 10)
{
//get thru all gps messages
debug_message_send_one();
}
communication_send_attitude_position(loop_start_time);
// Send parameter
communication_queued_send();
// //infrared distance
// float_vect3 infra;
// infra.x = global_data.ground_distance;
// infra.y = global_data.ground_distance_unfiltered;
// infra.z = global_data.state.ground_distance_ok;
// debug_vect("infrared", infra);
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// NON-CRITICAL SLOW 200 Hz functions //
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(5000, COUNTER5, loop_start_time))
{
if (global_data.state.status == MAV_STATE_STANDBY)
{
//Check if parameters should be written or read
param_handler();
}
}
///////////////////////////////////////////////////////////////////////////
else
{
// All Tasks are fine and we have no starvation
last_mainloop_idle = loop_start_time;
}
// Read out comm at max rate - takes only a few microseconds in worst case
communication_receive();
// MCU load measurement
uint64_t loop_stop_time = sys_time_clock_get_time_usec();
global_data.cpu_usage = measure_avg_cpu_load(loop_start_time,
loop_stop_time, min_mainloop_time);
global_data.cpu_peak = measure_peak_cpu_load(loop_start_time,
loop_stop_time, min_mainloop_time);
time_debug.y = max(time_debug.y, global_data.cpu_usage);
time_debug.z = max(time_debug.z, global_data.cpu_peak);
if (loop_start_time - last_mainloop_idle >= 20000)
{
debug_message_buffer(
"CRITICAL WARNING! CPU LOAD TO HIGH. STARVATION!");
last_mainloop_idle = loop_start_time;//reset to prevent multiple messages
}
if (global_data.cpu_usage > 800)
{
// CPU load higher than 80%
debug_message_buffer("CRITICAL WARNING! CPU LOAD HIGHER THAN 80%");
}
} // End while(1)
}
/**
* @brief Send one of the buffered messages
* @param pos data from vision
*/
void vision_buffer_handle_data(mavlink_vision_position_estimate_t* pos)
{
if (vision_buffer_index_write == vision_buffer_index_read)
{
//buffer empty
return;
}
vision_buffer_index_read = (vision_buffer_index_read + 1)
% VISION_BUFFER_COUNT;
//TODO: find data and process it
uint8_t for_count = 0;
uint8_t i = vision_buffer_index_read;
for (; (vision_buffer[i].time_captured < pos->usec)
&& (vision_buffer_index_write - i != 1); i = (i + 1)
% VISION_BUFFER_COUNT)
{
if (++for_count > VISION_BUFFER_COUNT)
{
debug_message_buffer("vision_buffer PREVENTED HANG");
break;
}
}
if (vision_buffer[i].time_captured == pos->usec)
{
//we found the right data
if (!isnumber(pos->x) || !isnumber(pos->y) || !isnumber(pos->z)
|| !isnumber(pos->roll) || !isnumber(pos->pitch) || !isnumber(pos->yaw)
|| pos->x == 0.0 || pos->y == 0.0 || pos->z == 0.0)
{
//reject invalid data
debug_message_buffer("vision_buffer invalid data (inf,nan,0) rejected");
}
else if (fabs(vision_buffer[i].ang.x - pos->roll)
< global_data.param[PARAM_VISION_ANG_OUTLAYER_TRESHOLD]
&& fabs(vision_buffer[i].ang.y - pos->pitch)
< global_data.param[PARAM_VISION_ANG_OUTLAYER_TRESHOLD])
{
// Update validity time
global_data.pos_last_valid = sys_time_clock_get_time_usec();
//Pack new vision_data package
global_data.vision_data.time_captured
= vision_buffer[i].time_captured;
global_data.vision_data.comp_end = sys_time_clock_get_unix_time();
//Set data from Vision directly
global_data.vision_data.ang.x = pos->roll;
global_data.vision_data.ang.y = pos->pitch;
global_data.vision_data.ang.z = pos->yaw;
global_data.vision_data.pos.x = pos->x;
global_data.vision_data.pos.y = pos->y;
global_data.vision_data.pos.z = pos->z;
// If yaw input from vision is enabled, feed vision
// directly into state estimator
global_data.vision_magnetometer_replacement.x = 200.0f*lookup_cos(pos->yaw);
global_data.vision_magnetometer_replacement.y = -200.0f*lookup_sin(pos->yaw);
global_data.vision_magnetometer_replacement.z = 0.f;
//If yaw goes to infinity (no idea why) set it to setpoint, next time will be better
if (global_data.attitude.z > 18.8495559 || global_data.attitude.z < -18.8495559)
{
global_data.attitude.z = global_data.yaw_pos_setpoint;
debug_message_buffer("vision_buffer CRITICAL FAULT yaw was bigger than 6 PI! prevented crash");
}
global_data.vision_data.new_data = 1;
//TODO correct also all buffer data needed if we are going to have overlapping vision data
}
else
{
//rejected outlayer
if (vision_buffer_reject_count++ % 16 == 0)
{
debug_message_buffer_sprintf("vision_buffer rejected outlier #%u",
vision_buffer_reject_count);
}
}
if (global_data.param[PARAM_SEND_SLOT_DEBUG_1] == 1)
{
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 202, global_data.attitude.z);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 210, pos->x);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 211, pos->y);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 212, pos->z);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 215, pos->yaw);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 212, pos.z);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 203, pos.r1);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 204, pos.confidence);
}
if (for_count)
{
debug_message_buffer_sprintf(
"vision_buffer data found skipped %i data sets", for_count);
}
}
else
{
//we didn't find it
// debug_message_buffer("vision_buffer data NOT found");
if (for_count)
{
debug_message_buffer_sprintf(
"vision_buffer data NOT found skipped %i data sets",
for_count);
}
}
vision_buffer_index_read = i;//skip all images that are older;
// if (for_count)
// {
// debug_message_buffer_sprintf("vision_buffer skipped %i data sets",
// for_count);
// }
}
/**
* @brief This is the main loop
*
* It will be executed at maximum MCU speed (60 Mhz)
*/
void main_loop_ground_car(void)
{
last_mainloop_idle = sys_time_clock_get_time_usec();
debug_message_buffer("Starting main loop");
while (1)
{
// Time Measurement
uint64_t loop_start_time = sys_time_clock_get_time_usec();
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// CRITICAL 200 Hz functions
///////////////////////////////////////////////////////////////////////////
if (us_run_every(5000, COUNTER2, loop_start_time))
{
// Kalman Attitude filter, used on all systems
gyro_read();
sensors_read_acc();
// Read out magnetometer at its default 50 Hz rate
static uint8_t mag_count = 0;
if (mag_count == 3)
{
sensors_read_mag();
attitude_observer_correct_magnet(global_data.magnet_corrected);
mag_count = 0;
}
else
{
mag_count++;
}
// Correction step of observer filter
attitude_observer_correct_accel(global_data.accel_raw);
// Write in roll and pitch
static float_vect3 att; //if not static we have spikes in roll and pitch on bravo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
attitude_observer_get_angles(&att);
global_data.attitude.x = att.x;
global_data.attitude.y = att.y;
if (global_data.param[PARAM_ATT_KAL_IYAW])
{
global_data.attitude.z += 0.005 * global_data.gyros_si.z;
}
else
{
global_data.attitude.z = att.z;
}
// Prediction step of observer
attitude_observer_predict(global_data.gyros_si);
// TODO READ OUT MOUSE SENSOR
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// CRITICAL FAST 50 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(20000, COUNTER3, loop_start_time))
{
// Read Analog-to-Digital converter
adc_read();
// Read remote control
remote_control();
// Send the raw sensor/ADC values
communication_send_raw_data(loop_start_time);
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// UNCRITICAL SLOW 5 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(200000, COUNTER8, loop_start_time))
{
// Send buffered data such as debug text messages
communication_queued_send();
// Empty one message out of the buffer
debug_message_send_one();
// Toggle status led
//led_toggle(LED_YELLOW);
led_toggle(LED_RED); // just for green LED on alpha at the moment
// Toggle active mode led
if (global_data.state.mav_mode == MAV_MODE_MANUAL || global_data.state.mav_mode
== MAV_MODE_GUIDED || global_data.state.mav_mode == MAV_MODE_AUTO)
{
led_on(LED_GREEN);
}
else
{
led_off(LED_GREEN);
}
handle_eeprom_write_request();
handle_reset_request();
communication_send_remote_control();
// Pressure sensor driver works, but not tested regarding stability
sensors_pressure_bmp085_read_out();
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// NON-CRITICAL SLOW 20 Hz functions
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(50000, COUNTER7, loop_start_time))
{
led_toggle(LED_YELLOW);
communication_send_attitude_position(loop_start_time);
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/// NON-CRITICAL SLOW 200 Hz functions //
///////////////////////////////////////////////////////////////////////////
else if (us_run_every(5000, COUNTER5, loop_start_time))
{
if (global_data.state.status == MAV_STATE_STANDBY)
{
//Check if parameters should be written or read
param_handler();
}
}
///////////////////////////////////////////////////////////////////////////
else
{
// All Tasks are fine and we have no starvation
last_mainloop_idle = loop_start_time;
}
// Read out comm at max rate - takes only a few microseconds in worst case
communication_receive();
// MCU load measurement
uint64_t loop_stop_time = sys_time_clock_get_time_usec();
global_data.cpu_usage = measure_avg_cpu_load(loop_start_time, loop_stop_time, min_mainloop_time);
global_data.cpu_peak = measure_peak_cpu_load(loop_start_time, loop_stop_time, min_mainloop_time);
if (loop_start_time - last_mainloop_idle >= 5000)
{
debug_message_buffer(
"CRITICAL WARNING! CPU LOAD TO HIGH. STARVATION!");
last_mainloop_idle = loop_start_time;//reset to prevent multiple messages
}
if (global_data.cpu_usage > 800)
{
// CPU load higher than 80%
debug_message_buffer("CRITICAL WARNING! CPU LOAD HIGHER THAN 80%");
}
} // End while(1)
}
inline void remote_control(void)
{
static uint32_t lossCounter = 0;
if (global_data.state.mav_mode & (uint8_t) MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)
{
if (radio_control_status() == RADIO_CONTROL_ON)
{
global_data.state.remote_ok=1;
if (lossCounter > 0)
{
debug_message_buffer("REGAINED REMOTE SIGNAL AFTER LOSS!");
}
lossCounter = 0;
//get remote controll values
float gas_remote = PPM_SCALE_FACTOR * (ppm_get_channel(
global_data.param[PARAM_PPM_THROTTLE_CHANNEL]) - PPM_OFFSET);
// message_debug_send(MAVLINK_COMM_1, 12, gas_remote);
float yaw_remote = PPM_SCALE_FACTOR * (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) - PPM_CENTRE);
// message_debug_send(MAVLINK_COMM_1, 13, yaw_remote);
float nick_remote = PPM_SCALE_FACTOR * (ppm_get_channel(
global_data.param[PARAM_PPM_NICK_CHANNEL]) - PPM_CENTRE);
// message_debug_send(MAVLINK_COMM_1, 12, gas_remote);
float roll_remote = PPM_SCALE_FACTOR * (ppm_get_channel(
global_data.param[PARAM_PPM_ROLL_CHANNEL]) - PPM_CENTRE);
// message_debug_send(MAVLINK_COMM_1, 13, yaw_remote);
// if(radio_control_status()==RADIO_CONTROL_OFF){
// gas_remote=0.3;
// yaw_remote=0;
// nick_remote=0;
// roll_remote=0;
// }
//MANUAL ATTITUDE CONTROL
global_data.attitude_setpoint_remote.x = -roll_remote;
global_data.attitude_setpoint_remote.y = -nick_remote;
global_data.attitude_setpoint_remote.z = -5 * yaw_remote;// used as yaw speed!!! yaw offset1
global_data.gas_remote = gas_remote;
//MANUAL POSITION CONTROL
//TODO
// Switch on MAV_STATE_ACTIVE
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) < PPM_LOW_TRIG))
{
// //Reset YAW integration(only needed if no vision)
// global_data.attitude.z = 0;
// global_data.yaw_pos_setpoint = 0;
if (global_data.state.status != MAV_STATE_ACTIVE)
{
debug_message_buffer("MAV_STATE_ACTIVE Motors started");
//debug_message_buffer("CALIBRATING GYROS");
//start_gyro_calibration();
}
//switch on motors
global_data.state.status = MAV_STATE_ACTIVE;
global_data.state.fly = FLY_WAIT_MOTORS;
global_data.state.mav_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
//this will be done by setpoint
if (global_data.state.mav_mode & MAV_MODE_FLAG_TEST_ENABLED)
{
global_data.state.fly = FLY_FLYING;
}
}
// Switch off MAV_STATE_STANDBY
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) > PPM_HIGH_TRIG))
{
if (global_data.state.status != MAV_STATE_STANDBY)
{
debug_message_buffer("MAV_STATE_STANDBY Motors off");
}
//switch off motors
global_data.state.status = MAV_STATE_STANDBY;
global_data.state.fly = FLY_GROUNDED;
global_data.state.mav_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
}
// Start Gyro calibration left stick: left down. right stick right down.
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) > PPM_HIGH_TRIG)
&& (ppm_get_channel(
global_data.param[PARAM_PPM_NICK_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_ROLL_CHANNEL]) < PPM_LOW_TRIG))
{
start_gyro_calibration();
}
// Start capture: left down. right stick right up.
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) > PPM_HIGH_TRIG)
&& (ppm_get_channel(
global_data.param[PARAM_PPM_NICK_CHANNEL])
> PPM_HIGH_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_ROLL_CHANNEL]) < PPM_LOW_TRIG))
{
// FIXME LORENZ CAPTURE START
//should actually go to capturer not IMU
}
// Stop capture: left down. right stick right up.
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) > PPM_HIGH_TRIG)
&& (ppm_get_channel(
global_data.param[PARAM_PPM_NICK_CHANNEL])
> PPM_HIGH_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_ROLL_CHANNEL]) > PPM_HIGH_TRIG))
{
// FIXME LORENZ CAPTURE END
//should actually go to capturer not IMU
}
if (global_data.state.mav_mode & MAV_MODE_FLAG_GUIDED_ENABLED)
{
// Reset position to 0,0, mostly useful for optical flow with setpoint at 0,0
if (ppm_get_channel(global_data.param[PARAM_PPM_TUNE4_CHANNEL])
< PPM_LOW_TRIG)
{
global_data.position.x = 0;
global_data.position.y = 0;
}
}
if (global_data.state.mav_mode & MAV_MODE_FLAG_TEST_ENABLED)
{
if (ppm_get_channel(global_data.param[PARAM_PPM_TUNE1_CHANNEL])
< PPM_LOW_TRIG)
{
//z-controller disabled
global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] = 0;
}
else
{
//z-controller enabled
global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] = 1;
}
if (ppm_get_channel(global_data.param[PARAM_PPM_TUNE4_CHANNEL])
< PPM_LOW_TRIG)
{
//low - Position Hold off
global_data.param[PARAM_MIX_POSITION_WEIGHT] = 0;
global_data.param[PARAM_MIX_POSITION_YAW_WEIGHT] = 0;
global_data.position.x = 0;
global_data.position.y = 0;
}
else if (ppm_get_channel(
global_data.param[PARAM_PPM_TUNE4_CHANNEL])
> PPM_HIGH_TRIG)
{
//high - Position Hold with setpoint movement TODO
global_data.param[PARAM_MIX_POSITION_WEIGHT] = 1;
global_data.param[PARAM_MIX_POSITION_YAW_WEIGHT] = 1;
}
else
{
//center - Position Hold
global_data.param[PARAM_MIX_POSITION_WEIGHT] = 1;
global_data.param[PARAM_MIX_POSITION_YAW_WEIGHT] = 1;
}
}
// //Integrate YAW setpoint
// if (fabs(
// (ppm_get_channel(global_data.param[PARAM_PPM_GIER_CHANNEL])
// - PPM_CENTRE)) > 10)
// {
// global_data.yaw_pos_setpoint -= 0.02 * 0.03
// * (ppm_get_channel(
// global_data.param[PARAM_PPM_GIER_CHANNEL])
// - PPM_CENTRE);
// }
// Set PID VALUES
float tune2 = 1 * (ppm_get_channel(
global_data.param[PARAM_PPM_TUNE2_CHANNEL]) - 1109);
float tune3 = 1 * (ppm_get_channel(
global_data.param[PARAM_PPM_TUNE3_CHANNEL]) - 1109);
if (tune2 < 0)
{
tune2 = 0;
}
if (tune2 > 1000)
{
tune2 = 1000;
}
if (tune3 < 0)
{
tune3 = 0;
}
if (tune3 > 1000)
{
tune3 = 1000;
}
//TUNING FOR TOBIS REMOTE CONTROL
if (global_data.param[PARAM_TRIMCHAN] == 1)
{
global_data.param[PARAM_PID_ATT_P] = 0.1 * tune2;
// global_data.param[PARAM_PID_ATT_I] = 0;
global_data.param[PARAM_PID_ATT_D] = 0.1 * tune3;
}
else if (global_data.param[PARAM_TRIMCHAN] == 2)
{
global_data.param[PARAM_PID_POS_P] = 0.01 * tune2;
// global_data.param[PARAM_PID_POS_I] = 0;
global_data.param[PARAM_PID_POS_D] = 0.01 * tune3;
}
else if (global_data.param[PARAM_TRIMCHAN] == 3)
{
global_data.param[PARAM_PID_POS_Z_P] = 0.01 * tune2;
// global_data.param[PARAM_PID_POS_Z_I] = 0;
global_data.param[PARAM_PID_POS_Z_D] = 0.01 * tune3;
}
else if (global_data.param[PARAM_TRIMCHAN] == 4)
{
global_data.param[PARAM_PID_YAWSPEED_P] = 0.1 * tune2;
// global_data.param[PARAM_PID_YAWSPEED_I] = 0;
global_data.param[PARAM_PID_YAWSPEED_D] = 0.1 * tune3;
}
else if (global_data.param[PARAM_TRIMCHAN] == 5)
{
global_data.param[PARAM_PID_YAWPOS_P] = 0.1 * tune2;
// global_data.param[PARAM_PID_YAWPOS_I] = 0;
global_data.param[PARAM_PID_YAWPOS_D] = 0.1 * tune3;
}
//this is done at 10 Hz
// pid_set_parameters(&nick_controller,
// global_data.param[PARAM_PID_ATT_P],
// global_data.param[PARAM_PID_ATT_I],
// global_data.param[PARAM_PID_ATT_D],
// global_data.param[PARAM_PID_ATT_AWU]);
// pid_set_parameters(&roll_controller,
// global_data.param[PARAM_PID_ATT_P],
// global_data.param[PARAM_PID_ATT_I],
// global_data.param[PARAM_PID_ATT_D],
// global_data.param[PARAM_PID_ATT_AWU]);
//
// pid_set_parameters(&x_axis_controller,
// global_data.param[PARAM_PID_POS_P],
// global_data.param[PARAM_PID_POS_I],
// global_data.param[PARAM_PID_POS_D],
// global_data.param[PARAM_PID_POS_AWU]);
// pid_set_parameters(&y_axis_controller,
// global_data.param[PARAM_PID_POS_P],
// global_data.param[PARAM_PID_POS_I],
// global_data.param[PARAM_PID_POS_D],
// global_data.param[PARAM_PID_POS_AWU]);
//global_data.param_name[PARAM_MIX_REMOTE_WEIGHT] = 1;// add position only keep - tune3;
//global_data.param[PARAM_MIX_POSITION_WEIGHT] = 1;
if (global_data.param[PARAM_PPM_TUNE1_CHANNEL] != -1)
{
global_data.param[PARAM_CAM_ANGLE_Y_OFFSET]
= ((float) (ppm_get_channel(
global_data.param[PARAM_PPM_TUNE1_CHANNEL]))
- 1000.0f) / 1000.0f;
}
}
else
{
//No Remote signal
lossCounter++;
if (global_data.state.remote_ok == 1)
{
//Wait one round and start sinking
global_data.state.remote_ok = 0;
debug_message_buffer("No remote signal (1st time)");
}
else
{
static uint16_t countdown;
//already the second time
// Emergency Landing
if (global_data.state.fly != FLY_GROUNDED
&& global_data.state.fly != FLY_RAMP_DOWN && global_data.state.fly != FLY_LANDING)
{
debug_message_buffer_sprintf("global_data.state.fly=%i",global_data.state.fly);
sys_set_state(MAV_STATE_EMERGENCY);
global_data.state.fly = FLY_LANDING;//start landing
debug_message_buffer(
"EMERGENCY LANDING STARTED. No remote signal");
countdown = 50 * 5; // 5 seconds
}
else
{
if (global_data.state.fly == FLY_GROUNDED || global_data.state.fly == FLY_WAIT_MOTORS)
{
if (global_data.state.mav_mode & MAV_MODE_FLAG_SAFETY_ARMED)
{
if (lossCounter < 5)
{
debug_message_buffer(
"EMERGENCY LANDING FINISHED. No remote signal");
debug_message_buffer(
"EMERGENCY LANDING NOW LOCKED");
}
}
// Set to disarmed
sys_set_mode(global_data.state.mav_mode & ~MAV_MODE_FLAG_SAFETY_ARMED);
sys_set_state(MAV_STATE_STANDBY);
}
else
{
//won't come here anymore if once in locked mode
debug_message_buffer(
"EMERGENCY LANDING. No remote signal");
}
}
if((global_data.state.mav_mode & MAV_MODE_FLAG_TEST_ENABLED) && global_data.state.fly != FLY_GROUNDED){
//z-controller enabled
global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] = 1;
global_data.position_setpoint.z = global_data.position.z
+ 0.01;
global_data.param[PARAM_POSITION_SETPOINT_Z]
= global_data.position.z + 0.01;
if (countdown-- <= 1)
{
global_data.state.fly = FLY_GROUNDED;
//global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] = 0;
debug_message_buffer(
"EMERGENCY LANDING Z control finished");
}
}
}
}
}
}
/**
* @brief Send one of the buffered messages
* @param pos data from vision
*/
void vision_buffer_handle_global_data(mavlink_global_vision_position_estimate_t* pos)
{
//#define PROJECT_GLOBAL_DATA_FORWARD
#ifdef PROJECT_GLOBAL_DATA_FORWARD
if (vision_buffer_index_write == vision_buffer_index_read)
{
//buffer empty
debug_message_buffer("ERROR VIS BUF: buffer empty");
return;
}
vision_buffer_index_read = (vision_buffer_index_read + 1) % VISION_BUFFER_COUNT;
//TODO: find data and process it
uint8_t for_count = 0;
uint8_t i = vision_buffer_index_read;
for (; (vision_buffer[i].time_captured < pos->usec)
&& (vision_buffer_index_write - i != 1); i = (i + 1)
% VISION_BUFFER_COUNT)
{
if (++for_count > VISION_BUFFER_COUNT) break;
}
if (vision_buffer[i].time_captured == pos->usec)
{
//we found the right data
if (!isnumber(pos->x) || !isnumber(pos->y) || !isnumber(pos->z)
|| !isnumber(pos->roll) || !isnumber(pos->pitch) || !isnumber(pos->yaw)
|| pos->x == 0.0 || pos->y == 0.0 || pos->z == 0.0)
{
//reject invalid data
debug_message_buffer("ERROR VIS BUF: invalid data (inf,nan,0) rejected");
}
else if (fabs(vision_buffer[i].ang.x - pos->roll) < global_data.param[PARAM_VISION_ANG_OUTLAYER_TRESHOLD]
&& fabs(vision_buffer[i].ang.y - pos->pitch) < global_data.param[PARAM_VISION_ANG_OUTLAYER_TRESHOLD])
{
// Update validity time
global_data.pos_last_valid = sys_time_clock_get_time_usec();
//Pack new vision_data package
global_data.vision_data_global.time_captured
= vision_buffer[i].time_captured;
global_data.vision_data_global.comp_end = sys_time_clock_get_unix_time();
// FIXME currently visodo is not allowed to run in parallel, else race condititions!
// Project position measurement
global_data.vision_data_global.pos.x = pos->x + (global_data.position.x - vision_buffer[i].pos.x);
global_data.vision_data_global.pos.y = pos->y + (global_data.position.y - vision_buffer[i].pos.y);
global_data.vision_data_global.pos.z = pos->z + (global_data.position.z - vision_buffer[i].pos.z);
// Set roll and pitch absolutely
global_data.vision_data_global.ang.x = pos->roll;
global_data.vision_data_global.ang.y = pos->pitch;
global_data.vision_data_global.ang.z = pos->yaw;
// Project yaw
//global_data.vision_data_global.ang.z = pos->yaw-vision_buffer[i].ang.z;
for (uint8_t j = (i+1) % VISION_BUFFER_COUNT; j != i; j = (j + 1) % VISION_BUFFER_COUNT)
{
vision_buffer[j].pos.x = vision_buffer[j].pos.x + (pos->x - vision_buffer[i].pos.x);
vision_buffer[j].pos.y = vision_buffer[j].pos.y + (pos->y - vision_buffer[i].pos.y);
vision_buffer[j].pos.z = vision_buffer[j].pos.z + (pos->z - vision_buffer[i].pos.z);
}
// If yaw input from vision is enabled, feed vision
// directly into state estimator
float lpYaw = pos->yaw*0.5f+global_data.attitude.z*0.5f;
global_data.vision_global_magnetometer_replacement.x = 200.0f*lookup_cos(lpYaw);
global_data.vision_global_magnetometer_replacement.y = -200.0f*lookup_sin(lpYaw);
global_data.vision_global_magnetometer_replacement.z = 0.f;
//If yaw goes to infinity (no idea why) set it to setpoint, next time will be better
if (global_data.attitude.z > 18.8495559 || global_data.attitude.z < -18.8495559)
{
global_data.attitude.z = global_data.yaw_pos_setpoint;
debug_message_buffer("vision_buffer CRITICAL FAULT yaw was bigger than 6 PI! prevented crash");
}
global_data.vision_data_global.new_data = 1;
global_data.state.global_vision_attitude_new_data = 1;
debug_message_buffer_sprintf("vision_buffer data found skipped %i data sets", for_count);
//TODO correct also all buffer data needed if we are going to have overlapping vision data
if (global_data.param[PARAM_SEND_SLOT_DEBUG_1] == 1)
{
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 202, global_data.attitude.z);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 220, pos->x);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 221, pos->y);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 222, pos->z);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 225, pos->yaw);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 212, pos.z);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 203, pos.r1);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 204, pos.confidence);
}
}
else
{
//rejected outlier
//if (vision_buffer_reject_count++ % 16 == 0)
{
debug_message_buffer_sprintf("vision_buffer rejected outlier #%u",
vision_buffer_reject_count);
}
}
}
else
{
//we didn't find it
debug_message_buffer_sprintf("vision_buffer data NOT found skipped %i data sets", for_count);
}
vision_buffer_index_read = i;//skip all images that are older;
#else
global_data.vision_data_global.pos.x = pos->x;
global_data.vision_data_global.pos.y = pos->y;
global_data.vision_data_global.pos.z = pos->z;
//Set data from Vision directly
global_data.vision_data_global.ang.x = pos->roll;
global_data.vision_data_global.ang.y = pos->pitch;
global_data.vision_data_global.ang.z = pos->yaw;
global_data.vision_data_global.new_data = 1;
global_data.state.global_vision_attitude_new_data = 1;
#endif
mavlink_msg_global_vision_position_estimate_send(MAVLINK_COMM_0, sys_time_clock_get_unix_loop_start_time(), global_data.vision_data_global.pos.x, global_data.vision_data_global.pos.y, global_data.vision_data_global.pos.z, global_data.vision_data_global.ang.x, global_data.vision_data_global.ang.y, global_data.vision_data_global.ang.z);
}
//@{
void handle_mavlink_message(mavlink_channel_t chan,
mavlink_message_t* msg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint32_t len;
switch (chan)
{
case MAVLINK_COMM_0:
{
if (msg->msgid != MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE)
{
// Copy to COMM 1
len = mavlink_msg_to_send_buffer(buf, msg);
for (int i = 0; i < len; i++)
{
uart1_transmit(buf[i]);
}
}
}
break;
case MAVLINK_COMM_1:
{
if (msg->msgid != MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE && msg->msgid != MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE)
{
// Copy to COMM 0
len = mavlink_msg_to_send_buffer(buf, msg);
for (int i = 0; i < len; i++)
{
uart0_transmit(buf[i]);
}
break;
}
}
default:
break;
}
switch (msg->msgid)
{
case MAVLINK_MSG_ID_SET_MODE:
{
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(msg, &mode);
// Check if this system should change the mode
if (mode.target == (uint8_t)global_data.param[PARAM_SYSTEM_ID])
{
sys_set_mode(mode.mode);
// Emit current mode
mavlink_msg_sys_status_send(MAVLINK_COMM_0, global_data.state.mav_mode, global_data.state.nav_mode,
global_data.state.status, global_data.cpu_usage, global_data.battery_voltage,
global_data.motor_block, communication_get_uart_drop_rate());
mavlink_msg_sys_status_send(MAVLINK_COMM_1, global_data.state.mav_mode, global_data.state.nav_mode,
global_data.state.status, global_data.cpu_usage, global_data.battery_voltage,
global_data.motor_block, communication_get_uart_drop_rate());
}
}
break;
case MAVLINK_MSG_ID_ACTION:
{
execute_action(mavlink_msg_action_get_action(msg));
//Forwart actions from Xbee to Onboard Computer and vice versa
if (chan == MAVLINK_COMM_1)
{
mavlink_send_uart(MAVLINK_COMM_0, msg);
}
else if (chan == MAVLINK_COMM_0)
{
mavlink_send_uart(MAVLINK_COMM_1, msg);
}
}
break;
case MAVLINK_MSG_ID_SYSTEM_TIME:
{
if (!sys_time_clock_get_unix_offset())
{
int64_t offset = ((int64_t) mavlink_msg_system_time_get_time_usec(
msg)) - (int64_t) sys_time_clock_get_time_usec();
sys_time_clock_set_unix_offset(offset);
debug_message_buffer("UNIX offset updated");
}
else
{
// debug_message_buffer("UNIX offset REFUSED");
}
}
break;
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
mavlink_request_data_stream_t stream;
mavlink_msg_request_data_stream_decode(msg, &stream);
switch (stream.req_stream_id)
{
case 0: // UNIMPLEMENTED
break;
case 1: // RAW SENSOR DATA
global_data.param[PARAM_SEND_SLOT_RAW_IMU] = stream.start_stop;
break;
case 2: // EXTENDED SYSTEM STATUS
global_data.param[PARAM_SEND_SLOT_ATTITUDE] = stream.start_stop;
break;
case 3: // REMOTE CONTROL CHANNELS
global_data.param[PARAM_SEND_SLOT_REMOTE_CONTROL] = stream.start_stop;
break;
case 4: // RAW CONTROLLER
//global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
//global_data.param[PARAM_SEND_SLOT_DEBUG_3] = stream.start_stop;
global_data.param[PARAM_SEND_SLOT_CONTROLLER_OUTPUT] = stream.start_stop;
break;
case 5: // SENSOR FUSION
//LOST IN GROUDNCONTROL
// global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
break;
case 6: // POSITION
global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
break;
case 7: // EXTRA1
global_data.param[PARAM_SEND_SLOT_DEBUG_2] = stream.start_stop;
break;
case 8: // EXTRA2
global_data.param[PARAM_SEND_SLOT_DEBUG_4] = stream.start_stop;
break;
case 9: // EXTRA3
global_data.param[PARAM_SEND_SLOT_DEBUG_6] = stream.start_stop;
break;
default:
// Do nothing
break;
}
}
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
mavlink_param_request_read_t set;
mavlink_msg_param_request_read_decode(msg, &set);
// Check if this message is for this system
if ((uint8_t) set.target_system
== (uint8_t) global_data.param[PARAM_SYSTEM_ID]
&& (uint8_t) set.target_component
== (uint8_t) global_data.param[PARAM_COMPONENT_ID])
{
char* key = (char*) set.param_id;
if (set.param_id[0] == '\0')
{
// Choose parameter based on index
if (set.param_index < ONBOARD_PARAM_COUNT)
{
// Report back value
mavlink_msg_param_value_send(chan,
(int8_t*) global_data.param_name[set.param_index],
global_data.param[set.param_index], ONBOARD_PARAM_COUNT, set.param_index);
}
}
else
{
for (int i = 0; i < ONBOARD_PARAM_COUNT; i++)
{
bool match = true;
for (int j = 0; j < ONBOARD_PARAM_NAME_LENGTH; j++)
{
// Compare
if (((char) (global_data.param_name[i][j]))
!= (char) (key[j]))
{
match = false;
}
// End matching if null termination is reached
if (((char) global_data.param_name[i][j]) == '\0')
{
break;
}
}
// Check if matched
if (match)
{
// Report back value
mavlink_msg_param_value_send(chan,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
}
}
}
}
}
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// Start sending parameters
m_parameter_i = 0;
}
break;
case MAVLINK_MSG_ID_PARAM_SET:
{
mavlink_param_set_t set;
mavlink_msg_param_set_decode(msg, &set);
// Check if this message is for this system
if ((uint8_t) set.target_system
== (uint8_t) global_data.param[PARAM_SYSTEM_ID]
&& (uint8_t) set.target_component
== (uint8_t) global_data.param[PARAM_COMPONENT_ID])
{
char* key = (char*) set.param_id;
for (int i = 0; i < ONBOARD_PARAM_COUNT; i++)
{
bool match = true;
for (int j = 0; j < ONBOARD_PARAM_NAME_LENGTH; j++)
{
// Compare
if (((char) (global_data.param_name[i][j]))
!= (char) (key[j]))
{
match = false;
}
// End matching if null termination is reached
if (((char) global_data.param_name[i][j]) == '\0')
{
break;
}
}
// Check if matched
if (match)
{
// Only write and emit changes if there is actually a difference
// AND only write if new value is NOT "not-a-number"
// AND is NOT infy
if (global_data.param[i] != set.param_value
&& !isnan(set.param_value)
&& !isinf(set.param_value))
{
global_data.param[i] = set.param_value;
// Report back new value
mavlink_msg_param_value_send(MAVLINK_COMM_0,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
mavlink_msg_param_value_send(MAVLINK_COMM_1,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
debug_message_buffer_sprintf("Parameter received param id=%i",i);
}
}
}
}
}
break;
case MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET:
{
mavlink_position_control_setpoint_set_t pos;
mavlink_msg_position_control_setpoint_set_decode(msg, &pos);
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1)
{
// global_data.position_setpoint.x = pos.x;
// global_data.position_setpoint.y = pos.y;
// global_data.position_setpoint.z = pos.z;
debug_message_buffer("Position setpoint updated. OLD?\n");
}
else
{
debug_message_buffer(
"Position setpoint recieved but not updated. OLD?\n");
}
// Send back a message confirming the new position
mavlink_msg_position_control_setpoint_send(MAVLINK_COMM_0, pos.id,
pos.x, pos.y, pos.z, pos.yaw);
mavlink_msg_position_control_setpoint_send(MAVLINK_COMM_1, pos.id,
pos.x, pos.y, pos.z, pos.yaw);
}
break;
case MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET:
{
mavlink_position_control_offset_set_t set;
mavlink_msg_position_control_offset_set_decode(msg, &set);
//global_data.attitude_setpoint_pos_body_offset.z = set.yaw;
//Ball Tracking
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1 && global_data.param[PARAM_POSITION_YAW_TRACKING]==1)
{
global_data.param[PARAM_POSITION_SETPOINT_YAW]
= global_data.attitude.z + set.yaw;
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 92, set.yaw);
}
}
break;
case MAVLINK_MSG_ID_SET_CAM_SHUTTER:
{
// Decode the desired shutter
mavlink_set_cam_shutter_t cam;
mavlink_msg_set_cam_shutter_decode(msg, &cam);
shutter_set(cam.interval, cam.exposure);
debug_message_buffer_sprintf("set_cam_shutter. interval %i",
cam.interval);
}
break;
case MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL:
{
uint8_t enable = mavlink_msg_image_trigger_control_get_enable(msg);
shutter_control(enable);
if (enable)
{
debug_message_buffer("CAM: Enabling hardware trigger");
}
else
{
debug_message_buffer("CAM: Disabling hardware trigger");
}
}
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
{
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(msg, &pos);
vision_buffer_handle_data(&pos);
// Update validity time is done in vision buffer
}
break;
case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
{
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
global_data.vicon_data.x = pos.x;
global_data.vicon_data.y = pos.y;
global_data.vicon_data.z = pos.z;
global_data.state.vicon_new_data=1;
// Update validity time
global_data.vicon_last_valid = sys_time_clock_get_time_usec();
global_data.state.vicon_ok=1;
// //Set data from Vicon into vision filter
// global_data.vision_data.ang.x = pos.roll;
// global_data.vision_data.ang.y = pos.pitch;
// global_data.vision_data.ang.z = pos.yaw;
//
// global_data.vision_data.pos.x = pos.x;
// global_data.vision_data.pos.y = pos.y;
// global_data.vision_data.pos.z = pos.z;
//
// global_data.vision_data.new_data = 1;
if (!global_data.state.vision_ok)
{
//Correct YAW
global_data.attitude.z = pos.yaw;
//If yaw goes to infy (no idea why) set it to setpoint, next time will be better
if (global_data.attitude.z > 18.8495559 || global_data.attitude.z
< -18.8495559)
{
global_data.attitude.z = global_data.yaw_pos_setpoint;
debug_message_buffer(
"vicon CRITICAL FAULT yaw was bigger than 6 PI! prevented crash");
}
}
//send the vicon message to UART0 with new timestamp
mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_0, global_data.vicon_last_valid, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
}
break;
case MAVLINK_MSG_ID_PING:
{
mavlink_ping_t ping;
mavlink_msg_ping_decode(msg, &ping);
if (ping.target_system == 0 && ping.target_component == 0)
{
// Respond to ping
uint64_t r_timestamp = sys_time_clock_get_unix_time();
mavlink_msg_ping_send(chan, ping.seq, msg->sysid, msg->compid, r_timestamp);
}
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
{
mavlink_local_position_setpoint_set_t sp;
mavlink_msg_local_position_setpoint_set_decode(msg, &sp);
if (sp.target_system == global_data.param[PARAM_SYSTEM_ID])
{
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1)
{
if (sp.x >= global_data.position_setpoint_min.x && sp.y
>= global_data.position_setpoint_min.y && sp.z
>= global_data.position_setpoint_min.z && sp.x
<= global_data.position_setpoint_max.x && sp.y
<= global_data.position_setpoint_max.y && sp.z
<= global_data.position_setpoint_max.z)
{
debug_message_buffer("Setpoint accepted and set.");
global_data.param[PARAM_POSITION_SETPOINT_X] = sp.x;
global_data.param[PARAM_POSITION_SETPOINT_Y] = sp.y;
global_data.param[PARAM_POSITION_SETPOINT_Z] = sp.z;
if (global_data.param[PARAM_POSITION_YAW_TRACKING] == 0)
{
// Only update yaw if we are not tracking ball.
global_data.param[PARAM_POSITION_SETPOINT_YAW] = sp.yaw;
}
//check if we want to start or land
if (global_data.state.status == MAV_STATE_ACTIVE
|| global_data.state.status == MAV_STATE_CRITICAL)
{
if (sp.z > -0.1)
{
if (!(global_data.state.fly == FLY_GROUNDED
|| global_data.state.fly == FLY_SINKING
|| global_data.state.fly
== FLY_WAIT_LANDING
|| global_data.state.fly == FLY_LANDING
|| global_data.state.fly == FLY_RAMP_DOWN))
{
//if setpoint is lower that ground iate landing
global_data.state.fly = FLY_SINKING;
global_data.param[PARAM_POSITION_SETPOINT_Z]
= -0.2;//with lowpass
debug_message_buffer(
"Sinking for LANDING. (z-sp lower than 10cm)");
}
else if (!(global_data.state.fly == FLY_GROUNDED))
{
global_data.param[PARAM_POSITION_SETPOINT_Z]
= -0.2;//with lowpass
}
}
else if (global_data.state.fly == FLY_GROUNDED && sp.z
< -0.50)
{
//start if we were grounded and get a sp over 0.5m
global_data.state.fly = FLY_WAIT_MOTORS;
debug_message_buffer(
"STARTING wait motors. (z-sp higher than 50cm)");
//set point changed with lowpass, after 5s it will be ok.
}
}
//SINK TO 0.7m if we are critical or emergency
if (global_data.state.status == MAV_STATE_EMERGENCY
|| global_data.state.status == MAV_STATE_CRITICAL)
{
global_data.param[PARAM_POSITION_SETPOINT_Z] = -0.7;//with lowpass
}
}
else
{
debug_message_buffer("Setpoint refused. Out of range.");
}
}
else
{
debug_message_buffer("Setpoint refused. Param setpoint accept=0.");
}
}
}
break;
default:
break;
}
}
inline void remote_control(void)
{
if (global_data.state.mav_mode == (uint8_t) MAV_MODE_MANUAL || global_data.state.mav_mode
== (uint8_t) MAV_MODE_GUIDED || global_data.state.mav_mode
== (uint8_t) MAV_MODE_AUTO)
{
if (radio_control_status() == RADIO_CONTROL_ON)
{
global_data.state.remote_ok=1;
//get remote controll values
float gas_remote = PPM_SCALE_FACTOR * (ppm_get_channel(
global_data.param[PARAM_PPM_THROTTLE_CHANNEL]) - PPM_OFFSET);
// message_debug_send(MAVLINK_COMM_1, 12, gas_remote);
float yaw_remote = PPM_SCALE_FACTOR * (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) - PPM_CENTRE);
// message_debug_send(MAVLINK_COMM_1, 13, yaw_remote);
float nick_remote = PPM_SCALE_FACTOR * (ppm_get_channel(
global_data.param[PARAM_PPM_NICK_CHANNEL]) - PPM_CENTRE);
// message_debug_send(MAVLINK_COMM_1, 12, gas_remote);
float roll_remote = PPM_SCALE_FACTOR * (ppm_get_channel(
global_data.param[PARAM_PPM_ROLL_CHANNEL]) - PPM_CENTRE);
// message_debug_send(MAVLINK_COMM_1, 13, yaw_remote);
// if(radio_control_status()==RADIO_CONTROL_OFF){
// gas_remote=0.3;
// yaw_remote=0;
// nick_remote=0;
// roll_remote=0;
// }
//MANUAL ATTITUDE CONTROL
global_data.attitude_setpoint_remote.x = -roll_remote;
global_data.attitude_setpoint_remote.y = -nick_remote;
global_data.attitude_setpoint_remote.z = -5 * yaw_remote;// used as yaw speed!!! yaw offset1
global_data.gas_remote = gas_remote;
//MANUAL POSITION CONTROL
//TODO
// Switch on MAV_STATE_ACTIVE
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) < PPM_LOW_TRIG))
{
// //Reset YAW integration(only needed if no vision)
// global_data.attitude.z = 0;
// global_data.yaw_pos_setpoint = 0;
if (global_data.state.status != MAV_STATE_ACTIVE)
{
debug_message_buffer("MAV_STATE_ACTIVE Motors started");
}
//switch on motors
global_data.state.status = MAV_STATE_ACTIVE;
// global_data.state.fly = FLY_WAIT_MOTORS;
// this will be done by setpoint
}
// Switch off MAV_STATE_STANDBY
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) > PPM_HIGH_TRIG))
{
if (global_data.state.status != MAV_STATE_STANDBY)
{
debug_message_buffer("MAV_STATE_STANDBY Motors off");
}
//switch off motors
global_data.state.status = MAV_STATE_STANDBY;
}
// Start Gyro calibration left stick: left down. right stick right down.
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) > PPM_HIGH_TRIG)
&& (ppm_get_channel(
global_data.param[PARAM_PPM_NICK_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_ROLL_CHANNEL]) < PPM_LOW_TRIG))
{
start_gyro_calibration();
}
// Start capture: left down. right stick right up.
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) > PPM_HIGH_TRIG)
&& (ppm_get_channel(
global_data.param[PARAM_PPM_NICK_CHANNEL])
> PPM_HIGH_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_ROLL_CHANNEL]) < PPM_LOW_TRIG))
{
mavlink_msg_action_send(
global_data.param[PARAM_SEND_DEBUGCHAN],
global_data.param[PARAM_SYSTEM_ID],MAV_COMP_ID_IMU,
MAV_ACTION_REC_START);
//should actually go to capturer not IMU
}
// Stop capture: left down. right stick right up.
if ((ppm_get_channel(global_data.param[PARAM_PPM_THROTTLE_CHANNEL])
< PPM_LOW_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_YAW_CHANNEL]) > PPM_HIGH_TRIG)
&& (ppm_get_channel(
global_data.param[PARAM_PPM_NICK_CHANNEL])
> PPM_HIGH_TRIG) && (ppm_get_channel(
global_data.param[PARAM_PPM_ROLL_CHANNEL]) > PPM_HIGH_TRIG))
{
mavlink_msg_action_send(
global_data.param[PARAM_SEND_DEBUGCHAN],
global_data.param[PARAM_SYSTEM_ID], MAV_COMP_ID_IMU,
MAV_ACTION_REC_STOP);
//should actually go to capturer not IMU
}
// //Integrate YAW setpoint
// if (fabs(
// (ppm_get_channel(global_data.param[PARAM_PPM_GIER_CHANNEL])
// - PPM_CENTRE)) > 10)
// {
// global_data.yaw_pos_setpoint -= 0.02 * 0.03
// * (ppm_get_channel(
// global_data.param[PARAM_PPM_GIER_CHANNEL])
// - PPM_CENTRE);
// }
// Set PID VALUES
float tune2 = 1 * (ppm_get_channel(
global_data.param[PARAM_PPM_TUNE2_CHANNEL]) - 1109);
float tune3 = 1 * (ppm_get_channel(
global_data.param[PARAM_PPM_TUNE3_CHANNEL]) - 1109);
if (tune2 < 0)
{
tune2 = 0;
}
if (tune2 > 1000)
{
tune2 = 1000;
}
if (tune3 < 0)
{
tune3 = 0;
}
if (tune3 > 1000)
{
tune3 = 1000;
}
//TUNING FOR TOBIS REMOTE CONTROL
if (global_data.param[PARAM_TRIMCHAN] == 1)
{
global_data.param[PARAM_PID_ATT_P] = 0.1 * tune2;
// global_data.param[PARAM_PID_ATT_I] = 0;
global_data.param[PARAM_PID_ATT_D] = 0.1 * tune3;
}
else if (global_data.param[PARAM_TRIMCHAN] == 2)
{
global_data.param[PARAM_PID_POS_P] = 0.01 * tune2;
// global_data.param[PARAM_PID_POS_I] = 0;
global_data.param[PARAM_PID_POS_D] = 0.01 * tune3;
}
else if (global_data.param[PARAM_TRIMCHAN] == 3)
{
global_data.param[PARAM_PID_POS_Z_P] = 0.01 * tune2;
// global_data.param[PARAM_PID_POS_Z_I] = 0;
global_data.param[PARAM_PID_POS_Z_D] = 0.01 * tune3;
}
else if (global_data.param[PARAM_TRIMCHAN] == 4)
{
global_data.param[PARAM_PID_YAWSPEED_P] = 0.1 * tune2;
// global_data.param[PARAM_PID_YAWSPEED_I] = 0;
global_data.param[PARAM_PID_YAWSPEED_D] = 0.1 * tune3;
}
else if (global_data.param[PARAM_TRIMCHAN] == 5)
{
global_data.param[PARAM_PID_YAWPOS_P] = 0.1 * tune2;
// global_data.param[PARAM_PID_YAWPOS_I] = 0;
global_data.param[PARAM_PID_YAWPOS_D] = 0.1 * tune3;
}
//this is done at 10 Hz
// pid_set_parameters(&nick_controller,
// global_data.param[PARAM_PID_ATT_P],
// global_data.param[PARAM_PID_ATT_I],
// global_data.param[PARAM_PID_ATT_D],
// global_data.param[PARAM_PID_ATT_AWU]);
// pid_set_parameters(&roll_controller,
// global_data.param[PARAM_PID_ATT_P],
// global_data.param[PARAM_PID_ATT_I],
// global_data.param[PARAM_PID_ATT_D],
// global_data.param[PARAM_PID_ATT_AWU]);
//
// pid_set_parameters(&x_axis_controller,
// global_data.param[PARAM_PID_POS_P],
// global_data.param[PARAM_PID_POS_I],
// global_data.param[PARAM_PID_POS_D],
// global_data.param[PARAM_PID_POS_AWU]);
// pid_set_parameters(&y_axis_controller,
// global_data.param[PARAM_PID_POS_P],
// global_data.param[PARAM_PID_POS_I],
// global_data.param[PARAM_PID_POS_D],
// global_data.param[PARAM_PID_POS_AWU]);
//global_data.param_name[PARAM_MIX_REMOTE_WEIGHT] = 1;// add position only keep - tune3;
//global_data.param[PARAM_MIX_POSITION_WEIGHT] = 1;
if (global_data.param[PARAM_PPM_TUNE1_CHANNEL] != -1)
{
global_data.param[PARAM_CAM_ANGLE_Y_OFFSET]
= ((float) (ppm_get_channel(
global_data.param[PARAM_PPM_TUNE1_CHANNEL]))
- 1000.0f) / 1000.0f;
}
}
else
{
//No Remote signal
if (global_data.state.remote_ok == 1)
{
//Wait one round and start sinking
global_data.state.remote_ok = 0;
debug_message_buffer("No remote signal (1st time)");
}
else
{
//already the second time
// Emergency Landing
if (global_data.state.fly != FLY_GROUNDED
&& global_data.state.fly != FLY_RAMP_DOWN)
{
sys_set_state(MAV_STATE_EMERGENCY);
global_data.state.fly = FLY_LANDING;//start landing
debug_message_buffer(
"EMERGENCY LANDING STARTED. No remote signal");
}
else
{
if (global_data.state.fly == FLY_GROUNDED)
{
sys_set_mode(MAV_MODE_LOCKED);
sys_set_state(MAV_STATE_STANDBY);
debug_message_buffer(
"EMERGENCY LANDING FINISHED. No remote signal");
debug_message_buffer(
"EMERGENCY LANDING NOW LOCKED");
}
else
{
//won't come here anymore if once in locked mode
debug_message_buffer(
"EMERGENCY LANDING. No remote signal");
}
}
}
}
}
}
/**
* @brief Receive communication packets and handle them
*
* This function decodes packets on the protocol level and also handles
* their value by calling the appropriate functions.
*/
void communication_receive(void)
{
mavlink_message_t msg;
mavlink_status_t status =
{ 0 };
status.packet_rx_drop_count = 0;
// COMMUNICATION WITH ONBOARD COMPUTER
while (uart0_char_available())
{
uint8_t c = uart0_get_char();
if (global_data.state.uart0mode == UART_MODE_MAVLINK)
{
// Try to get a new message
if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status))
{
// Handle message
handle_mavlink_message(MAVLINK_COMM_0, &msg);
}
}
else if (global_data.state.uart0mode == UART_MODE_BYTE_FORWARD)
{
uart1_transmit(c);
}
// And get the next one
}
// Update global packet drops counter
global_data.comm.uart0_rx_drop_count += status.packet_rx_drop_count;
global_data.comm.uart0_rx_success_count += status.packet_rx_success_count;
status.packet_rx_drop_count = 0;
// COMMUNICATION WITH EXTERNAL COMPUTER
while (uart1_char_available())
{
uint8_t c = uart1_get_char();
// Check if this link is used for MAVLink or GPS
if (global_data.state.uart1mode == UART_MODE_MAVLINK)
{
//uart0_transmit((unsigned char)c);
// Try to get a new message
if (mavlink_parse_char(MAVLINK_COMM_1, c, &msg, &status))
{
// Handle message
handle_mavlink_message(MAVLINK_COMM_1, &msg);
}
}
else if (global_data.state.uart1mode == UART_MODE_GPS)
{
if (global_data.state.gps_mode == 10)
{
static uint8_t gps_i = 0;
static char gps_chars[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
if (c == '$' || gps_i == MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN
- 1)
{
gps_i = 0;
char gps_chars_buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
strncpy(gps_chars_buf, gps_chars,
MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
debug_message_buffer(gps_chars_buf);
}
gps_chars[gps_i++] = c;
}
if (gps_parse(c))
{
// New GPS data received
//debug_message_buffer("RECEIVED NEW GPS DATA");
parse_gps_msg();
if (gps_lat == 0)
{
global_data.state.gps_ok = 0;
//debug_message_buffer("GPS Signal Lost");
}
else
{
global_data.state.gps_ok = 1;
mavlink_msg_gps_raw_send(
global_data.param[PARAM_SEND_DEBUGCHAN],
sys_time_clock_get_unix_time(), gps_mode, gps_lat
/ 1e7f, gps_lon / 1e7f, gps_alt / 100.0f,
0.0f, 0.0f, gps_gspeed / 100.0f, gps_course / 10.0f);
}
// // Output satellite info
// for (int i = 0; i < gps_nb_channels; i++)
// {
// mavlink_msg_gps_status_send(global_data.param[PARAM_SEND_DEBUGCHAN], gps_numSV, gps_svinfos[i].svid, gps_satellite_used(gps_svinfos[i].qi), gps_svinfos[i].elev, ((gps_svinfos[i].azim/360.0f)*255.0f), gps_svinfos[i].cno);
// }
}
}
else if (global_data.state.uart1mode == UART_MODE_BYTE_FORWARD)
{
uart0_transmit(c);
led_toggle(LED_YELLOW);
}
// And get the next one
}
// Update global packet drops counter
global_data.comm.uart0_rx_drop_count += status.packet_rx_drop_count;
global_data.comm.uart0_rx_success_count += status.packet_rx_success_count;
status.packet_rx_drop_count = 0;
}
/**
* @brief Initialize the whole system
*
* All functions that need to be called before the first mainloop iteration
* should be placed here.
*/
void main_init_generic(void)
{
// Reset to safe values
global_data_reset();
// Load default eeprom parameters as fallback
global_data_reset_param_defaults();
// LOWLEVEL INIT, ONLY VERY BASIC SYSTEM FUNCTIONS
hw_init();
enableIRQ();
led_init();
led_on(LED_GREEN);
buzzer_init();
sys_time_init();
sys_time_periodic_init();
sys_time_clock_init();
ppm_init();
pwm_init();
// Lowlevel periphel support init
adc_init();
// FIXME SDCARD
// MMC_IO_Init();
spi_init();
i2c_init();
// Sensor init
sensors_init();
debug_message_buffer("Sensor initialized");
// Shutter init
shutter_init();
shutter_control(0);
// Debug output init
debug_message_init();
debug_message_buffer("Text message buffer initialized");
// MEDIUM LEVEL INIT, INITIALIZE I2C, EEPROM, WAIT FOR MOTOR CONTROLLERS
// Try to reach the EEPROM
eeprom_check_start();
// WAIT FOR 2 SECONDS FOR THE USER TO NOT TOUCH THE UNIT
while (sys_time_clock_get_time_usec() < 2000000)
{
}
// Do the auto-gyro calibration for 1 second
// Get current temperature
led_on(LED_RED);
gyro_init();
// uint8_t timeout = 3;
// // Check for SD card
// while (sys_time_clock_get_time_usec() < 2000000)
// {
// while (GetDriveInformation() != F_OK && timeout--)
// {
// debug_message_buffer("MMC/SD-Card not found ! retrying..");
// }
// }
//
// if (GetDriveInformation() == F_OK)
// {
// debug_message_buffer("MMC/SD-Card SUCCESS: FOUND");
// }
// else
// {
// debug_message_buffer("MMC/SD-Card FAILURE: NOT FOUND");
// }
//FIXME redo init because of SD driver decreasing speed
//spi_init();
led_off(LED_RED);
// Stop trying to reach the EEPROM - if it has not been found by now, assume
// there is no EEPROM mounted
if (eeprom_check_ok())
{
param_read_all();
debug_message_buffer("EEPROM detected - reading parameters from EEPROM");
for (int i = 0; i < ONBOARD_PARAM_COUNT * 2 + 20; i++)
{
param_handler();
//sleep 1 ms
sys_time_wait(1000);
}
}
else
{
debug_message_buffer("NO EEPROM - reading onboard parameters from FLASH");
}
// Set mavlink system
mavlink_system.compid = MAV_COMP_ID_IMU;
mavlink_system.sysid = global_data.param[PARAM_SYSTEM_ID];
//Magnet sensor
hmc5843_init();
acc_init();
// Comm parameter init
mavlink_system.sysid = global_data.param[PARAM_SYSTEM_ID]; // System ID, 1-255
mavlink_system.compid = global_data.param[PARAM_COMPONENT_ID]; // Component/Subsystem ID, 1-255
// Comm init has to be
// AFTER PARAM INIT
comm_init(MAVLINK_COMM_0);
comm_init(MAVLINK_COMM_1);
// UART initialized, now initialize COMM peripherals
communication_init();
gps_init();
us_run_init();
servos_init();
//position_kalman3_init();
// Calibration starts (this can take a few seconds)
// led_on(LED_GREEN);
// led_on(LED_RED);
// Read out first time battery
global_data.battery_voltage = battery_get_value();
global_data.state.mav_mode = MAV_MODE_PREFLIGHT;
global_data.state.status = MAV_STATE_CALIBRATING;
send_system_state();
float_vect3 init_state_accel;
init_state_accel.x = 0.0f;
init_state_accel.y = 0.0f;
init_state_accel.z = -1000.0f;
float_vect3 init_state_magnet;
init_state_magnet.x = 1.0f;
init_state_magnet.y = 0.0f;
init_state_magnet.z = 0.0f;
//auto_calibration();
attitude_observer_init(init_state_accel, init_state_magnet);
debug_message_buffer("Attitude Filter initialized");
led_on(LED_RED);
send_system_state();
debug_message_buffer("System is initialized");
// Calibration stopped
led_off(LED_RED);
global_data.state.mav_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
global_data.state.status = MAV_STATE_STANDBY;
send_system_state();
debug_message_buffer("Checking if remote control is switched on:");
// Initialize remote control status
remote_control();
remote_control();
if (radio_control_status() == RADIO_CONTROL_ON && global_data.state.remote_ok)
{
global_data.state.mav_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED;
debug_message_buffer("RESULT: remote control switched ON");
debug_message_buffer("Now in MAV_MODE_TEST2 position hold tobi_laurens");
led_on(LED_GREEN);
}
else
{
global_data.state.mav_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
debug_message_buffer("RESULT: remote control switched OFF");
led_off(LED_GREEN);
}
}