void Copter::init_ardupilot()
{
if (!hal.gpio->usb_connected()) {
// USB is not connected, this means UART0 may be a Xbee, with
// its darned bricking problem. We can't write to it for at
// least one second after powering up. Simplest solution for
// now is to delay for 1 second. Something more elegant may be
// added later
delay(1000);
}
// initialise serial port
serial_manager.init_console();
// init vehicle capabilties
init_capabilities();
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());
//
// Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
//
report_version();
// load parameters from EEPROM
load_parameters();
BoardConfig.init();
// initialise serial port
serial_manager.init();
// init EPM cargo gripper
#if EPM_ENABLED == ENABLED
epm.init();
#endif
// initialise notify system
// disable external leds if epm is enabled because of pin conflict on the APM
notify.init(true);
// initialise battery monitor
battery.init();
// Init RSSI
rssi.init();
barometer.init();
// Register the mavlink service callback. This will run
// anytime there are more than 5ms remaining in a call to
// hal.scheduler->delay.
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
ap.usb_connected = true;
check_usb_mux();
// init the GCS connected to the console
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// init telemetry port
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
// setup serial port for fourth telemetry port (not used by default)
gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
#if FRSKY_TELEM_ENABLED == ENABLED
// setup frsky
frsky_telemetry.init(serial_manager);
#endif
// identify ourselves correctly with the ground station
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
GCS_MAVLINK::set_dataflash(&DataFlash);
// update motor interlock state
update_using_interlock();
#if FRAME_CONFIG == HELI_FRAME
// trad heli specific initialisation
heli_init();
#endif
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up motors and output to escs
// initialise which outputs Servo and Relay events can use
ServoRelayEvents.set_channel_mask(~motors.get_motor_mask());
relay.init();
/*
* setup the 'main loop is dead' check. Note that this relies on
* the RC library being initialised.
*/
hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
// Do GPS init
gps.init(&DataFlash, serial_manager);
if(g.compass_enabled)
init_compass();
#if OPTFLOW == ENABLED
// make optflow available to AHRS
ahrs.set_optflow(&optflow);
#endif
// init Location class
Location_Class::set_ahrs(&ahrs);
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
Location_Class::set_terrain(&terrain);
wp_nav.set_terrain(&terrain);
#endif
pos_control.set_dt(MAIN_LOOP_SECONDS);
// init the optical flow sensor
init_optflow();
#if MOUNT == ENABLED
// initialise camera mount
camera_mount.init(&DataFlash, serial_manager);
#endif
#if PRECISION_LANDING == ENABLED
// initialise precision landing
init_precland();
#endif
#ifdef USERHOOK_INIT
USERHOOK_INIT
#endif
#if CLI_ENABLED == ENABLED
if (g.cli_enabled) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println(msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println(msg);
}
}
#endif // CLI_ENABLED
#if HIL_MODE != HIL_MODE_DISABLED
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
// HIL_STATE message
gcs_send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
delay(1000);
}
// set INS to HIL mode
ins.set_hil_mode();
#endif
// read Baro pressure at ground
//-----------------------------
init_barometer(true);
// initialise sonar
#if CONFIG_SONAR == ENABLED
init_sonar();
#endif
// initialise AP_RPM library
rpm_sensor.init();
// initialise mission library
mission.init();
// initialise the flight mode and aux switch
// ---------------------------
reset_control_switch();
init_aux_switches();
startup_INS_ground();
// set landed flags
set_land_complete(true);
set_land_complete_maybe(true);
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
// ready to fly
serial_manager.set_blocking_writes_all(false);
// enable CPU failsafe
failsafe_enable();
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
cliSerial->print("\nReady to FLY ");
// flag that initialisation has completed
ap.initialised = true;
}
int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
{
init_sonar();
delay(20);
sonar.update();
if (sonar.status() == RangeFinder::RangeFinder_NotConnected) {
cliSerial->println("WARNING: Sonar is not enabled");
}
print_hit_enter();
float sonar_dist_cm_min = 0.0f;
float sonar_dist_cm_max = 0.0f;
float voltage_min=0.0f, voltage_max = 0.0f;
float sonar2_dist_cm_min = 0.0f;
float sonar2_dist_cm_max = 0.0f;
float voltage2_min=0.0f, voltage2_max = 0.0f;
uint32_t last_print = 0;
while (true) {
delay(20);
sonar.update();
uint32_t now = millis();
float dist_cm = sonar.distance_cm(0);
float voltage = sonar.voltage_mv(0);
if (is_zero(sonar_dist_cm_min)) {
sonar_dist_cm_min = dist_cm;
voltage_min = voltage;
}
sonar_dist_cm_max = MAX(sonar_dist_cm_max, dist_cm);
sonar_dist_cm_min = MIN(sonar_dist_cm_min, dist_cm);
voltage_min = MIN(voltage_min, voltage);
voltage_max = MAX(voltage_max, voltage);
dist_cm = sonar.distance_cm(1);
voltage = sonar.voltage_mv(1);
if (is_zero(sonar2_dist_cm_min)) {
sonar2_dist_cm_min = dist_cm;
voltage2_min = voltage;
}
sonar2_dist_cm_max = MAX(sonar2_dist_cm_max, dist_cm);
sonar2_dist_cm_min = MIN(sonar2_dist_cm_min, dist_cm);
voltage2_min = MIN(voltage2_min, voltage);
voltage2_max = MAX(voltage2_max, voltage);
if (now - last_print >= 200) {
cliSerial->printf("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n",
(double)sonar_dist_cm_min,
(double)sonar_dist_cm_max,
(double)voltage_min,
(double)voltage_max,
(double)sonar2_dist_cm_min,
(double)sonar2_dist_cm_max,
(double)voltage2_min,
(double)voltage2_max);
voltage_min = voltage_max = 0.0f;
voltage2_min = voltage2_max = 0.0f;
sonar_dist_cm_min = sonar_dist_cm_max = 0.0f;
sonar2_dist_cm_min = sonar2_dist_cm_max = 0.0f;
last_print = now;
}
if (cliSerial->available() > 0) {
break;
}
}
return (0);
}
void Rover::init_ardupilot()
{
// initialise console serial port
serial_manager.init_console();
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
hal.util->available_memory());
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
load_parameters();
BoardConfig.init();
// initialise serial ports
serial_manager.init();
ServoRelayEvents.set_channel_mask(0xFFF0);
set_control_channels();
battery.init();
// keep a record of how many resets have happened. This can be
// used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1);
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// init the GCS
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
// setup serial port for telem1
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
// setup serial port for fourth telemetry port (not used by default)
gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
// setup frsky telemetry
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.init(serial_manager);
#endif
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
if (g.compass_enabled==true) {
if (!compass.init()|| !compass.read()) {
cliSerial->println("Compass initialisation failed!");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
//compass.get_offsets(); // load offsets to account for airframe magnetic interference
}
}
// initialise sonar
init_sonar();
// and baro for EKF
init_barometer();
// Do GPS init
gps.init(&DataFlash, serial_manager);
rc_override_active = hal.rcin->set_overrides(rc_override, 8);
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
relay.init();
#if MOUNT == ENABLED
// initialise camera mount
camera_mount.init(serial_manager);
#endif
/*
setup the 'main loop is dead' check. Note that this relies on
the RC library being initialised.
*/
hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
#if CLI_ENABLED == ENABLED
// If the switch is in 'menu' mode, run the main menu.
//
// Since we can't be sure that the setup or test mode won't leave
// the system in an odd state, we don't let the user exit the top
// menu; they must reset in order to fly.
//
if (g.cli_enabled == 1) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println(msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println(msg);
}
}
#endif
init_capabilities();
startup_ground();
set_mode((enum mode)g.initial_mode.get());
// set the correct flight mode
// ---------------------------
reset_control_switch();
}
