/*******************************************************************************
* PRIVATE FUNCTION: test_uart1a
*
* PARAMETERS:
* ~ void
*
* RETURN:
* ~ void
*
* DESCRIPTIONS:
* Test the UART1 Alternative.
*
*******************************************************************************/
void test_uart1a(void)
{
unsigned char i = 0;
while (SW1==1) // Loop until SW1 is press
{
lcd_clear();
lcd_putstr("SW1 test UART1A\nConnect UC00A");
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
lcd_clear();
lcd_putstr("TX Selector=TX1A\nRX Selector=RX1A");
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
lcd_clear();
lcd_putstr(arr_hyperterminal);
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
}//while (SW1 == 1)
while(SW1==0); //wait for SW1 to be release
uart1a_initialize(); // initialize UART1A
lcd_clear();
lcd_putstr(arr_enter);
// Sending message to the PC through UART1
uart1_transmit(0x0C); //clear HyperTerminal
uart1_putstr(arr_thanks);
uart1_putstr("\r\n\nDemo UART1 Alternative on SKds40A...\r\n");
uart1_putstr(arr_keyboard);
uart1_putstr(arr_echo);
uart1_putstr(arr_enter_keyboard);
do {
c_received_data = uc_uart1_receive(); //echo what is received
LED1 = ~LED1; // toggle LED 1
uart1_transmit(c_received_data);
}
while (c_received_data != '\r' && c_received_data != '\n');
// Sending message to the PC.
uart1_putstr("\r\n\nUART1 Alternative Demo Completed.\r\n");
LED1 = 0;
beep(2);
lcd_clear();
lcd_putstr("UART1 Alternative\nPass!");
delay_ms(500);
}
/*******************************************************************************
* PRIVATE FUNCTION: test_uart1a
*
* PARAMETERS:
* ~ void
*
* RETURN:
* ~ void
*
* DESCRIPTIONS:
* Test the UART1 Alternative.
*
*******************************************************************************/
void test_uart1a(void)
{
unsigned char i = 0;
while (SW1==1) // Loop until SW1 is press
{
lcd_clear();
lcd_putstr("SW1 test UART1A\nConnect UC00A");
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
lcd_clear();
lcd_putstr("TX Selector=TX1A\nRX Selector=RX1A");
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
lcd_clear();
lcd_putstr("HyperTerminal\n9600, 8, N, 1");
for (i = 0; i < 50; i++)
{
if(SW1 == 0) break;
delay_ms(30);
}
}//while (SW1 == 1)
while(SW1==0); //wait for SW1 to be release
uart1a_initialize(); // initialize UART1A
lcd_clear();
lcd_putstr("Press enter on\nkeyboard to exit");
// Sending message to the PC through UART1
uart1_transmit(0x0C); //clear HyperTerminal
uart1_putstr("\r\n\nThanks for using Cytron Technologies product\r\n");
uart1_putstr("\r\n\nDemo UART1 Alternative on SKds40A...\r\n");
uart1_putstr("Press any key on keyboard to demo.\r\n");
uart1_putstr("It will be echo back to HyperTerminal.\r\n");
uart1_putstr("Press enter to exit.\r\n\n");
do {
c_received_data = uc_uart1_receive(); //echo what is received
LED1 = ~LED1; // toggle LED 1
uart1_transmit(c_received_data);
}
while (c_received_data != '\r' && c_received_data != '\n');
// Sending message to the PC.
uart1_putstr("\r\n\nUART1 Alternative Demo Completed.\r\n");
LED1 = 0;
beep(2);
lcd_clear();
lcd_putstr("UART1 Alternative\nPass!");
delay_ms(500);
}
/*******************************************************************************
* PUBLIC FUNCTION: uart1_putstr
*
* PARAMETERS:
* ~ csz_string - The null terminated string to transmit.
*
* RETURN:
* ~ void
*
* DESCRIPTIONS:
* Transmit a string using the UART1.
*
*******************************************************************************/
void uart1_putstr(const char* csz_string)
{
// Loop until the end of string.
while (*csz_string != '\0') {
uart1_transmit(*csz_string);
// Point to next character.
csz_string++;
}
}
/**
* @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;
}
//@{
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;
}
}
/**
* @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)
}