Esempio n. 1
0
void autopilot_periodic(void) {

  RunOnceEvery(NAV_PRESCALER, nav_periodic_task());
#ifdef FAILSAFE_GROUND_DETECT
  if (autopilot_mode == AP_MODE_FAILSAFE && autopilot_detect_ground) {
    autopilot_set_mode(AP_MODE_KILL);
    autopilot_detect_ground = FALSE;
  }
#endif
  if ( !autopilot_motors_on ||
#ifndef FAILSAFE_GROUND_DETECT
       autopilot_mode == AP_MODE_FAILSAFE ||
#endif
       autopilot_mode == AP_MODE_KILL ) {
    SetCommands(commands_failsafe,
		autopilot_in_flight, autopilot_motors_on);
  }
  else {
    guidance_v_run( autopilot_in_flight );
    guidance_h_run( autopilot_in_flight );
    SetCommands(stabilization_cmd,
        autopilot_in_flight, autopilot_motors_on);
  }
#ifdef AUTOPILOT_LOBATT_WING_WAGGLE
  if (electrical.vsupply < (MIN_BAT_LEVEL * 10)){
    RunOnceEvery(autopilot_lobatt_wing_waggle_interval,{setpoint_lobatt_wing_waggle_num=0;})
  }
Esempio n. 2
0
void autopilot_periodic(void) {

  RunOnceEvery(NAV_PRESCALER, nav_periodic_task());
#ifdef FAILSAFE_GROUND_DETECT
  if (autopilot_mode == AP_MODE_FAILSAFE && autopilot_detect_ground) {
    autopilot_set_mode(AP_MODE_KILL);
    autopilot_detect_ground = FALSE;
  }
#endif
  if ( !autopilot_motors_on ||
#ifndef FAILSAFE_GROUND_DETECT
       autopilot_mode == AP_MODE_FAILSAFE ||
#endif
       autopilot_mode == AP_MODE_KILL ) {
    SetCommands(commands_failsafe,
		autopilot_in_flight, autopilot_motors_on);
  }
  else {
    guidance_v_run( autopilot_in_flight );
    guidance_h_run( autopilot_in_flight );
    SetCommands(stabilization_cmd,
        autopilot_in_flight, autopilot_motors_on);
  }

}
Esempio n. 3
0
void autopilot_periodic(void)
{

  RunOnceEvery(NAV_PRESCALER, compute_dist2_to_home());

  if (autopilot_in_flight && autopilot_mode == AP_MODE_NAV) {
    if (too_far_from_home || datalink_lost() || higher_than_max_altitude()) {
      if (dist2_to_home > failsafe_mode_dist2) {
        autopilot_set_mode(FAILSAFE_MODE_TOO_FAR_FROM_HOME);
      } else {
        autopilot_set_mode(AP_MODE_HOME);
      }
    }
  }

  if (autopilot_mode == AP_MODE_HOME) {
    RunOnceEvery(NAV_PRESCALER, nav_home());
  } else {
    // otherwise always call nav_periodic_task so that carrot is always updated in GCS for other modes
    RunOnceEvery(NAV_PRESCALER, nav_periodic_task());
  }


  /* If in FAILSAFE mode and either already not in_flight anymore
   * or just "detected" ground, go to KILL mode.
   */
  if (autopilot_mode == AP_MODE_FAILSAFE) {
    if (!autopilot_in_flight) {
      autopilot_set_mode(AP_MODE_KILL);
    }

#if FAILSAFE_GROUND_DETECT
    INFO("Using FAILSAFE_GROUND_DETECT: KILL")
    if (autopilot_ground_detected) {
      autopilot_set_mode(AP_MODE_KILL);
    }
#endif
  }

  /* Reset ground detection _after_ running flight plan
   */
  if (!autopilot_in_flight) {
    autopilot_ground_detected = false;
    autopilot_detect_ground_once = false;
  }

  /* Set fixed "failsafe" commands from airframe file if in KILL mode.
   * If in FAILSAFE mode, run normal loops with failsafe attitude and
   * downwards velocity setpoints.
   */
  if (autopilot_mode == AP_MODE_KILL) {
    SetCommands(commands_failsafe);
  } else {
    guidance_v_run(autopilot_in_flight);
    guidance_h_run(autopilot_in_flight);
    SetRotorcraftCommands(stabilization_cmd, autopilot_in_flight, autopilot_motors_on);
  }

}
Esempio n. 4
0
void autopilot_periodic(void) {

  if (autopilot_in_flight) {
    if (too_far_from_home) {
      if (dist2_to_home > failsafe_mode_dist2)
        autopilot_set_mode(FAILSAFE_MODE_TOO_FAR_FROM_HOME);
      else
        autopilot_set_mode(AP_MODE_HOME);
    }
  }

  if (autopilot_mode == AP_MODE_HOME) {
    RunOnceEvery(NAV_PRESCALER, nav_home());
  }
  else {
    RunOnceEvery(NAV_PRESCALER, nav_periodic_task());
  }


  /* If in FAILSAFE mode and either already not in_flight anymore
   * or just "detected" ground, go to KILL mode.
   */
  if (autopilot_mode == AP_MODE_FAILSAFE) {
    if (!autopilot_in_flight)
      autopilot_set_mode(AP_MODE_KILL);

#if FAILSAFE_GROUND_DETECT
INFO("Using FAILSAFE_GROUND_DETECT: KILL")
    if (autopilot_ground_detected)
      autopilot_set_mode(AP_MODE_KILL);
#endif
  }

  /* Reset ground detection _after_ running flight plan
   */
  if (!autopilot_in_flight || autopilot_ground_detected) {
    autopilot_ground_detected = FALSE;
    autopilot_detect_ground_once = FALSE;
  }

  /* Set fixed "failsafe" commands from airframe file if in KILL mode.
   * If in FAILSAFE mode, run normal loops with failsafe attitude and
   * downwards velocity setpoints.
   */
  if (autopilot_mode == AP_MODE_KILL) {
    SetCommands(commands_failsafe);
  }
  else {
    guidance_v_run( autopilot_in_flight );
    guidance_h_run( autopilot_in_flight );
    SetRotorcraftCommands(stabilization_cmd, autopilot_in_flight, autopilot_motors_on);
  }

}
Esempio n. 5
0
void autopilot_periodic(void) {

  RunOnceEvery(NAV_PRESCALER, nav_periodic_task());
#if FAILSAFE_GROUND_DETECT
INFO("Using FAILSAFE_GROUND_DETECT")
  if (autopilot_mode == AP_MODE_FAILSAFE && autopilot_detect_ground) {
    autopilot_set_mode(AP_MODE_KILL);
    autopilot_detect_ground = FALSE;
  }
#endif

  /* set failsafe commands, if in FAILSAFE or KILL mode */
#if !FAILSAFE_GROUND_DETECT
  if (autopilot_mode == AP_MODE_KILL ||
      autopilot_mode == AP_MODE_FAILSAFE) {
#else
  if (autopilot_mode == AP_MODE_KILL) {
#endif
    SetCommands(commands_failsafe);
  }
  else {
    guidance_v_run( autopilot_in_flight );
    guidance_h_run( autopilot_in_flight );
    SetRotorcraftCommands(stabilization_cmd, autopilot_in_flight, autopilot_motors_on);
  }

}


void autopilot_set_mode(uint8_t new_autopilot_mode) {

  /* force kill mode as long as AHRS is not aligned */
  if (!ahrs_is_aligned())
    new_autopilot_mode = AP_MODE_KILL;

  if (new_autopilot_mode != autopilot_mode) {
    /* horizontal mode */
    switch (new_autopilot_mode) {
      case AP_MODE_FAILSAFE:
#ifndef KILL_AS_FAILSAFE
        stab_att_sp_euler.phi = 0;
        stab_att_sp_euler.theta = 0;
        guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
        break;
#endif
      case AP_MODE_KILL:
        autopilot_set_motors_on(FALSE);
        autopilot_in_flight = FALSE;
        autopilot_in_flight_counter = 0;
        guidance_h_mode_changed(GUIDANCE_H_MODE_KILL);
        break;
      case AP_MODE_RC_DIRECT:
        guidance_h_mode_changed(GUIDANCE_H_MODE_RC_DIRECT);
        break;
      case AP_MODE_RATE_DIRECT:
      case AP_MODE_RATE_Z_HOLD:
        guidance_h_mode_changed(GUIDANCE_H_MODE_RATE);
        break;
      case AP_MODE_ATTITUDE_RC_CLIMB:
      case AP_MODE_ATTITUDE_DIRECT:
      case AP_MODE_ATTITUDE_CLIMB:
      case AP_MODE_ATTITUDE_Z_HOLD:
        guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
        break;
      case AP_MODE_FORWARD:
        guidance_h_mode_changed(GUIDANCE_H_MODE_FORWARD);
        break;
      case AP_MODE_CARE_FREE_DIRECT:
        guidance_h_mode_changed(GUIDANCE_H_MODE_CARE_FREE);
        break;
      case AP_MODE_HOVER_DIRECT:
      case AP_MODE_HOVER_CLIMB:
      case AP_MODE_HOVER_Z_HOLD:
        guidance_h_mode_changed(GUIDANCE_H_MODE_HOVER);
        break;
      case AP_MODE_NAV:
        guidance_h_mode_changed(GUIDANCE_H_MODE_NAV);
        break;
      default:
        break;
    }
    /* vertical mode */
    switch (new_autopilot_mode) {
      case AP_MODE_FAILSAFE:
#ifndef KILL_AS_FAILSAFE
        guidance_v_zd_sp = SPEED_BFP_OF_REAL(0.5);
        guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB);
        break;
#endif
      case AP_MODE_KILL:
        guidance_v_mode_changed(GUIDANCE_V_MODE_KILL);
        break;
      case AP_MODE_RC_DIRECT:
      case AP_MODE_RATE_DIRECT:
      case AP_MODE_ATTITUDE_DIRECT:
      case AP_MODE_HOVER_DIRECT:
      case AP_MODE_CARE_FREE_DIRECT:
      case AP_MODE_FORWARD:
        guidance_v_mode_changed(GUIDANCE_V_MODE_RC_DIRECT);
        break;
      case AP_MODE_RATE_RC_CLIMB:
      case AP_MODE_ATTITUDE_RC_CLIMB:
        guidance_v_mode_changed(GUIDANCE_V_MODE_RC_CLIMB);
        break;
      case AP_MODE_ATTITUDE_CLIMB:
      case AP_MODE_HOVER_CLIMB:
        guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB);
        break;
      case AP_MODE_RATE_Z_HOLD:
      case AP_MODE_ATTITUDE_Z_HOLD:
      case AP_MODE_HOVER_Z_HOLD:
        guidance_v_mode_changed(GUIDANCE_V_MODE_HOVER);
        break;
      case AP_MODE_NAV:
        guidance_v_mode_changed(GUIDANCE_V_MODE_NAV);
        break;
      default:
        break;
    }
    autopilot_mode = new_autopilot_mode;
  }

}


static inline void autopilot_check_in_flight( bool_t motors_on ) {
  if (autopilot_in_flight) {
    if (autopilot_in_flight_counter > 0) {
      if (THROTTLE_STICK_DOWN()) {
        autopilot_in_flight_counter--;
        if (autopilot_in_flight_counter == 0) {
          autopilot_in_flight = FALSE;
        }
      }
      else {	/* !THROTTLE_STICK_DOWN */
        autopilot_in_flight_counter = AUTOPILOT_IN_FLIGHT_TIME;
      }
    }
  }
  else { /* not in flight */
    if (autopilot_in_flight_counter < AUTOPILOT_IN_FLIGHT_TIME &&
        motors_on) {
      if (!THROTTLE_STICK_DOWN()) {
        autopilot_in_flight_counter++;
        if (autopilot_in_flight_counter == AUTOPILOT_IN_FLIGHT_TIME)
          autopilot_in_flight = TRUE;
      }
      else { /*  THROTTLE_STICK_DOWN */
        autopilot_in_flight_counter = 0;
      }
    }
  }
}


void autopilot_set_motors_on(bool_t motors_on) {
  if (ahrs_is_aligned() && motors_on)
    autopilot_motors_on = TRUE;
  else
    autopilot_motors_on = FALSE;
  kill_throttle = ! autopilot_motors_on;
  autopilot_arming_set(autopilot_motors_on);
}


void autopilot_on_rc_frame(void) {

  if (kill_switch_is_on())
    autopilot_set_mode(AP_MODE_KILL);
  else {
    uint8_t new_autopilot_mode = 0;
    AP_MODE_OF_PPRZ(radio_control.values[RADIO_MODE], new_autopilot_mode);
    /* don't enter NAV mode if GPS is lost (this also prevents mode oscillations) */
    if (!(new_autopilot_mode == AP_MODE_NAV
#if USE_GPS
          && GpsIsLost()
#endif
       ))
      autopilot_set_mode(new_autopilot_mode);
  }

  /* if not in FAILSAFE mode check motor and in_flight status, read RC */
  if (autopilot_mode > AP_MODE_FAILSAFE) {

    /* if there are some commands that should always be set from RC, do it */
#ifdef SetAutoCommandsFromRC
    SetAutoCommandsFromRC(commands, radio_control.values);
#endif

    /* if not in NAV_MODE set commands from the rc */
#ifdef SetCommandsFromRC
    if (autopilot_mode != AP_MODE_NAV) {
      SetCommandsFromRC(commands, radio_control.values);
    }
#endif

    /* an arming sequence is used to start/stop motors */
    autopilot_arming_check_motors_on();
    kill_throttle = ! autopilot_motors_on;

    autopilot_check_in_flight(autopilot_motors_on);

    guidance_v_read_rc();
    guidance_h_read_rc(autopilot_in_flight);
  }

}
Esempio n. 6
0
void autopilot_periodic(void) {

  RunOnceEvery(NAV_PRESCALER, nav_periodic_task());
#if FAILSAFE_GROUND_DETECT
INFO("Using FAILSAFE_GROUND_DETECT")//使用模式FAILSAFE_GROUND_DETECT失效保护_
  if (autopilot_mode == AP_MODE_FAILSAFE && autopilot_detect_ground) {
    autopilot_set_mode(AP_MODE_KILL);
    autopilot_detect_ground = FALSE;
  }
#endif

  /* set failsafe commands, if in FAILSAFE or KILL mode */
#if !FAILSAFE_GROUND_DETECT
  if (autopilot_mode == AP_MODE_KILL ||
      autopilot_mode == AP_MODE_FAILSAFE) {
#else
  if (autopilot_mode == AP_MODE_KILL) {
#endif
    SetCommands(commands_failsafe);
  }
  else {
    /* 计算向导模式下的两个方向水平和垂直方向的姿态信息*/
    guidance_v_run( autopilot_in_flight );
    guidance_h_run( autopilot_in_flight );
    /*设置旋翼的命令:稳定模式配置,飞行模式,电机打开状态*/
    SetRotorcraftCommands(stabilization_cmd, autopilot_in_flight, autopilot_motors_on);
  }

}

/*飞控模式设置函数*/
void autopilot_set_mode(uint8_t new_autopilot_mode) {

  /* force kill mode as long as AHRS is not aligned 
     强制杀死模式只要ahrs不是均衡的 */
  
  if (!ahrs_is_aligned())
    new_autopilot_mode = AP_MODE_KILL;
  
  /* 新的飞行模式*/
  if (new_autopilot_mode != autopilot_mode) {
    /* horizontal mode 水平模式 */
    switch (new_autopilot_mode) {
      case AP_MODE_FAILSAFE://失效保护模式
#ifndef KILL_AS_FAILSAFE
        stab_att_sp_euler.phi = 0;
        stab_att_sp_euler.theta = 0;
        guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
        break;
#endif
      case AP_MODE_KILL://kill模式
        autopilot_set_motors_on(FALSE);
        autopilot_in_flight = FALSE;
        autopilot_in_flight_counter = 0;
        guidance_h_mode_changed(GUIDANCE_H_MODE_KILL);
        break;
      case AP_MODE_RC_DIRECT://RC指挥模式
        guidance_h_mode_changed(GUIDANCE_H_MODE_RC_DIRECT);
        break;
      case AP_MODE_RATE_DIRECT://速度指挥模式
      case AP_MODE_RATE_Z_HOLD://Z轴(高度)速度指挥模式
        guidance_h_mode_changed(GUIDANCE_H_MODE_RATE);
        break;
      case AP_MODE_ATTITUDE_RC_CLIMB://RC 姿态爬升模式
      case AP_MODE_ATTITUDE_DIRECT://姿态向导模式
      case AP_MODE_ATTITUDE_CLIMB://姿态爬升模式
      case AP_MODE_ATTITUDE_Z_HOLD://高度保持模式
        guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
        break;
      case AP_MODE_FORWARD://前进模式
        guidance_h_mode_changed(GUIDANCE_H_MODE_FORWARD);
        break;
      case AP_MODE_CARE_FREE_DIRECT://自由模式
        guidance_h_mode_changed(GUIDANCE_H_MODE_CARE_FREE);
        break;
      case AP_MODE_HOVER_DIRECT://盘旋向导模式
      case AP_MODE_HOVER_CLIMB://盘旋爬升模式
      case AP_MODE_HOVER_Z_HOLD://盘旋高度保持模式
        guidance_h_mode_changed(GUIDANCE_H_MODE_HOVER);
        break;
      case AP_MODE_NAV://导航模式
        guidance_h_mode_changed(GUIDANCE_H_MODE_NAV);
        break;
      default:
        break;
    }
    /* vertical mode 垂直模式*/
    switch (new_autopilot_mode) {
      case AP_MODE_FAILSAFE:
#ifndef KILL_AS_FAILSAFE
        guidance_v_zd_sp = SPEED_BFP_OF_REAL(0.5);
        guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB);
        break;
#endif
      case AP_MODE_KILL:
        guidance_v_mode_changed(GUIDANCE_V_MODE_KILL);
        break;
      case AP_MODE_RC_DIRECT:
      case AP_MODE_RATE_DIRECT:
      case AP_MODE_ATTITUDE_DIRECT:
      case AP_MODE_HOVER_DIRECT:
      case AP_MODE_CARE_FREE_DIRECT:
      case AP_MODE_FORWARD:
        guidance_v_mode_changed(GUIDANCE_V_MODE_RC_DIRECT);
        break;
      case AP_MODE_RATE_RC_CLIMB:
      case AP_MODE_ATTITUDE_RC_CLIMB:
        guidance_v_mode_changed(GUIDANCE_V_MODE_RC_CLIMB);
        break;
      case AP_MODE_ATTITUDE_CLIMB:
      case AP_MODE_HOVER_CLIMB:
        guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB);
        break;
      case AP_MODE_RATE_Z_HOLD:
      case AP_MODE_ATTITUDE_Z_HOLD:
      case AP_MODE_HOVER_Z_HOLD:
        guidance_v_mode_changed(GUIDANCE_V_MODE_HOVER);
        break;
      case AP_MODE_NAV:
        guidance_v_mode_changed(GUIDANCE_V_MODE_NAV);
        break;
      default:
        break;
    }
    autopilot_mode = new_autopilot_mode;
  }

}


static inline void autopilot_check_in_flight( bool_t motors_on ) {
  if (autopilot_in_flight) {
    if (autopilot_in_flight_counter > 0) {
      if (THROTTLE_STICK_DOWN()) {
        autopilot_in_flight_counter--;
        if (autopilot_in_flight_counter == 0) {
          autopilot_in_flight = FALSE;
        }
      }
      else {	/* !THROTTLE_STICK_DOWN */
        autopilot_in_flight_counter = AUTOPILOT_IN_FLIGHT_TIME;
      }
    }
  }
  else { /* not in flight */
    if (autopilot_in_flight_counter < AUTOPILOT_IN_FLIGHT_TIME &&
        motors_on) {
      if (!THROTTLE_STICK_DOWN()) {
        autopilot_in_flight_counter++;
        if (autopilot_in_flight_counter == AUTOPILOT_IN_FLIGHT_TIME)
          autopilot_in_flight = TRUE;
      }
      else { /*  THROTTLE_STICK_DOWN */
        autopilot_in_flight_counter = 0;
      }
    }
  }
}


void autopilot_set_motors_on(bool_t motors_on) {
  if (ahrs_is_aligned() && motors_on)
    autopilot_motors_on = TRUE;
  else
    autopilot_motors_on = FALSE;
  kill_throttle = ! autopilot_motors_on;
  autopilot_arming_set(autopilot_motors_on);
}


void autopilot_on_rc_frame(void) {
  //是否关闭开关
  if (kill_switch_is_on())
    autopilot_set_mode(AP_MODE_KILL);//关闭自驾模式
  else {
    uint8_t new_autopilot_mode = 0;
    AP_MODE_OF_PPRZ(radio_control.values[RADIO_MODE], new_autopilot_mode);
    /* don't enter NAV mode if GPS is lost (this also prevents mode oscillations) */
    if (!(new_autopilot_mode == AP_MODE_NAV
#if USE_GPS
          && GpsIsLost()//GPS丢失时不要使用NAV导航模式
#endif
       ))
      autopilot_set_mode(new_autopilot_mode);
  }
	
  /* if not in FAILSAFE mode check motor and in_flight status, read RC */
  //飞行模式不是:失效保护时,检查电机和飞行状态,读RC
  if (autopilot_mode > AP_MODE_FAILSAFE) {

    /* if there are some commands that should always be set from RC, do it */
    //如果有来自于RC的命令,则去执行命令
#ifdef SetAutoCommandsFromRC
    SetAutoCommandsFromRC(commands, radio_control.values);
#endif

    /* if not in NAV_MODE set commands from the rc */
    //如果不是导航模式,设置来自RC的命令
#ifdef SetCommandsFromRC
    if (autopilot_mode != AP_MODE_NAV) {
      SetCommandsFromRC(commands, radio_control.values);
    }
#endif
  
    /* an arming sequence is used to start/stop motors */
    // 一个。。。序列用来启动和关闭电机
    autopilot_arming_check_motors_on();
    kill_throttle = ! autopilot_motors_on;//关闭电机

    autopilot_check_in_flight(autopilot_motors_on);

    guidance_v_read_rc();//的垂直方向的信息
    guidance_h_read_rc(autopilot_in_flight);//读EC
  }

}