int8_t Plane::test_pressure(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P(PSTR("Uncalibrated relative airpressure\n"));
print_hit_enter();
init_barometer();
while(1) {
hal.scheduler->delay(100);
barometer.update();
if (!barometer.healthy()) {
cliSerial->println_P(PSTR("not healthy"));
} else {
cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
(double)barometer.get_altitude(),
(double)barometer.get_pressure(),
(double)barometer.get_temperature());
}
if(cliSerial->available() > 0) {
return (0);
}
}
}
void Plane::startup_INS_ground(void)
{
#if HIL_SUPPORT
if (g.hil_mode == 1) {
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
// HIL_STATE message
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Waiting for first HIL_STATE message"));
hal.scheduler->delay(1000);
}
}
#endif
AP_InertialSensor::Start_style style;
if (g.skip_gyro_cal) {
style = AP_InertialSensor::WARM_START;
arming.set_skip_gyro_cal(true);
} else {
style = AP_InertialSensor::COLD_START;
}
if (style == AP_InertialSensor::COLD_START) {
gcs_send_text_P(MAV_SEVERITY_ALERT, PSTR("Beginning INS calibration; do not move plane"));
hal.scheduler->delay(100);
}
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_vehicle_class(AHRS_VEHICLE_FIXED_WING);
ahrs.set_wind_estimation(true);
ins.init(style, ins_sample_rate);
ahrs.reset();
// read Baro pressure at ground
//-----------------------------
init_barometer();
if (airspeed.enabled()) {
// initialize airspeed sensor
// --------------------------
zero_airspeed(true);
} else {
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("NO airspeed"));
}
}
void Plane::startup_INS_ground(void)
{
#if HIL_SUPPORT
if (g.hil_mode == 1) {
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");
hal.scheduler->delay(1000);
}
}
#endif
if (ins.gyro_calibration_timing() != AP_InertialSensor::GYRO_CAL_NEVER) {
gcs_send_text(MAV_SEVERITY_ALERT, "Beginning INS calibration. Do not move plane");
hal.scheduler->delay(100);
}
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_vehicle_class(AHRS_VEHICLE_FIXED_WING);
ahrs.set_wind_estimation(true);
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
// read Baro pressure at ground
//-----------------------------
init_barometer();
if (airspeed.enabled()) {
// initialize airspeed sensor
// --------------------------
zero_airspeed(true);
} else {
gcs_send_text(MAV_SEVERITY_WARNING,"No airspeed");
}
}
int8_t Sub::test_baro(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
init_barometer(true);
while(1) {
delay(100);
read_barometer();
if (!barometer.healthy()) {
cliSerial->println("not healthy");
} else {
cliSerial->printf("Alt: %0.2fm, Raw: %f Temperature: %.1f\n",
(double)(baro_alt / 100.0f),
(double)barometer.get_pressure(),
(double)barometer.get_temperature());
}
if(cliSerial->available() > 0) {
return (0);
}
}
return 0;
}
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;
}
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();
}
void Tracker::init_tracker()
{
// initialise console serial port
serial_manager.init_console();
hal.console->printf("\n\nInit " THISFIRMWARE
"\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();
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// 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 telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
gcs[i].set_snoop(mavlink_snoop_static);
}
// 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);
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
GCS_MAVLINK::set_dataflash(&DataFlash);
if (g.compass_enabled==true) {
if (!compass.init() || !compass.read()) {
hal.console->println("Compass initialisation failed!");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
}
}
// GPS Initialization
gps.init(NULL, serial_manager);
ahrs.init();
ahrs.set_fly_forward(false);
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
init_barometer(true);
// set serial ports non-blocking
serial_manager.set_blocking_writes_all(false);
// initialise servos
init_servos();
// use given start positions - useful for indoor testing, and
// while waiting for GPS lock
// sanity check location
if (fabsf(g.start_latitude) <= 90.0f && fabsf(g.start_longitude) <= 180.0f) {
current_loc.lat = g.start_latitude * 1.0e7f;
current_loc.lng = g.start_longitude * 1.0e7f;
gcs_send_text(MAV_SEVERITY_NOTICE, "Ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
}
// see if EEPROM has a default location as well
if (current_loc.lat == 0 && current_loc.lng == 0) {
get_home_eeprom(current_loc);
}
init_capabilities();
gcs_send_text(MAV_SEVERITY_INFO,"Ready to track");
hal.scheduler->delay(1000); // Why????
set_mode(AUTO); // tracking
if (g.startup_delay > 0) {
// arm servos with trim value to allow them to start up (required
// for some servos)
prepare_servos();
}
}
/**
* Main system entry point
*/
int main (void) {
SystemInit();
/* Initialise Pins */
CUTDOWN_OFF();
HEATER_OFF();
MBED_OFF();
GREEN_OFF();
/* Update the value of SystemCoreClock */
SystemCoreClockUpdate();
/* Initialise Interfaces */
i2c_init();
spi_init(process_imu_frame); // IMU
sd_spi_init(); // SD
uart_init(); // GPS
pwrmon_init(); // ADC
/* Initialise Sensors */
init_barometer();
/* SD Card */
if (initialise_card()) { // Initialised to something
if (disk_initialize() == 0) { // Disk initialisation was successful
sd_good = 1;
}
}
GREEN_ON();
/* Configure the SysTick */
NVIC_SetPriority(SysTick_IRQn, 0); // Highest Priority Interrupt
SysTick_Config(SystemCoreClock / RTTY_BAUD);
/* Watchdog - Disabled for debugging */
#ifndef WATCHDOG_DISABLED
init_watchdog();
#endif
struct barometer* b;
struct imu_raw ir;
struct gps_data gd;
struct gps_time gt;
double alt, ext_temp;
int tx_length; // The length of the built tx string
char tx_string[TX_STRING_LENGTH];
while (1) {
/* Grab Data */
pwrmon_start(pwrmon_callback);
b = get_barometer();
get_imu_raw_data(&ir);
get_gps_data(&gd);
get_gps_time(>);
ext_temp = get_temperature();
/* Data Processing */
if (b->valid) {
alt = pressure_to_altitude(b->pressure);
} else {
alt = -1;
b->temperature = -1;
}
/* Act on the data */
control_gsm(alt);
control_cutdown(ticks_until_cutdown, alt);
control_heater(b->temperature);
/* Create a protocol string */
int cutstat;
if (ticks_until_cutdown == 0) {
cutstat = -1;
} else {
cutstat = ticks_until_cutdown / (RTTY_BAUD*60);
}
tx_length = build_communications_frame(tx_string, TX_STRING_LENGTH,
>, b, &gd, alt, ext_temp, &ir,
cutstat, cutdown_voltage);
/* Transmit - Quietly fails if another transmission is ongoing */
rtty_set_string(tx_string, tx_length);
/* Store */
if (sd_good) {
tx_length -= 2; // Remove \n\0
tx_length += communications_frame_add_extra(tx_string + tx_length,
TX_STRING_LENGTH - tx_length, &ir);
disk_write_next_block((uint8_t*)tx_string, tx_length+1); // Include null terminator
}
/* Housekeeping */
GREEN_TOGGLE();
feed_watchdog();
}
}
void Tracker::init_tracker()
{
// initialise console serial port
serial_manager.init_console();
hal.console->printf_P(PSTR("\n\nInit " THISFIRMWARE
"\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();
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// init the GCS and start snooping for vehicle data
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
gcs[0].set_snoop(mavlink_snoop_static);
// 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);
// 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 and start snooping for vehicle data
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
gcs[1].set_snoop(mavlink_snoop_static);
#if MAVLINK_COMM_NUM_BUFFERS > 2
// setup serial port for telem2 and start snooping for vehicle data
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
gcs[2].set_snoop(mavlink_snoop_static);
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 3
// setup serial port for fourth telemetry port (not used by default) and start snooping for vehicle data
gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
gcs[3].set_snoop(mavlink_snoop_static);
#endif
mavlink_system.sysid = g.sysid_this_mav;
if (g.compass_enabled==true) {
if (!compass.init() || !compass.read()) {
hal.console->println_P(PSTR("Compass initialisation failed!"));
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
}
}
// GPS Initialization
gps.init(NULL, serial_manager);
ahrs.init();
ahrs.set_fly_forward(false);
ins.init(AP_InertialSensor::WARM_START, ins_sample_rate);
ahrs.reset();
init_barometer();
// set serial ports non-blocking
serial_manager.set_blocking_writes_all(false);
// initialise servos
init_servos();
// use given start positions - useful for indoor testing, and
// while waiting for GPS lock
current_loc.lat = g.start_latitude * 1.0e7f;
current_loc.lng = g.start_longitude * 1.0e7f;
// see if EEPROM has a default location as well
if (current_loc.lat == 0 && current_loc.lng == 0) {
get_home_eeprom(current_loc);
}
gcs_send_text_P(SEVERITY_LOW,PSTR("\nReady to track."));
hal.scheduler->delay(1000); // Why????
set_mode(AUTO); // tracking
if (g.startup_delay > 0) {
// arm servos with trim value to allow them to start up (required
// for some servos)
prepare_servos();
}
// calibrate pressure on startup by default
nav_status.need_altitude_calibration = true;
}
void Sub::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
hal.scheduler->delay(1000);
}
// initialise serial port
serial_manager.init_console();
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 cargo gripper
#if GRIPPER_ENABLED == ENABLED
g2.gripper.init();
#endif
// initialise notify system
notify.init(true);
// initialise battery monitor
battery.init();
barometer.init();
celsius.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();
// setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
// identify ourselves correctly with the ground station
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
gcs().set_dataflash(&DataFlash);
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up motors and output to escs
init_joystick(); // joystick initialization
// 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
#if AVOIDANCE_ENABLED == ENABLED
wp_nav.set_avoidance(&avoid);
#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
#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_chan[1].initialised && (gcs_chan[1].get_uart() != NULL)) {
gcs_chan[1].get_uart()->println(msg);
}
if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != NULL)) {
gcs_chan[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");
hal.scheduler->delay(1000);
}
// set INS to HIL mode
ins.set_hil_mode();
#endif
// read Baro pressure at ground
//-----------------------------
init_barometer(false);
barometer.update();
for (uint8_t i = 0; i < barometer.num_instances(); i++) {
if (barometer.get_type(i) == AP_Baro::BARO_TYPE_WATER && barometer.healthy(i)) {
barometer.set_primary_baro(i);
ap.depth_sensor_present = true;
break;
}
}
if (!ap.depth_sensor_present) {
// We only have onboard baro
// No external underwater depth sensor detected
barometer.set_primary_baro(0);
EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS
EKF3.set_baro_alt_noise(10.0f);
} else {
EKF2.set_baro_alt_noise(0.1f);
EKF3.set_baro_alt_noise(0.1f);
}
leak_detector.init();
// backwards compatibility
if (attitude_control.get_accel_yaw_max() < 110000.0f) {
attitude_control.save_accel_yaw_max(110000.0f);
}
last_pilot_heading = ahrs.yaw_sensor;
// initialise rangefinder
#if RANGEFINDER_ENABLED == ENABLED
init_rangefinder();
#endif
// initialise AP_RPM library
#if RPM_ENABLED == ENABLED
rpm_sensor.init();
#endif
// initialise mission library
mission.init();
startup_INS_ground();
// 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);
// init vehicle capabilties
init_capabilities();
cliSerial->print("\nReady to FLY ");
// flag that initialisation has completed
ap.initialised = true;
}
