void Plane::demo_servos(uint8_t i)
{
while(i > 0) {
gcs_send_text(MAV_SEVERITY_INFO,"Demo servos");
demoing_servos = true;
servo_write(1, 1400);
hal.scheduler->delay(400);
servo_write(1, 1600);
hal.scheduler->delay(200);
servo_write(1, 1500);
demoing_servos = false;
hal.scheduler->delay(400);
i--;
}
}
/*
If land_DisarmDelay is enabled (non-zero), check for a landing then auto-disarm after time expires
*/
void Plane::disarm_if_autoland_complete()
{
if (g.land_disarm_delay > 0 &&
auto_state.land_complete &&
!is_flying() &&
arming.arming_required() != AP_Arming::NO &&
arming.is_armed()) {
/* we have auto disarm enabled. See if enough time has passed */
if (millis() - auto_state.last_flying_ms >= g.land_disarm_delay*1000UL) {
if (disarm_motors()) {
gcs_send_text(MAV_SEVERITY_INFO,"Auto disarmed");
}
}
}
}
// parachute_release - trigger the release of the parachute, disarm the motors and notify the user
void Copter::parachute_release()
{
// send message to gcs and dataflash
gcs_send_text(MAV_SEVERITY_INFO,"Parachute: Released");
Log_Write_Event(DATA_PARACHUTE_RELEASED);
// disarm motors
init_disarm_motors();
// release parachute
parachute.release();
// deploy landing gear
landinggear.set_cmd_mode(LandingGear_Deploy);
}
// init_disarm_motors - disarm motors
void Sub::init_disarm_motors()
{
// return immediately if we are already disarmed
if (!motors.armed()) {
return;
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_INFO, "Disarming motors");
#endif
// save compass offsets learned by the EKF if enabled
if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
Vector3f magOffsets;
if (ahrs.getMagOffsets(i, magOffsets)) {
compass.set_and_save_offsets(i, magOffsets);
}
}
}
#if AUTOTUNE_ENABLED == ENABLED
// save auto tuned parameters
autotune_save_tuning_gains();
#endif
// we are not in the air
// set_land_complete(true);// We will let the land detector decide this in sub
// set_land_complete_maybe(true);
// log disarm to the dataflash
Log_Write_Event(DATA_DISARMED);
// send disarm command to motors
motors.armed(false);
// reset the mission
mission.reset();
// suspend logging
if (!DataFlash.log_while_disarmed()) {
DataFlash.EnableWrites(false);
}
// disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false);
}
bool Plane::verify_RTL()
{
if (g.rtl_radius < 0) {
loiter.direction = -1;
} else {
loiter.direction = 1;
}
update_loiter(abs(g.rtl_radius));
if (auto_state.wp_distance <= (uint32_t)MAX(g.waypoint_radius,0) ||
reached_loiter_target()) {
gcs_send_text(MAV_SEVERITY_INFO,"Reached RTL location");
return true;
} else {
return false;
}
}
void Plane::failsafe_short_on_event(enum failsafe_state fstype)
{
// This is how to handle a short loss of control signal failsafe.
failsafe.state = fstype;
failsafe.ch3_timer_ms = millis();
gcs_send_text(MAV_SEVERITY_WARNING, "Failsafe - Short event on, ");
switch(control_mode)
{
case MANUAL:
case STABILIZE:
case ACRO:
case FLY_BY_WIRE_A:
case AUTOTUNE:
case FLY_BY_WIRE_B:
case CRUISE:
case TRAINING:
failsafe.saved_mode = control_mode;
failsafe.saved_mode_set = 1;
if(g.short_fs_action == 2) {
set_mode(FLY_BY_WIRE_A);
} else {
set_mode(CIRCLE);
}
break;
case AUTO:
case GUIDED:
case LOITER:
if(g.short_fs_action != 0) {
failsafe.saved_mode = control_mode;
failsafe.saved_mode_set = 1;
if(g.short_fs_action == 2) {
set_mode(FLY_BY_WIRE_A);
} else {
set_mode(CIRCLE);
}
}
break;
case CIRCLE:
case RTL:
default:
break;
}
gcs_send_text_fmt("flight mode = %u", (unsigned)control_mode);
}
// run this at setup on the ground
// -------------------------------
void Plane::init_home()
{
gcs_send_text(MAV_SEVERITY_INFO, "Init HOME");
ahrs.set_home(gps.location());
home_is_set = HOME_SET_NOT_LOCKED;
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(gps.location());
gcs_send_text_fmt(MAV_SEVERITY_INFO, "GPS alt: %lu", (unsigned long)home.alt);
// Save Home to EEPROM
mission.write_home_to_storage();
// Save prev loc
// -------------
next_WP_loc = prev_WP_loc = home;
}
bool Rover::verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs_send_text(MAV_SEVERITY_INFO,"Reached destination");
rtl_complete = true;
return true;
}
// have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached destination. Distance away %um",
(unsigned)get_distance(current_loc, next_WP));
rtl_complete = true;
return true;
}
return false;
}
// executes terrain failsafe if data is missing for longer than a few seconds
// missing_data should be set to true if the vehicle failed to navigate because of missing data, false if navigation is proceeding successfully
void Sub::failsafe_terrain_check()
{
// trigger with 5 seconds of failures while in AUTO mode
bool valid_mode = (control_mode == AUTO || control_mode == GUIDED);
bool timeout = (failsafe.terrain_last_failure_ms - failsafe.terrain_first_failure_ms) > FS_TERRAIN_TIMEOUT_MS;
bool trigger_event = valid_mode && timeout;
// check for clearing of event
if (trigger_event != failsafe.terrain) {
if (trigger_event) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Failsafe terrain triggered");
failsafe_terrain_on_event();
} else {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_ERROR_RESOLVED);
failsafe.terrain = false;
}
}
}
// init_disarm_motors - disarm motors
void Copter::init_disarm_motors()
{
// return immediately if we are already disarmed
if (!motors.armed()) {
return;
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_INFO, "DISARMING MOTORS");
#endif
// save compass offsets learned by the EKF
Vector3f magOffsets;
if (ahrs.use_compass() && ahrs.getMagOffsets(magOffsets)) {
compass.set_and_save_offsets(compass.get_primary(), magOffsets);
}
#if AUTOTUNE_ENABLED == ENABLED
// save auto tuned parameters
autotune_save_tuning_gains();
#endif
// we are not in the air
set_land_complete(true);
set_land_complete_maybe(true);
// log disarm to the dataflash
Log_Write_Event(DATA_DISARMED);
// send disarm command to motors
motors.armed(false);
// reset the mission
mission.reset();
// suspend logging
if (!(g.log_bitmask & MASK_LOG_WHEN_DISARMED)) {
DataFlash.EnableWrites(false);
}
// disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false);
}
// crash_check - disarms motors if a crash has been detected
// crashes are detected by the vehicle being more than 20 degrees beyond it's angle limits continuously for more than 1 second
// called at MAIN_LOOP_RATE
void Copter::crash_check()
{
static uint16_t crash_counter; // number of iterations vehicle may have been crashed
// return immediately if disarmed, or crash checking disabled
if (!motors.armed() || ap.land_complete || g.fs_crash_check == 0) {
crash_counter = 0;
return;
}
// return immediately if we are not in an angle stabilize flight mode or we are flipping
if (control_mode == ACRO || control_mode == FLIP) {
crash_counter = 0;
return;
}
// vehicle not crashed if 1hz filtered acceleration is more than 3m/s (1G on Z-axis has been subtracted)
if (land_accel_ef_filter.get().length() >= CRASH_CHECK_ACCEL_MAX) {
crash_counter = 0;
return;
}
// check for angle error over 30 degrees
const Vector3f angle_error = attitude_control.get_att_error_rot_vec_cd();
if (pythagorous2(angle_error.x, angle_error.y) <= CRASH_CHECK_ANGLE_DEVIATION_CD) {
crash_counter = 0;
return;
}
// we may be crashing
crash_counter++;
// check if crashing for 2 seconds
if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * MAIN_LOOP_RATE)) {
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
// send message to gcs
gcs_send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming");
// disarm motors
init_disarm_motors();
hal.uartA->printf("CRASH!");
}
}
// Battery failsafe check
// Check the battery voltage and remaining capacity
void Sub::failsafe_battery_check(void)
{
// Do nothing if the failsafe is disabled, or if we are disarmed
if (g.failsafe_battery_enabled == FS_BATT_DISABLED || !motors.armed()) {
failsafe.battery = false;
AP_Notify::flags.failsafe_battery = false;
return; // Failsafe disabled, nothing to do
}
if (!battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
failsafe.battery = false;
AP_Notify::flags.failsafe_battery = false;
return; // Battery is doing well
}
// Always warn when failsafe condition is met
if (AP_HAL::millis() > failsafe.last_battery_warn_ms + 20000) {
failsafe.last_battery_warn_ms = AP_HAL::millis();
gcs_send_text(MAV_SEVERITY_WARNING, "Low battery");
}
// Don't do anything if failsafe has already been set
if (failsafe.battery) {
return;
}
failsafe.battery = true;
AP_Notify::flags.failsafe_battery = true;
// Log failsafe
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
switch(g.failsafe_battery_enabled) {
case FS_BATT_SURFACE:
set_mode(SURFACE, MODE_REASON_BATTERY_FAILSAFE);
break;
case FS_BATT_DISARM:
init_disarm_motors();
break;
default:
break;
}
}
// esc_calibration_passthrough - pass through pilot throttle to escs
void Copter::esc_calibration_passthrough()
{
#if FRAME_CONFIG != HELI_FRAME
// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCAL_NONE);
if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
// run at full speed for oneshot ESCs (actually done on push)
motors->set_update_rate(g.rc_speed);
} else {
// reduce update rate to motors to 50Hz
motors->set_update_rate(50);
}
// send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
// arm motors
motors->armed(true);
motors->enable();
uint32_t last_notify_update_ms = 0;
while(1) {
// flash LEDS
AP_Notify::flags.esc_calibration = true;
uint32_t now = AP_HAL::millis();
if (now - last_notify_update_ms > 20) {
last_notify_update_ms = now;
update_notify();
}
// read pilot input
read_radio();
// we run at high rate do make oneshot ESCs happy. Normal ESCs
// will only see pulses at the RC_SPEED
delay(3);
// pass through to motors
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
}
#endif // FRAME_CONFIG != HELI_FRAME
}
// althold_init - initialise althold controller
bool Sub::althold_init(bool ignore_checks)
{
if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "Depth hold requires external pressure sensor.");
return false;
}
// initialize vertical speeds and leash lengths
// sets the maximum speed up and down returned by position controller
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
last_pilot_heading = ahrs.yaw_sensor;
return true;
}
bool Sub::surface_init()
{
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (!ap.depth_sensor_present || failsafe.sensor_health) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "BAD DEPTH");
return false;
}
#endif
// initialize vertical speeds and leash lengths
pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());
pos_control.set_accel_z(wp_nav.get_accel_z());
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
return true;
}
void Rover::nav_set_yaw_speed()
{
// if we haven't received a MAV_CMD_NAV_SET_YAW_SPEED message within the last 3 seconds bring the rover to a halt
if ((millis() - guided_yaw_speed.msg_time_ms) > 3000)
{
gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping");
channel_throttle->set_servo_out(g.throttle_min.get());
channel_steer->set_servo_out(0);
lateral_acceleration = 0;
return;
}
channel_steer->set_servo_out(steerController.get_steering_out_angle_error(guided_yaw_speed.turn_angle));
// speed param in the message gives speed as a proportion of cruise speed.
// 0.5 would set speed to the cruise speed
// 1 is double the cruise speed.
float target_speed = g.speed_cruise * guided_yaw_speed.target_speed * 2;
calc_throttle(target_speed);
return;
}
void Rover::nav_set_yaw_speed()
{
// if we haven't received a MAV_CMD_NAV_SET_YAW_SPEED message within the last 3 seconds bring the rover to a halt
if ((millis() - guided_control.msg_time_ms) > 3000) {
gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping");
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
lateral_acceleration = 0.0f;
return;
}
const int32_t steering = steerController.get_steering_out_angle_error(guided_control.turn_angle);
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steering);
// speed param in the message gives speed as a proportion of cruise speed.
// 0.5 would set speed to the cruise speed
// 1 is double the cruise speed.
const float target_speed = g.speed_cruise * guided_control.target_speed * 2.0f;
calc_throttle(target_speed);
Log_Write_GuidedTarget(guided_mode, Vector3f(steering, 0.0f, 0.0f), Vector3f(target_speed, 0.0f, 0.0f));
}
// Check if we are leaking and perform appropiate action
void Sub::failsafe_leak_check()
{
bool status = leak_detector.get_status();
// Do nothing if we are dry, or if leak failsafe action is disabled
if (status == false || g.failsafe_leak == FS_LEAK_DISABLED) {
if (failsafe.leak) {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_LEAK, ERROR_CODE_FAILSAFE_RESOLVED);
}
failsafe.leak = false;
return;
}
AP_Notify::flags.leak_detected = status;
uint32_t tnow = AP_HAL::millis();
// We have a leak
// Always send a warning every 20 seconds
if (tnow > failsafe.last_leak_warn_ms + 20000) {
failsafe.last_leak_warn_ms = tnow;
gcs_send_text(MAV_SEVERITY_CRITICAL, "Leak Detected");
}
// Do nothing if we have already triggered the failsafe action, or if the motors are disarmed
if (failsafe.leak) {
return;
}
failsafe.leak = true;
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_LEAK, ERROR_CODE_FAILSAFE_OCCURRED);
// Handle failsafe action
if (failsafe.leak && g.failsafe_leak == FS_LEAK_SURFACE && motors.armed()) {
set_mode(SURFACE, MODE_REASON_LEAK_FAILSAFE);
}
}
/*
* set_next_WP - sets the target location the vehicle should fly to
*/
void Rover::set_next_WP(const struct Location& loc)
{
// copy the current WP into the OldWP slot
// ---------------------------------------
prev_WP = next_WP;
// Load the next_WP slot
// ---------------------
next_WP = loc;
// are we already past the waypoint? This happens when we jump
// waypoints, and it can cause us to skip a waypoint. If we are
// past the waypoint when we start on a leg, then use the current
// location as the previous waypoint, to prevent immediately
// considering the waypoint complete
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting prev_WP");
prev_WP = current_loc;
}
// this is handy for the groundstation
wp_totalDistance = get_distance(current_loc, next_WP);
wp_distance = wp_totalDistance;
}
/*
see if we have reached altitude or descent speed
*/
bool Plane::verify_altitude_wait(const AP_Mission::Mission_Command &cmd)
{
if (current_loc.alt > cmd.content.altitude_wait.altitude*100.0f) {
gcs_send_text(MAV_SEVERITY_INFO,"Reached altitude");
return true;
}
if (auto_state.sink_rate > cmd.content.altitude_wait.descent_rate) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached descent rate %.1f m/s", (double)auto_state.sink_rate);
return true;
}
// if requested, wiggle servos
if (cmd.content.altitude_wait.wiggle_time != 0) {
static uint32_t last_wiggle_ms;
if (auto_state.idle_wiggle_stage == 0 &&
AP_HAL::millis() - last_wiggle_ms > cmd.content.altitude_wait.wiggle_time*1000) {
auto_state.idle_wiggle_stage = 1;
last_wiggle_ms = AP_HAL::millis();
}
// idle_wiggle_stage is updated in set_servos_idle()
}
return false;
}
// crash_check - disarms motors if a crash or block has been detected
// crashes are detected by the vehicle being static (no speed) for more than CRASH_CHECK_TRIGGER_SEC and motor are running
// called at 10Hz
void Rover::crash_check()
{
static uint16_t crash_counter; // number of iterations vehicle may have been crashed
// return immediately if disarmed, or crash checking disabled or in HOLD mode
if (!arming.is_armed() || g.fs_crash_check == FS_CRASH_DISABLE || (control_mode != GUIDED && control_mode != AUTO)) {
crash_counter = 0;
return;
}
// TODO : Check if min vel can be calculated
// min_vel = ( CRASH_CHECK_THROTTLE_MIN * g.speed_cruise) / g.throttle_cruise;
if ((ahrs.groundspeed() >= CRASH_CHECK_VEL_MIN) || // Check velocity
(fabsf(ahrs.get_gyro().z) >= CRASH_CHECK_VEL_MIN) || // Check turn speed
((100 * fabsf(SRV_Channels::get_output_norm(SRV_Channel::k_throttle))) < CRASH_CHECK_THROTTLE_MIN)) {
crash_counter = 0;
return;
}
// we may be crashing
crash_counter++;
// check if crashing for 2 seconds
if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * 10)) {
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
// send message to gcs
gcs_send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD");
// change mode to hold and disarm
set_mode(HOLD);
if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) {
disarm_motors();
}
}
}
// arm_checks - perform final checks before arming
// always called just before arming. Return true if ok to arm
// has side-effect that logging is started
bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
{
#if LOGGING_ENABLED == ENABLED
// start dataflash
start_logging();
#endif
// check accels and gyro are healthy
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
//check if accelerometers have calibrated and require reboot
if (ins.accel_cal_requires_reboot()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot");
}
return false;
}
if (!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Accelerometers not healthy");
}
return false;
}
if (!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Gyros not healthy");
}
return false;
}
// get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: gyros still settling");
}
return false;
}
}
// always check if inertial nav has started and is ready
if (!ahrs.healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Waiting for Nav Checks");
}
return false;
}
if (compass.is_calibrating()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running");
}
return false;
}
//check if compass has calibrated and requires reboot
if (compass.compass_cal_requires_reboot()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
}
return false;
}
// always check if the current mode allows arming
if (!mode_allows_arming(control_mode, arming_from_gcs)) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Mode not armable");
}
return false;
}
// always check gps
if (!pre_arm_gps_checks(display_failure)) {
return false;
}
// if we are using motor interlock switch and it's enabled, fail to arm
// skip check in Throw mode which takes control of the motor interlock
if (ap.using_interlock && motors.get_interlock()) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Interlock Enabled");
return false;
}
// if we are not using Emergency Stop switch option, force Estop false to ensure motors
// can run normally
if (!check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
set_motor_emergency_stop(false);
// if we are using motor Estop switch, it must not be in Estop position
} else if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_emergency_stop){
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped");
return false;
}
// succeed if arming checks are disabled
if (g.arming_check == ARMING_CHECK_NONE) {
return true;
}
// baro checks
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
// baro health check
if (!barometer.all_healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Barometer not healthy");
}
return false;
}
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
// that may differ from the baro height due to baro drift.
nav_filter_status filt_status = inertial_nav.get_filter_status();
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (using_baro_ref && (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM)) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Altitude disparity");
}
return false;
}
}
#if AC_FENCE == ENABLED
// check vehicle is within fence
if (!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: check fence");
}
return false;
}
#endif
// check lean angle
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > aparm.angle_max) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Leaning");
}
return false;
}
}
// check battery voltage
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Check Battery");
}
return false;
}
}
// check for missing terrain data
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
if (!pre_arm_terrain_check(display_failure)) {
return false;
}
}
// check adsb
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
if (failsafe.adsb) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
}
return false;
}
}
// check throttle
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
// check throttle is not too low - must be above failsafe throttle
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->get_radio_in() < g.failsafe_throttle_value) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective below Failsafe");
#else
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle below Failsafe");
#endif
}
return false;
}
// check throttle is not too high - skips checks if arming from GCS in Guided
if (!(arming_from_gcs && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
// above top of deadband is too always high
if (get_pilot_desired_climb_rate(channel_throttle->get_control_in()) > 0.0f) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
#else
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high");
#endif
}
return false;
}
// in manual modes throttle must be at zero
if ((mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && channel_throttle->get_control_in() > 0) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
#else
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high");
#endif
}
return false;
}
}
}
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Safety Switch");
}
return false;
}
// if we've gotten this far all is ok
return true;
}
// performs pre_arm gps related checks and returns true if passed
bool Copter::pre_arm_gps_checks(bool display_failure)
{
// always check if inertial nav has started and is ready
if (!ahrs.healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Nav Checks");
}
return false;
}
// check if flight mode requires GPS
bool gps_required = mode_requires_GPS(control_mode);
#if AC_FENCE == ENABLED
// if circular fence is enabled we need GPS
if ((fence.get_enabled_fences() & AC_FENCE_TYPE_CIRCLE) != 0) {
gps_required = true;
}
#endif
// return true if GPS is not required
if (!gps_required) {
AP_Notify::flags.pre_arm_gps_check = true;
return true;
}
// ensure GPS is ok
if (!position_ok()) {
if (display_failure) {
const char *reason = ahrs.prearm_failure_reason();
if (reason) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
} else {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Need 3D Fix");
}
}
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
// check EKF compass variance is below failsafe threshold
float vel_variance, pos_variance, hgt_variance, tas_variance;
Vector3f mag_variance;
Vector2f offset;
ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
if (mag_variance.length() >= g.fs_ekf_thresh) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF compass variance");
}
return false;
}
// check home and EKF origin are not too far
if (far_from_EKF_origin(ahrs.get_home())) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF-home variance");
}
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
// return true immediately if gps check is disabled
if (!(g.arming_check == ARMING_CHECK_ALL || g.arming_check & ARMING_CHECK_GPS)) {
AP_Notify::flags.pre_arm_gps_check = true;
return true;
}
// warn about hdop separately - to prevent user confusion with no gps lock
if (gps.get_hdop() > g.gps_hdop_good) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: High GPS HDOP");
}
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
// if we got here all must be ok
AP_Notify::flags.pre_arm_gps_check = true;
return true;
}
// perform pre-arm checks and set ap.pre_arm_check flag
// return true if the checks pass successfully
bool Copter::pre_arm_checks(bool display_failure)
{
// exit immediately if already armed
if (motors.armed()) {
return true;
}
// check if motor interlock and Emergency Stop aux switches are used
// at the same time. This cannot be allowed.
if (check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Interlock/E-Stop Conflict");
}
return false;
}
// check if motor interlock aux switch is in use
// if it is, switch needs to be in disabled position to arm
// otherwise exit immediately. This check to be repeated,
// as state can change at any time.
if (ap.using_interlock && ap.motor_interlock_switch) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled");
}
return false;
}
// exit immediately if we've already successfully performed the pre-arm check
if (ap.pre_arm_check) {
// run gps checks because results may change and affect LED colour
// no need to display failures because arm_checks will do that if the pilot tries to arm
pre_arm_gps_checks(false);
return true;
}
// succeed if pre arm checks are disabled
if (g.arming_check == ARMING_CHECK_NONE) {
set_pre_arm_check(true);
set_pre_arm_rc_check(true);
return true;
}
// pre-arm rc checks a prerequisite
pre_arm_rc_checks();
if (!ap.pre_arm_rc_check) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC not calibrated");
}
return false;
}
// check Baro
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
// barometer health check
if (!barometer.all_healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Barometer not healthy");
}
return false;
}
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
// that may differ from the baro height due to baro drift.
nav_filter_status filt_status = inertial_nav.get_filter_status();
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (using_baro_ref) {
if (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity");
}
return false;
}
}
}
// check Compass
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
//check if compass has calibrated and requires reboot
if (compass.compass_cal_requires_reboot()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
}
return false;
}
// check the primary compass is healthy
if (!compass.healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not healthy");
}
return false;
}
// check compass learning is on or offsets have been set
if (!compass.configured()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not calibrated");
}
return false;
}
// check for unreasonable compass offsets
Vector3f offsets = compass.get_offsets();
if (offsets.length() > COMPASS_OFFSETS_MAX) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass offsets too high");
}
return false;
}
// check for unreasonable mag field length
float mag_field = compass.get_field().length();
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check mag field");
}
return false;
}
// check all compasses point in roughly same direction
if (!compass.consistent()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent compasses");
}
return false;
}
}
// check GPS
if (!pre_arm_gps_checks(display_failure)) {
return false;
}
#if AC_FENCE == ENABLED
// check fence is initialised
if (!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check fence");
}
return false;
}
#endif
// check INS
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
// check accelerometers have been calibrated
if (!ins.accel_calibrated_ok_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accels not calibrated");
}
return false;
}
// check accels are healthy
if (!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accelerometers not healthy");
}
return false;
}
//check if accelerometers have calibrated and require reboot
if (ins.accel_cal_requires_reboot()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot");
}
return false;
}
// check all accelerometers point in roughly same direction
if (ins.get_accel_count() > 1) {
const Vector3f &prime_accel_vec = ins.get_accel();
for(uint8_t i=0; i<ins.get_accel_count(); i++) {
// get next accel vector
const Vector3f &accel_vec = ins.get_accel(i);
Vector3f vec_diff = accel_vec - prime_accel_vec;
float threshold = PREARM_MAX_ACCEL_VECTOR_DIFF;
if (i >= 2) {
/*
* for boards with 3 IMUs we only use the first two
* in the EKF. Allow for larger accel discrepancy
* for IMU3 as it may be running at a different temperature
*/
threshold *= 2;
}
// EKF is less sensitive to Z-axis error
vec_diff.z *= 0.5f;
if (vec_diff.length() > threshold) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Accelerometers");
}
return false;
}
}
}
// check gyros are healthy
if (!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Gyros not healthy");
}
return false;
}
// check all gyros are consistent
if (ins.get_gyro_count() > 1) {
for(uint8_t i=0; i<ins.get_gyro_count(); i++) {
// get rotation rate difference between gyro #i and primary gyro
Vector3f vec_diff = ins.get_gyro(i) - ins.get_gyro();
if (vec_diff.length() > PREARM_MAX_GYRO_VECTOR_DIFF) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Gyros");
}
return false;
}
}
}
// get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: gyros still settling");
}
return false;
}
}
#if CONFIG_HAL_BOARD != HAL_BOARD_VRBRAIN
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
// check board voltage
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Board Voltage");
}
return false;
}
}
#endif
#endif
// check battery voltage
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Battery");
}
return false;
}
}
// check various parameter values
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
// ensure ch7 and ch8 have different functions
if (check_duplicate_auxsw()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Duplicate Aux Switch Options");
}
return false;
}
// failsafe parameter checks
if (g.failsafe_throttle) {
// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
if (channel_throttle->get_radio_min() <= g.failsafe_throttle_value+10 || g.failsafe_throttle_value < 910) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check FS_THR_VALUE");
}
return false;
}
}
// lean angle parameter check
if (aparm.angle_max < 1000 || aparm.angle_max > 8000) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check ANGLE_MAX");
}
return false;
}
// acro balance parameter check
if ((g.acro_balance_roll > attitude_control.get_angle_roll_p().kP()) || (g.acro_balance_pitch > attitude_control.get_angle_pitch_p().kP())) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH");
}
return false;
}
#if RANGEFINDER_ENABLED == ENABLED && OPTFLOW == ENABLED
// check range finder if optflow enabled
if (optflow.enabled() && !rangefinder.pre_arm_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check range finder");
}
return false;
}
#endif
#if FRAME_CONFIG == HELI_FRAME
// check helicopter parameters
if (!motors.parameter_check(display_failure)) {
return false;
}
#endif // HELI_FRAME
// check for missing terrain data
if (!pre_arm_terrain_check(display_failure)) {
return false;
}
// check adsb avoidance failsafe
if (failsafe.adsb) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: ADSB threat detected");
}
return false;
}
}
// check throttle is above failsafe throttle
// this is near the bottom to allow other failures to be displayed before checking pilot throttle
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->get_radio_in() < g.failsafe_throttle_value) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Collective below Failsafe");
#else
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Throttle below Failsafe");
#endif
}
return false;
}
}
return true;
}
void Plane::read_control_switch()
{
static bool switch_debouncer;
uint8_t switchPosition = readSwitch();
// If switchPosition = 255 this indicates that the mode control channel input was out of range
// If we get this value we do not want to change modes.
if(switchPosition == 255) return;
if (failsafe.ch3_failsafe || failsafe.ch3_counter > 0) {
// when we are in ch3_failsafe mode then RC input is not
// working, and we need to ignore the mode switch channel
return;
}
if (millis() - failsafe.last_valid_rc_ms > 100) {
// only use signals that are less than 0.1s old.
return;
}
// we look for changes in the switch position. If the
// RST_SWITCH_CH parameter is set, then it is a switch that can be
// used to force re-reading of the control switch. This is useful
// when returning to the previous mode after a failsafe or fence
// breach. This channel is best used on a momentary switch (such
// as a spring loaded trainer switch).
if (oldSwitchPosition != switchPosition ||
(g.reset_switch_chan != 0 &&
hal.rcin->read(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
if (switch_debouncer == false) {
// this ensures that mode switches only happen if the
// switch changes for 2 reads. This prevents momentary
// spikes in the mode control channel from causing a mode
// switch
switch_debouncer = true;
return;
}
set_mode((enum FlightMode)(flight_modes[switchPosition].get()));
oldSwitchPosition = switchPosition;
}
if (g.reset_mission_chan != 0 &&
hal.rcin->read(g.reset_mission_chan-1) > RESET_SWITCH_CHAN_PWM) {
mission.start();
prev_WP_loc = current_loc;
}
switch_debouncer = false;
if (g.inverted_flight_ch != 0) {
// if the user has configured an inverted flight channel, then
// fly upside down when that channel goes above INVERTED_FLIGHT_PWM
inverted_flight = (control_mode != MANUAL && hal.rcin->read(g.inverted_flight_ch-1) > INVERTED_FLIGHT_PWM);
}
#if PARACHUTE == ENABLED
if (g.parachute_channel > 0) {
if (hal.rcin->read(g.parachute_channel-1) >= 1700) {
parachute_manual_release();
}
}
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (g.override_channel > 0) {
// if the user has configured an override channel then check it
bool override_requested = (hal.rcin->read(g.override_channel-1) >= PX4IO_OVERRIDE_PWM);
if (override_requested && !px4io_override_enabled) {
if (hal.util->get_soft_armed() || (last_mixer_crc != -1)) {
px4io_override_enabled = true;
// disable output channels to force PX4IO override
gcs_send_text(MAV_SEVERITY_WARNING, "PX4IO override enabled");
} else {
// we'll let the one second loop reconfigure the mixer. The
// PX4IO code sometimes rejects a mixer, probably due to it
// being busy in some way?
gcs_send_text(MAV_SEVERITY_WARNING, "PX4IO override enable failed");
}
} else if (!override_requested && px4io_override_enabled) {
px4io_override_enabled = false;
RC_Channel_aux::enable_aux_servos();
gcs_send_text(MAV_SEVERITY_WARNING, "PX4IO override disabled");
}
if (px4io_override_enabled &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED &&
g.override_safety == 1) {
// we force safety off, so that if this override is used
// with a in-flight reboot it gives a way for the pilot to
// re-arm and take manual control
hal.rcout->force_safety_off();
}
}
#endif // CONFIG_HAL_BOARD
}
// init_arm_motors - performs arming process including initialisation of barometer and gyros
// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
bool Copter::init_arm_motors(bool arming_from_gcs)
{
static bool in_arm_motors = false;
// exit immediately if already in this function
if (in_arm_motors) {
return false;
}
in_arm_motors = true;
// run pre-arm-checks and display failures
if(!pre_arm_checks(true) || !arm_checks(true, arming_from_gcs)) {
AP_Notify::events.arming_failed = true;
in_arm_motors = false;
return false;
}
// disable cpu failsafe because initialising everything takes a while
failsafe_disable();
// reset battery failsafe
set_failsafe_battery(false);
// notify that arming will occur (we do this early to give plenty of warning)
AP_Notify::flags.armed = true;
// call update_notify a few times to ensure the message gets out
for (uint8_t i=0; i<=10; i++) {
update_notify();
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_INFO, "ARMING MOTORS");
#endif
// Remember Orientation
// --------------------
init_simple_bearing();
initial_armed_bearing = ahrs.yaw_sensor;
if (ap.home_state == HOME_UNSET) {
// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
ahrs.resetHeightDatum();
Log_Write_Event(DATA_EKF_ALT_RESET);
} else if (ap.home_state == HOME_SET_NOT_LOCKED) {
// Reset home position if it has already been set before (but not locked)
set_home_to_current_location();
}
calc_distance_and_bearing();
// enable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(true);
hal.util->set_soft_armed(true);
#if SPRAYER == ENABLED
// turn off sprayer's test if on
sprayer.test_pump(false);
#endif
// short delay to allow reading of rc inputs
delay(30);
// enable output to motors
enable_motor_output();
// finally actually arm the motors
motors.armed(true);
// log arming to dataflash
Log_Write_Event(DATA_ARMED);
// log flight mode in case it was changed while vehicle was disarmed
DataFlash.Log_Write_Mode(control_mode);
// reenable failsafe
failsafe_enable();
// perf monitor ignores delay due to arming
perf_ignore_this_loop();
// flag exiting this function
in_arm_motors = false;
// return success
return true;
}
void Rover::init_barometer(void)
{
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
barometer.calibrate();
gcs_send_text(MAV_SEVERITY_INFO, "barometer calibration complete");
}
/*
* Determine if we have crashed
*/
void Plane::crash_detection_update(void)
{
if (control_mode != AUTO || !g.crash_detection_enable)
{
// crash detection is only available in AUTO mode
crash_state.debounce_timer_ms = 0;
crash_state.is_crashed = false;
return;
}
uint32_t now_ms = AP_HAL::millis();
bool crashed_near_land_waypoint = false;
bool crashed = false;
bool been_auto_flying = (auto_state.started_flying_in_auto_ms > 0) &&
(now_ms - auto_state.started_flying_in_auto_ms >= 2500);
if (!is_flying() && been_auto_flying)
{
switch (flight_stage)
{
case AP_SpdHgtControl::FLIGHT_TAKEOFF:
case AP_SpdHgtControl::FLIGHT_NORMAL:
if (!in_preLaunch_flight_stage()) {
crashed = true;
}
// TODO: handle auto missions without NAV_TAKEOFF mission cmd
break;
case AP_SpdHgtControl::FLIGHT_VTOL:
// we need a totally new method for this
crashed = false;
break;
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
crashed = true;
// when altitude gets low, we automatically progress to FLIGHT_LAND_FINAL
// so ground crashes most likely can not be triggered from here. However,
// a crash into a tree would be caught here.
break;
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
// We should be nice and level-ish in this flight stage. If not, we most
// likely had a crazy landing. Throttle is inhibited already at the flare
// but go ahead and notify GCS and perform any additional post-crash actions.
// Declare a crash if we are oriented more that 60deg in pitch or roll
if (!crash_state.checkedHardLanding && // only check once
(fabsf(ahrs.roll_sensor) > 6000 || fabsf(ahrs.pitch_sensor) > 6000)) {
crashed = true;
// did we "crash" within 75m of the landing location? Probably just a hard landing
crashed_near_land_waypoint =
get_distance(current_loc, mission.get_current_nav_cmd().content.location) < 75;
// trigger hard landing event right away, or never again. This inhibits a false hard landing
// event when, for example, a minute after a good landing you pick the plane up and
// this logic is still running and detects the plane is on its side as you carry it.
crash_state.debounce_timer_ms = now_ms + CRASH_DETECTION_DELAY_MS;
}
crash_state.checkedHardLanding = true;
break;
default:
break;
} // switch
} else {
crash_state.checkedHardLanding = false;
}
if (!crashed) {
// reset timer
crash_state.debounce_timer_ms = 0;
} else if (crash_state.debounce_timer_ms == 0) {
// start timer
crash_state.debounce_timer_ms = now_ms;
} else if ((now_ms - crash_state.debounce_timer_ms >= CRASH_DETECTION_DELAY_MS) && !crash_state.is_crashed) {
crash_state.is_crashed = true;
if (g.crash_detection_enable == CRASH_DETECT_ACTION_BITMASK_DISABLED) {
if (crashed_near_land_waypoint) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected. No action taken");
} else {
gcs_send_text(MAV_SEVERITY_EMERGENCY, "Crash detected. No action taken");
}
}
else {
if (g.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) {
disarm_motors();
}
auto_state.land_complete = true;
if (crashed_near_land_waypoint) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");
} else {
gcs_send_text(MAV_SEVERITY_EMERGENCY, "Crash detected");
}
}
}
}
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;
}
/*
main flight mode dependent update code
*/
void Plane::update_flight_mode(void)
{
enum FlightMode effective_mode = control_mode;
if (control_mode == AUTO && g.auto_fbw_steer == 42) {
effective_mode = FLY_BY_WIRE_A;
}
if (effective_mode != AUTO) {
// hold_course is only used in takeoff and landing
steer_state.hold_course_cd = -1;
}
// ensure we are fly-forward
if (quadplane.in_vtol_mode()) {
ahrs.set_fly_forward(false);
} else {
ahrs.set_fly_forward(true);
}
switch (effective_mode)
{
case AUTO:
handle_auto_mode();
break;
case GUIDED:
if (auto_state.vtol_loiter && quadplane.available()) {
quadplane.guided_update();
break;
}
// fall through
case RTL:
case LOITER:
calc_nav_roll();
calc_nav_pitch();
calc_throttle();
break;
case TRAINING: {
training_manual_roll = false;
training_manual_pitch = false;
update_load_factor();
// if the roll is past the set roll limit, then
// we set target roll to the limit
if (ahrs.roll_sensor >= roll_limit_cd) {
nav_roll_cd = roll_limit_cd;
} else if (ahrs.roll_sensor <= -roll_limit_cd) {
nav_roll_cd = -roll_limit_cd;
} else {
training_manual_roll = true;
nav_roll_cd = 0;
}
// if the pitch is past the set pitch limits, then
// we set target pitch to the limit
if (ahrs.pitch_sensor >= aparm.pitch_limit_max_cd) {
nav_pitch_cd = aparm.pitch_limit_max_cd;
} else if (ahrs.pitch_sensor <= pitch_limit_min_cd) {
nav_pitch_cd = pitch_limit_min_cd;
} else {
training_manual_pitch = true;
nav_pitch_cd = 0;
}
if (fly_inverted()) {
nav_pitch_cd = -nav_pitch_cd;
}
break;
}
case ACRO: {
// handle locked/unlocked control
if (acro_state.locked_roll) {
nav_roll_cd = acro_state.locked_roll_err;
} else {
nav_roll_cd = ahrs.roll_sensor;
}
if (acro_state.locked_pitch) {
nav_pitch_cd = acro_state.locked_pitch_cd;
} else {
nav_pitch_cd = ahrs.pitch_sensor;
}
break;
}
case AUTOTUNE:
case FLY_BY_WIRE_A: {
// set nav_roll and nav_pitch using sticks
nav_roll_cd = channel_roll->norm_input() * roll_limit_cd;
nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit_cd, roll_limit_cd);
update_load_factor();
float pitch_input = channel_pitch->norm_input();
if (pitch_input > 0) {
nav_pitch_cd = pitch_input * aparm.pitch_limit_max_cd;
} else {
nav_pitch_cd = -(pitch_input * pitch_limit_min_cd);
}
adjust_nav_pitch_throttle();
nav_pitch_cd = constrain_int32(nav_pitch_cd, pitch_limit_min_cd, aparm.pitch_limit_max_cd.get());
if (fly_inverted()) {
nav_pitch_cd = -nav_pitch_cd;
}
if (failsafe.ch3_failsafe && g.short_fs_action == 2) {
// FBWA failsafe glide
nav_roll_cd = 0;
nav_pitch_cd = 0;
channel_throttle->set_servo_out(0);
}
if (g.fbwa_tdrag_chan > 0) {
// check for the user enabling FBWA taildrag takeoff mode
bool tdrag_mode = (hal.rcin->read(g.fbwa_tdrag_chan-1) > 1700);
if (tdrag_mode && !auto_state.fbwa_tdrag_takeoff_mode) {
if (auto_state.highest_airspeed < g.takeoff_tdrag_speed1) {
auto_state.fbwa_tdrag_takeoff_mode = true;
gcs_send_text(MAV_SEVERITY_WARNING, "FBWA tdrag mode");
}
}
}
break;
}
case FLY_BY_WIRE_B:
// Thanks to Yury MonZon for the altitude limit code!
nav_roll_cd = channel_roll->norm_input() * roll_limit_cd;
nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit_cd, roll_limit_cd);
update_load_factor();
update_fbwb_speed_height();
break;
case CRUISE:
/*
in CRUISE mode we use the navigation code to control
roll when heading is locked. Heading becomes unlocked on
any aileron or rudder input
*/
if ((channel_roll->get_control_in() != 0 ||
rudder_input != 0)) {
cruise_state.locked_heading = false;
cruise_state.lock_timer_ms = 0;
}
if (!cruise_state.locked_heading) {
nav_roll_cd = channel_roll->norm_input() * roll_limit_cd;
nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit_cd, roll_limit_cd);
update_load_factor();
} else {
calc_nav_roll();
}
update_fbwb_speed_height();
break;
case STABILIZE:
nav_roll_cd = 0;
nav_pitch_cd = 0;
// throttle is passthrough
break;
case CIRCLE:
// we have no GPS installed and have lost radio contact
// or we just want to fly around in a gentle circle w/o GPS,
// holding altitude at the altitude we set when we
// switched into the mode
nav_roll_cd = roll_limit_cd / 3;
update_load_factor();
calc_nav_pitch();
calc_throttle();
break;
case MANUAL:
// servo_out is for Sim control only
// ---------------------------------
channel_roll->set_servo_out(channel_roll->pwm_to_angle());
channel_pitch->set_servo_out(channel_pitch->pwm_to_angle());
steering_control.steering = steering_control.rudder = channel_rudder->pwm_to_angle();
break;
//roll: -13788.000, pitch: -13698.000, thr: 0.000, rud: -13742.000
case QSTABILIZE:
case QHOVER:
case QLOITER:
case QLAND:
case QRTL: {
// set nav_roll and nav_pitch using sticks
int16_t roll_limit = MIN(roll_limit_cd, quadplane.aparm.angle_max);
nav_roll_cd = channel_roll->norm_input() * roll_limit;
nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit, roll_limit);
float pitch_input = channel_pitch->norm_input();
if (pitch_input > 0) {
nav_pitch_cd = pitch_input * MIN(aparm.pitch_limit_max_cd, quadplane.aparm.angle_max);
} else {
nav_pitch_cd = pitch_input * MIN(-pitch_limit_min_cd, quadplane.aparm.angle_max);
}
nav_pitch_cd = constrain_int32(nav_pitch_cd, pitch_limit_min_cd, aparm.pitch_limit_max_cd.get());
break;
}
case INITIALISING:
// handled elsewhere
break;
}
}