/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow
* MAVLink to process packets while waiting for the initialisation to
* complete
*/
void Rover::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs().chan(0).initialised) {
return;
}
// don't allow potentially expensive logging calls:
DataFlash.EnableWrites(false);
const uint32_t tnow = millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs().send_message(MSG_HEARTBEAT);
gcs().send_message(MSG_EXTENDED_STATUS1);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
}
DataFlash.EnableWrites(true);
}
/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow
* MAVLink to process packets while waiting for the initialisation to
* complete
*/
void Tracker::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs[0].initialised) return;
in_mavlink_delay = true;
uint32_t tnow = hal.scheduler->millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_message(MSG_HEARTBEAT);
gcs_send_message(MSG_EXTENDED_STATUS1);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text_P(SEVERITY_LOW, PSTR("Initialising APM..."));
}
in_mavlink_delay = false;
}
// update AHRS system
void Rover::ahrs_update()
{
hal.util->set_soft_armed(arming.is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before AHRS update
gcs_update();
#endif
// when in reverse we need to tell AHRS not to assume we are a
// 'fly forward' vehicle, otherwise it will see a large
// discrepancy between the mag and the GPS heading and will try to
// correct for it, leading to a large yaw error
ahrs.set_fly_forward(!in_reverse);
ahrs.update();
// if using the EKF get a speed update now (from accelerometers)
Vector3f velocity;
if (ahrs.get_velocity_NED(velocity)) {
ground_speed = pythagorous2(velocity.x, velocity.y);
}
if (should_log(MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude();
if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU(ins);
DataFlash.Log_Write_IMUDT(ins);
}
}
/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow
* MAVLink to process packets while waiting for the initialisation to
* complete
*/
void Tracker::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs().chan(0).initialised) {
return;
}
DataFlash.EnableWrites(false);
uint32_t tnow = AP_HAL::millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs().send_message(MSG_HEARTBEAT);
gcs().send_message(MSG_EXTENDED_STATUS1);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
}
DataFlash.EnableWrites(true);
}
/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow
* MAVLink to process packets while waiting for the initialisation to
* complete
*/
void Rover::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs[0].initialised || in_mavlink_delay) return;
in_mavlink_delay = true;
uint32_t tnow = millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_message(MSG_HEARTBEAT);
gcs_send_message(MSG_EXTENDED_STATUS1);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM");
}
check_usb_mux();
in_mavlink_delay = false;
}
// update AHRS system
void Plane::ahrs_update()
{
hal.util->set_soft_armed(arming.is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// update hil before AHRS update
gcs_update();
}
#endif
ahrs.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_IMU();
}
// calculate a scaled roll limit based on current pitch
roll_limit_cd = aparm.roll_limit_cd * cosf(ahrs.pitch);
pitch_limit_min_cd = aparm.pitch_limit_min_cd * fabsf(cosf(ahrs.roll));
// updated the summed gyro used for ground steering and
// auto-takeoff. Dot product of DCM.c with gyro vector gives earth
// frame yaw rate
steer_state.locked_course_err += ahrs.get_yaw_rate_earth() * G_Dt;
steer_state.locked_course_err = wrap_PI(steer_state.locked_course_err);
// update inertial_nav for quadplane
quadplane.inertial_nav.update(G_Dt);
}
// update AHRS system
void Plane::ahrs_update()
{
update_soft_armed();
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// update hil before AHRS update
gcs_update();
}
#endif
ahrs.update();
if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU();
}
// calculate a scaled roll limit based on current pitch
roll_limit_cd = aparm.roll_limit_cd;
pitch_limit_min_cd = aparm.pitch_limit_min_cd;
if (!quadplane.tailsitter_active()) {
roll_limit_cd *= ahrs.cos_pitch();
pitch_limit_min_cd *= fabsf(ahrs.cos_roll());
}
// updated the summed gyro used for ground steering and
// auto-takeoff. Dot product of DCM.c with gyro vector gives earth
// frame yaw rate
steer_state.locked_course_err += ahrs.get_yaw_rate_earth() * G_Dt;
steer_state.locked_course_err = wrap_PI(steer_state.locked_course_err);
// update inertial_nav for quadplane
quadplane.inertial_nav.update(G_Dt);
}
// update AHRS system
void Rover::ahrs_update()
{
update_soft_armed();
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before AHRS update
gcs_update();
#endif
// AHRS may use movement to calculate heading
update_ahrs_flyforward();
ahrs.update();
// update position
have_position = ahrs.get_position(current_loc);
// update home from EKF if necessary
update_home_from_EKF();
// if using the EKF get a speed update now (from accelerometers)
Vector3f velocity;
if (ahrs.get_velocity_NED(velocity)) {
ground_speed = norm(velocity.x, velocity.y);
} else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
ground_speed = ahrs.groundspeed();
}
if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
}
if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU();
}
}
