autopilot_static.c

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/*
 * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
 * Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#include "autopilot.h"
#include "firmwares/fixedwing/autopilot_static.h"
 
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "generated/flight_plan.h"
 
/* Geofence exceptions */
#include "modules/nav/nav_geofence.h"
 
#if USE_GPS
#include "modules/gps/gps.h"
#endif
 
#include "modules/datalink/downlink.h"
 
static inline uint8_t pprz_mode_update(void);
 
#ifndef RC_LOST_MODE
#define RC_LOST_MODE AP_MODE_HOME
#endif
 
 
#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
#include "modules/core/abi.h"
volatile uint8_t new_ins_attitude = 0;
static abi_event new_att_ev;
static void new_att_cb(uint8_t sender_id __attribute__((unused)),
                       uint32_t stamp __attribute__((unused)),
                       struct Int32Rates *gyro __attribute__((unused)))
{
  new_ins_attitude = 1;
}
 
void autopilot_event(void)
{
  if (new_ins_attitude > 0) {
    attitude_loop();
    new_ins_attitude = 0;
  }
}
#endif
 
 
void autopilot_static_init(void)
{
  autopilot.mode = AP_MODE_AUTO2;
  lateral_mode = LATERAL_MODE_MANUAL;
 
#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
  AbiBindMsgIMU_GYRO(ABI_BROADCAST, &new_att_ev, &new_att_cb);
#endif
 
}
 
void autopilot_static_periodic(void)
{
}
 
void autopilot_static_on_rc_frame(void)
{
  // Send back uncontrolled channels.
#ifdef SetAutoCommandsFromRC
  SetAutoCommandsFromRC(commands, radio_control.values);
#elif defined RADIO_YAW && defined COMMAND_YAW
  command_set(COMMAND_YAW, radio_control_get(RADIO_YAW));
#endif
 
#if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
  if (autopilot_get_mode() == AP_MODE_AUTO1) {
    h_ctl_roll_setpoint = FLOAT_OF_PPRZ(radio_control_get(RADIO_ROLL), 0., AUTO1_MAX_ROLL);
 
    h_ctl_pitch_setpoint = FLOAT_OF_PPRZ(radio_control_get(RADIO_PITCH), 0., AUTO1_MAX_PITCH);
#if H_CTL_YAW_LOOP && defined RADIO_YAW
    h_ctl_yaw_rate_setpoint = FLOAT_OF_PPRZ(radio_control_get(RADIO_YAW), 0., AUTO1_MAX_YAW_RATE);
#endif
    // Note that old SetApOnlyCommands is no longer needed without a separated FBW
  } else if (autopilot_get_mode() == AP_MODE_MANUAL) {
    // Set commands from RC in MANUAL mode
    SetCommandsFromRC(commands, radio_control.values);
    autopilot.throttle = radio_control_get(RADIO_THROTTLE);
  }
  if (autopilot_get_mode() == AP_MODE_MANUAL || autopilot_get_mode() == AP_MODE_AUTO1) {
    v_ctl_throttle_setpoint = radio_control_get(RADIO_THROTTLE);
  }
#endif
}
 
void autopilot_static_set_mode(uint8_t new_autopilot_mode)
{
  if (new_autopilot_mode != autopilot.mode) {
    autopilot.mode = new_autopilot_mode;
  }
}
 
void autopilot_static_SetModeHandler(float new_autopilot_mode)
{
  autopilot_static_set_mode(new_autopilot_mode);
}
 
void autopilot_static_set_motors_on(bool motors_on)
{
  // it doesn't make real sense on fixedwing, as you can still use throttle
  // in MAN and AUTO1 modes while have motor killed for AUTO2
  // only needed for consistency with other firmwares
  autopilot.motors_on = motors_on;
}
 
void navigation_task(void)
{
 
  common_nav_periodic_task();
  if (autopilot_get_mode() == AP_MODE_HOME) {
    nav_home();
  } else if (autopilot_get_mode() == AP_MODE_GPS_OUT_OF_ORDER) {
    nav_without_gps();
  } else {
    nav_periodic_task();
  }
 
#ifdef TCAS
  callTCAS();
#endif
 
#if DOWNLINK && !defined PERIOD_NAVIGATION_Ap_0 // If not sent periodically (in default 0 mode)
  SEND_NAVIGATION(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
#endif
 
  /* The nav task computes only nav_altitude. However, we are interested
     by desired_altitude (= nav_alt+alt_shift) in any case.
     So we always run the altitude control loop */
  if (v_ctl_mode == V_CTL_MODE_AUTO_ALT) {
    v_ctl_altitude_loop();
  }
 
  if (autopilot_get_mode() == AP_MODE_AUTO2 ||
      autopilot_get_mode() == AP_MODE_HOME ||
      autopilot_get_mode() == AP_MODE_GPS_OUT_OF_ORDER) {
#ifdef H_CTL_RATE_LOOP
    /* Be sure to be in attitude mode, not roll */
    h_ctl_auto1_rate = false;
#endif
    if (lateral_mode >= LATERAL_MODE_COURSE) {
      h_ctl_course_loop();  /* aka compute nav_desired_roll */
    }
 
  }
}
 
void autopilot_failsafe_checks(void)
{
#if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
  /* check normal mode from RC channel(s)
   */
  if (!RadioControlIsLost()) {
#if defined RADIO_CALIB && defined RADIO_CONTROL_SETTINGS
    bool pprz_mode_changed = pprz_mode_update();
    bool calib_mode_changed = RcSettingsModeUpdate(radio_control.values);
    rc_settings(calib_mode_changed || pprz_mode_changed);
    calib_mode_changed;
#else
    pprz_mode_update();
#endif
  }
 
  /* RC lost while in use is true if we lost RC in MANUAL or AUTO1
   *
   * RC_LOST_MODE defaults to AP_MODE_HOME, but it can also be set to NAV_MODE_NAV or MANUAL when the RC receiver is well configured to send failsafe commands
  */
  if (RadioControlIsLost() &&
      (autopilot_get_mode() == AP_MODE_AUTO1 ||
       autopilot_get_mode() == AP_MODE_MANUAL)) {
    autopilot_set_mode(RC_LOST_MODE);
  }
 
  /* Check RC kill switch
   */
#ifdef RADIO_KILL_SWITCH
  if (radio_control_get(RADIO_KILL_SWITCH) < MIN_PPRZ / 2) {
    autopilot_set_kill_throttle(true); // not a mode change, just set kill_throttle
  }
#endif
 
  /* the SITL check is a hack to prevent "automatic" launch in NPS
  */
#ifndef SITL
  if (!autopilot.flight_time) {
    if (autopilot_get_mode() == AP_MODE_AUTO2 && radio_control_get(RADIO_THROTTLE) > THROTTLE_THRESHOLD_TAKEOFF) {
      autopilot.launch = true; // set launch to true from RC throttel up
    }
  }
#endif
 
#endif // RADIO_CONTROL
 
#if USE_GPS && (defined FAILSAFE_DELAY_WITHOUT_GPS)
  /* This section is used for the failsafe of GPS
   */
  static uint8_t last_pprz_mode;
  static bool gps_lost = false;
 
  if (autopilot.launch) {
    // check GPS timeout
    if (sys_time.nb_sec - gps.last_3dfix_time > FAILSAFE_DELAY_WITHOUT_GPS) {
      if (autopilot_get_mode() == AP_MODE_AUTO2 ||
          autopilot_get_mode() == AP_MODE_HOME) {
        last_pprz_mode = autopilot_get_mode();
        autopilot_set_mode(AP_MODE_GPS_OUT_OF_ORDER);
        gps_lost = true;
      }
    } else if (gps_lost) { /* GPS is ok */
      autopilot_set_mode(last_pprz_mode);
      gps_lost = false;
    }
  }
#endif /* GPS && FAILSAFE_DELAY_WITHOUT_GPS */
 
  /* If in-flight, with good GPS but too far, then activate HOME mode
   * In MANUAL with good RC, FBW will allow to override. */
  if (autopilot_get_mode() != AP_MODE_HOME &&
      autopilot_get_mode() != AP_MODE_GPS_OUT_OF_ORDER &&
      autopilot.launch) {
    if (too_far_from_home || datalink_lost() || higher_than_max_altitude()) {
      autopilot_set_mode(AP_MODE_HOME);
    }
  }
}
 
 
void attitude_loop(void)
{
  // Call vertical climb loop if mode is at least AUTO2
  if (autopilot_get_mode() >= AP_MODE_AUTO2) {
#if CTRL_VERTICAL_LANDING
    if (v_ctl_mode == V_CTL_MODE_LANDING) {
      v_ctl_landing_loop();
    } else {
#endif
      if (v_ctl_mode == V_CTL_MODE_AUTO_THROTTLE) {
        v_ctl_throttle_setpoint = nav_throttle_setpoint;
        v_ctl_pitch_setpoint = nav_pitch;
      } else {
        if (v_ctl_mode >= V_CTL_MODE_AUTO_CLIMB) {
          v_ctl_climb_loop();
        }
      }
#if CTRL_VERTICAL_LANDING
    }
#endif
 
#if defined V_CTL_THROTTLE_IDLE
    Bound(v_ctl_throttle_setpoint, TRIM_PPRZ(V_CTL_THROTTLE_IDLE * MAX_PPRZ), MAX_PPRZ);
#endif
 
#ifdef V_CTL_POWER_CTL_BAT_NOMINAL
    if (electrical.vsupply > 0.f) {
      v_ctl_throttle_setpoint *= V_CTL_POWER_CTL_BAT_NOMINAL / electrical.vsupply;
      v_ctl_throttle_setpoint = TRIM_UPPRZ(v_ctl_throttle_setpoint);
    }
#endif
 
    // Copy the pitch setpoint from the guidance to the stabilization control
    h_ctl_pitch_setpoint = v_ctl_pitch_setpoint;
    Bound(h_ctl_pitch_setpoint, H_CTL_PITCH_MIN_SETPOINT, H_CTL_PITCH_MAX_SETPOINT);
    if (autopilot.kill_throttle || (!autopilot.flight_time && !autopilot.launch)) {
      v_ctl_throttle_setpoint = 0;
    }
  }
 
  // Call attitude control and set commands if mode is at least AUTO1
  if (autopilot_get_mode() >= AP_MODE_AUTO1) {
    h_ctl_attitude_loop(); /* Set  h_ctl_aileron_setpoint & h_ctl_elevator_setpoint */
    v_ctl_throttle_slew();
    AP_COMMAND_SET_THROTTLE(v_ctl_throttle_slewed);
    AP_COMMAND_SET_ROLL(-h_ctl_aileron_setpoint);
    AP_COMMAND_SET_PITCH(h_ctl_elevator_setpoint);
    AP_COMMAND_SET_YAW(h_ctl_rudder_setpoint);
    AP_COMMAND_SET_CL(h_ctl_flaps_setpoint);
  }
 
}
 
 
#if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
static inline uint8_t pprz_mode_update(void)
{
  if ((autopilot_get_mode() != AP_MODE_HOME &&
       autopilot_get_mode() != AP_MODE_GPS_OUT_OF_ORDER)
#ifdef UNLOCKED_HOME_MODE
      || true
#endif
     ) {
#ifndef RADIO_AUTO_MODE
    uint8_t nm = AP_MODE_OF_PULSE(radio_control_get(RADIO_MODE));
    bool b = autopilot_set_mode(nm);
    return b;
    //return autopilot_set_mode(AP_MODE_OF_PULSE(radio_control_get(RADIO_MODE)));
#else
    INFO("Using RADIO_AUTO_MODE to switch between AUTO1 and AUTO2.")
    /* If RADIO_AUTO_MODE is enabled mode swithing will be seperated between
     * two switches/channels
     * RADIO_MODE will switch between AP_MODE_MANUAL and any AP_MODE_AUTO mode
     * selected by RADIO_AUTO_MODE.
     *
     * This is mainly a cludge for entry level radios with no three-way switch
     * but two available two-way switches which can be used.
     */
    if (AP_MODE_OF_PULSE(radio_control_get(RADIO_MODE)) == AP_MODE_MANUAL) {
      /* RADIO_MODE in MANUAL position */
      return autopilot_set_mode(AP_MODE_MANUAL);
    } else {
      /* RADIO_MODE not in MANUAL position.
       * Select AUTO mode bassed on RADIO_AUTO_MODE channel
       */
      return autopilot_set_mode((radio_control_get(RADIO_AUTO_MODE) > THRESHOLD2) ? AP_MODE_AUTO2 : AP_MODE_AUTO1);
    }
#endif // RADIO_AUTO_MODE
  } else {
    return false;
  }
}
#else // not RADIO_CONTROL
static inline uint8_t pprz_mode_update(void)
{
  return false;
}
#endif