Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

UAVXArm.c@0:62a1c91a859a, 2011-02-18 (annotated)

Committer:
gke
Date:
Fri Feb 18 22:28:05 2011 +0000
Revision:
0:62a1c91a859a
Child:
1:1e3318a30ddd
First release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gke 0:62a1c91a859a 1 // ===============================================================================================
gke 0:62a1c91a859a 2 // = UAVXArm Quadrocopter Controller =
gke 0:62a1c91a859a 3 // = Copyright (c) 2008 by Prof. Greg Egan =
gke 0:62a1c91a859a 4 // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
gke 0:62a1c91a859a 5 // = http://code.google.com/p/uavp-mods/ http://uavp.ch =
gke 0:62a1c91a859a 6 // ===============================================================================================
gke 0:62a1c91a859a 7
gke 0:62a1c91a859a 8 // This is part of UAVXArm.
gke 0:62a1c91a859a 9
gke 0:62a1c91a859a 10 // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
gke 0:62a1c91a859a 11 // General Public License as published by the Free Software Foundation, either version 3 of the
gke 0:62a1c91a859a 12 // License, or (at your option) any later version.
gke 0:62a1c91a859a 13
gke 0:62a1c91a859a 14 // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
gke 0:62a1c91a859a 15 // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
gke 0:62a1c91a859a 16 // See the GNU General Public License for more details.
gke 0:62a1c91a859a 17
gke 0:62a1c91a859a 18 // You should have received a copy of the GNU General Public License along with this program.
gke 0:62a1c91a859a 19 // If not, see http://www.gnu.org/licenses/
gke 0:62a1c91a859a 20
gke 0:62a1c91a859a 21 #include "UAVXArm.h"
gke 0:62a1c91a859a 22
gke 0:62a1c91a859a 23 volatile Flags F;
gke 0:62a1c91a859a 24
gke 0:62a1c91a859a 25 uint32 T1;
gke 0:62a1c91a859a 26
gke 0:62a1c91a859a 27 boolean OK;
gke 0:62a1c91a859a 28 uint8 ch;
gke 0:62a1c91a859a 29
gke 0:62a1c91a859a 30 int main(void) {
gke 0:62a1c91a859a 31
gke 0:62a1c91a859a 32 InitMisc();
gke 0:62a1c91a859a 33 InitHarness();
gke 0:62a1c91a859a 34
gke 0:62a1c91a859a 35 InitRC();
gke 0:62a1c91a859a 36 InitTimersAndInterrupts();
gke 0:62a1c91a859a 37 GreenLED = 1;
gke 0:62a1c91a859a 38 InitLEDs();
gke 0:62a1c91a859a 39
gke 0:62a1c91a859a 40 InitParameters();
gke 0:62a1c91a859a 41 ReadStatsPX();
gke 0:62a1c91a859a 42 InitMotors();
gke 0:62a1c91a859a 43 InitBattery();
gke 0:62a1c91a859a 44
gke 0:62a1c91a859a 45 LEDYellow_ON;
gke 0:62a1c91a859a 46 InitAccelerometers();
gke 0:62a1c91a859a 47 InitGyros();
gke 0:62a1c91a859a 48 InitIRSensors();
gke 0:62a1c91a859a 49 InitCompass();
gke 0:62a1c91a859a 50 InitRangefinder();
gke 0:62a1c91a859a 51
gke 0:62a1c91a859a 52 InitGPS();
gke 0:62a1c91a859a 53 InitNavigation();
gke 0:62a1c91a859a 54
gke 0:62a1c91a859a 55 InitTemperature();
gke 0:62a1c91a859a 56 InitBarometer();
gke 0:62a1c91a859a 57
gke 0:62a1c91a859a 58 ShowSetup(true);
gke 0:62a1c91a859a 59
gke 0:62a1c91a859a 60 I2C0.frequency(MinI2CRate);
gke 0:62a1c91a859a 61
gke 0:62a1c91a859a 62 FirstPass = true;
gke 0:62a1c91a859a 63
gke 0:62a1c91a859a 64 while ( true ) {
gke 0:62a1c91a859a 65 StopMotors();
gke 0:62a1c91a859a 66
gke 0:62a1c91a859a 67 LightsAndSirens(); // Check for Rx signal, disarmed on power up, throttle closed, gyros ONLINE
gke 0:62a1c91a859a 68
gke 0:62a1c91a859a 69 State = Starting;
gke 0:62a1c91a859a 70 F.FirstArmed = false;
gke 0:62a1c91a859a 71
gke 0:62a1c91a859a 72 while ( Armed.read() ) { // no command processing while the Quadrocopter is armed
gke 0:62a1c91a859a 73
gke 0:62a1c91a859a 74 UpdateGPS();
gke 0:62a1c91a859a 75 if ( F.RCNewValues )
gke 0:62a1c91a859a 76 UpdateControls();
gke 0:62a1c91a859a 77
gke 0:62a1c91a859a 78 if ( ( F.Signal ) && ( FailState == MonitoringRx ) ) {
gke 0:62a1c91a859a 79 switch ( State ) {
gke 0:62a1c91a859a 80 case Starting: // this state executed once only after arming
gke 0:62a1c91a859a 81
gke 0:62a1c91a859a 82 LEDYellow_OFF;
gke 0:62a1c91a859a 83
gke 0:62a1c91a859a 84 CreateLogfile();
gke 0:62a1c91a859a 85
gke 0:62a1c91a859a 86 if ( !F.FirstArmed ) {
gke 0:62a1c91a859a 87 mS[StartTime] = mSClock();
gke 0:62a1c91a859a 88 F.FirstArmed = true;
gke 0:62a1c91a859a 89 }
gke 0:62a1c91a859a 90
gke 0:62a1c91a859a 91 InitControl();
gke 0:62a1c91a859a 92 CaptureTrims();
gke 0:62a1c91a859a 93 InitGPS();
gke 0:62a1c91a859a 94 InitNavigation();
gke 0:62a1c91a859a 95
gke 0:62a1c91a859a 96 DesiredThrottle = 0;
gke 0:62a1c91a859a 97 ErectGyros(); // DO NOT MOVE AIRCRAFT!
gke 0:62a1c91a859a 98 ZeroStats();
gke 0:62a1c91a859a 99 DoStartingBeeps(3);
gke 0:62a1c91a859a 100
gke 0:62a1c91a859a 101 SendParamPacket(0);
gke 0:62a1c91a859a 102 SendParamPacket(1);
gke 0:62a1c91a859a 103
gke 0:62a1c91a859a 104 mS[ArmedTimeout] = mSClock() + ARMED_TIMEOUT_MS;
gke 0:62a1c91a859a 105 mS[RxFailsafeTimeout] = mSClock() + RC_NO_CHANGE_TIMEOUT_MS;
gke 0:62a1c91a859a 106 F.ForceFailsafe = F.LostModel = false;
gke 0:62a1c91a859a 107
gke 0:62a1c91a859a 108 State = Landed;
gke 0:62a1c91a859a 109 break;
gke 0:62a1c91a859a 110 case Landed:
gke 0:62a1c91a859a 111 DesiredThrottle = 0;
gke 0:62a1c91a859a 112 if ( mSClock() > mS[ArmedTimeout] )
gke 0:62a1c91a859a 113 DoShutdown();
gke 0:62a1c91a859a 114 else
gke 0:62a1c91a859a 115 if ( StickThrottle < IdleThrottle ) {
gke 0:62a1c91a859a 116 SetGPSOrigin();
gke 0:62a1c91a859a 117 GetHeading();
gke 0:62a1c91a859a 118 if ( F.NewCommands )
gke 0:62a1c91a859a 119 F.LostModel = F.ForceFailsafe;
gke 0:62a1c91a859a 120 } else {
gke 0:62a1c91a859a 121 #ifdef SIMULATE
gke 0:62a1c91a859a 122 FakeBaroRelAltitude = 0;
gke 0:62a1c91a859a 123 #endif // SIMULATE
gke 0:62a1c91a859a 124 LEDPattern = 0;
gke 0:62a1c91a859a 125 mS[NavActiveTime] = mSClock() + NAV_ACTIVE_DELAY_MS;
gke 0:62a1c91a859a 126 Stats[RCGlitchesS] = RCGlitches; // start of flight
gke 0:62a1c91a859a 127 SaveLEDs();
gke 0:62a1c91a859a 128 if ( ParameterSanityCheck() )
gke 0:62a1c91a859a 129 State = InFlight;
gke 0:62a1c91a859a 130 else
gke 0:62a1c91a859a 131 ALL_LEDS_ON;
gke 0:62a1c91a859a 132 }
gke 0:62a1c91a859a 133 break;
gke 0:62a1c91a859a 134 case Landing:
gke 0:62a1c91a859a 135 if ( StickThrottle > IdleThrottle ) {
gke 0:62a1c91a859a 136 DesiredThrottle = 0;
gke 0:62a1c91a859a 137 State = InFlight;
gke 0:62a1c91a859a 138 } else
gke 0:62a1c91a859a 139 if ( mSClock() < mS[ThrottleIdleTimeout] )
gke 0:62a1c91a859a 140 DesiredThrottle = IdleThrottle;
gke 0:62a1c91a859a 141 else {
gke 0:62a1c91a859a 142 DesiredThrottle = 0; // to catch cycles between Rx updates
gke 0:62a1c91a859a 143 F.MotorsArmed = false;
gke 0:62a1c91a859a 144 Stats[RCGlitchesS] = RCGlitches - Stats[RCGlitchesS];
gke 0:62a1c91a859a 145 WriteStatsPX();
gke 0:62a1c91a859a 146 WritePXImagefile();
gke 0:62a1c91a859a 147 mS[ArmedTimeout] = mSClock() + ARMED_TIMEOUT_MS;
gke 0:62a1c91a859a 148 State = Landed;
gke 0:62a1c91a859a 149 }
gke 0:62a1c91a859a 150 break;
gke 0:62a1c91a859a 151 case Shutdown:
gke 0:62a1c91a859a 152 // wait until arming switch is cycled
gke 0:62a1c91a859a 153 F.LostModel = true;
gke 0:62a1c91a859a 154 DesiredRoll = DesiredPitch = DesiredYaw = DesiredThrottle = 0;
gke 0:62a1c91a859a 155 StopMotors();
gke 0:62a1c91a859a 156 break;
gke 0:62a1c91a859a 157 case InFlight:
gke 0:62a1c91a859a 158 F.MotorsArmed = true;
gke 0:62a1c91a859a 159 DoNavigation();
gke 0:62a1c91a859a 160 LEDChaser();
gke 0:62a1c91a859a 161
gke 0:62a1c91a859a 162 DesiredThrottle = SlewLimit(DesiredThrottle, StickThrottle, 1);
gke 0:62a1c91a859a 163
gke 0:62a1c91a859a 164 if ( StickThrottle < IdleThrottle ) {
gke 0:62a1c91a859a 165 mS[ThrottleIdleTimeout] = mSClock() + THROTTLE_LOW_DELAY_MS;
gke 0:62a1c91a859a 166 RestoreLEDs();
gke 0:62a1c91a859a 167 State = Landing;
gke 0:62a1c91a859a 168 }
gke 0:62a1c91a859a 169 break;
gke 0:62a1c91a859a 170 } // Switch State
gke 0:62a1c91a859a 171 mS[FailsafeTimeout] = mSClock() + FAILSAFE_TIMEOUT_MS;
gke 0:62a1c91a859a 172 FailState = MonitoringRx;
gke 0:62a1c91a859a 173 } else
gke 0:62a1c91a859a 174 DoPPMFailsafe();
gke 0:62a1c91a859a 175
gke 0:62a1c91a859a 176 DoControl();
gke 0:62a1c91a859a 177
gke 0:62a1c91a859a 178 MixAndLimitMotors();
gke 0:62a1c91a859a 179 MixAndLimitCam();
gke 0:62a1c91a859a 180 OutSignals();
gke 0:62a1c91a859a 181 // zzz??? need to do some minor scheduling here with housekeeping
gke 0:62a1c91a859a 182 GetTemperature();
gke 0:62a1c91a859a 183 GetBattery();
gke 0:62a1c91a859a 184 CheckAlarms();
gke 0:62a1c91a859a 185 CheckTelemetry();
gke 0:62a1c91a859a 186
gke 0:62a1c91a859a 187 SensorTrace();
gke 0:62a1c91a859a 188
gke 0:62a1c91a859a 189 } // flight while armed
gke 0:62a1c91a859a 190 }
gke 0:62a1c91a859a 191 } // main
gke 0:62a1c91a859a 192