Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

UAVXArm.c@1:1e3318a30ddd, 2011-02-25 (annotated)

Committer:
gke
Date:
Fri Feb 25 01:35:24 2011 +0000
Revision:
1:1e3318a30ddd
Parent:
0:62a1c91a859a
Child:
2:90292f8bd179
This version has broken I2C - posted for debugging involvement of Simon et al.

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 int main(void) {
gke 0:62a1c91a859a 26
gke 0:62a1c91a859a 27 InitMisc();
gke 0:62a1c91a859a 28 InitHarness();
gke 1:1e3318a30ddd 29
gke 0:62a1c91a859a 30 InitRC();
gke 0:62a1c91a859a 31 InitTimersAndInterrupts();
gke 0:62a1c91a859a 32 InitLEDs();
gke 1:1e3318a30ddd 33
gke 0:62a1c91a859a 34 InitParameters();
gke 0:62a1c91a859a 35 ReadStatsPX();
gke 0:62a1c91a859a 36 InitMotors();
gke 0:62a1c91a859a 37 InitBattery();
gke 0:62a1c91a859a 38
gke 0:62a1c91a859a 39 LEDYellow_ON;
gke 0:62a1c91a859a 40 InitAccelerometers();
gke 0:62a1c91a859a 41 InitGyros();
gke 0:62a1c91a859a 42 InitIRSensors();
gke 1:1e3318a30ddd 43
gke 0:62a1c91a859a 44 InitCompass();
gke 0:62a1c91a859a 45 InitRangefinder();
gke 0:62a1c91a859a 46
gke 0:62a1c91a859a 47 InitGPS();
gke 0:62a1c91a859a 48 InitNavigation();
gke 0:62a1c91a859a 49
gke 0:62a1c91a859a 50 InitTemperature();
gke 0:62a1c91a859a 51 InitBarometer();
gke 0:62a1c91a859a 52
gke 0:62a1c91a859a 53 ShowSetup(true);
gke 1:1e3318a30ddd 54
gke 0:62a1c91a859a 55 I2C0.frequency(MinI2CRate);
gke 0:62a1c91a859a 56
gke 0:62a1c91a859a 57 FirstPass = true;
gke 0:62a1c91a859a 58
gke 0:62a1c91a859a 59 while ( true ) {
gke 0:62a1c91a859a 60 StopMotors();
gke 0:62a1c91a859a 61
gke 0:62a1c91a859a 62 LightsAndSirens(); // Check for Rx signal, disarmed on power up, throttle closed, gyros ONLINE
gke 1:1e3318a30ddd 63
gke 1:1e3318a30ddd 64 GetAttitude();
gke 1:1e3318a30ddd 65 MixAndLimitCam();
gke 0:62a1c91a859a 66
gke 0:62a1c91a859a 67 State = Starting;
gke 0:62a1c91a859a 68 F.FirstArmed = false;
gke 0:62a1c91a859a 69
gke 0:62a1c91a859a 70 while ( Armed.read() ) { // no command processing while the Quadrocopter is armed
gke 0:62a1c91a859a 71
gke 0:62a1c91a859a 72 UpdateGPS();
gke 0:62a1c91a859a 73 if ( F.RCNewValues )
gke 0:62a1c91a859a 74 UpdateControls();
gke 0:62a1c91a859a 75
gke 0:62a1c91a859a 76 if ( ( F.Signal ) && ( FailState == MonitoringRx ) ) {
gke 0:62a1c91a859a 77 switch ( State ) {
gke 0:62a1c91a859a 78 case Starting: // this state executed once only after arming
gke 0:62a1c91a859a 79
gke 0:62a1c91a859a 80 LEDYellow_OFF;
gke 0:62a1c91a859a 81
gke 0:62a1c91a859a 82 CreateLogfile();
gke 0:62a1c91a859a 83
gke 0:62a1c91a859a 84 if ( !F.FirstArmed ) {
gke 0:62a1c91a859a 85 mS[StartTime] = mSClock();
gke 0:62a1c91a859a 86 F.FirstArmed = true;
gke 0:62a1c91a859a 87 }
gke 0:62a1c91a859a 88
gke 0:62a1c91a859a 89 InitControl();
gke 0:62a1c91a859a 90 CaptureTrims();
gke 0:62a1c91a859a 91 InitGPS();
gke 0:62a1c91a859a 92 InitNavigation();
gke 0:62a1c91a859a 93
gke 0:62a1c91a859a 94 DesiredThrottle = 0;
gke 0:62a1c91a859a 95 ErectGyros(); // DO NOT MOVE AIRCRAFT!
gke 0:62a1c91a859a 96 ZeroStats();
gke 0:62a1c91a859a 97 DoStartingBeeps(3);
gke 0:62a1c91a859a 98
gke 1:1e3318a30ddd 99 SendParameters(ParamSet);
gke 0:62a1c91a859a 100
gke 0:62a1c91a859a 101 mS[ArmedTimeout] = mSClock() + ARMED_TIMEOUT_MS;
gke 0:62a1c91a859a 102 mS[RxFailsafeTimeout] = mSClock() + RC_NO_CHANGE_TIMEOUT_MS;
gke 0:62a1c91a859a 103 F.ForceFailsafe = F.LostModel = false;
gke 0:62a1c91a859a 104
gke 0:62a1c91a859a 105 State = Landed;
gke 0:62a1c91a859a 106 break;
gke 0:62a1c91a859a 107 case Landed:
gke 0:62a1c91a859a 108 DesiredThrottle = 0;
gke 0:62a1c91a859a 109 if ( mSClock() > mS[ArmedTimeout] )
gke 0:62a1c91a859a 110 DoShutdown();
gke 0:62a1c91a859a 111 else
gke 0:62a1c91a859a 112 if ( StickThrottle < IdleThrottle ) {
gke 0:62a1c91a859a 113 SetGPSOrigin();
gke 0:62a1c91a859a 114 GetHeading();
gke 0:62a1c91a859a 115 if ( F.NewCommands )
gke 0:62a1c91a859a 116 F.LostModel = F.ForceFailsafe;
gke 0:62a1c91a859a 117 } else {
gke 0:62a1c91a859a 118 #ifdef SIMULATE
gke 0:62a1c91a859a 119 FakeBaroRelAltitude = 0;
gke 0:62a1c91a859a 120 #endif // SIMULATE
gke 0:62a1c91a859a 121 LEDPattern = 0;
gke 0:62a1c91a859a 122 mS[NavActiveTime] = mSClock() + NAV_ACTIVE_DELAY_MS;
gke 0:62a1c91a859a 123 Stats[RCGlitchesS] = RCGlitches; // start of flight
gke 0:62a1c91a859a 124 SaveLEDs();
gke 0:62a1c91a859a 125 if ( ParameterSanityCheck() )
gke 0:62a1c91a859a 126 State = InFlight;
gke 0:62a1c91a859a 127 else
gke 0:62a1c91a859a 128 ALL_LEDS_ON;
gke 0:62a1c91a859a 129 }
gke 0:62a1c91a859a 130 break;
gke 0:62a1c91a859a 131 case Landing:
gke 0:62a1c91a859a 132 if ( StickThrottle > IdleThrottle ) {
gke 0:62a1c91a859a 133 DesiredThrottle = 0;
gke 0:62a1c91a859a 134 State = InFlight;
gke 0:62a1c91a859a 135 } else
gke 0:62a1c91a859a 136 if ( mSClock() < mS[ThrottleIdleTimeout] )
gke 0:62a1c91a859a 137 DesiredThrottle = IdleThrottle;
gke 0:62a1c91a859a 138 else {
gke 0:62a1c91a859a 139 DesiredThrottle = 0; // to catch cycles between Rx updates
gke 0:62a1c91a859a 140 F.MotorsArmed = false;
gke 0:62a1c91a859a 141 Stats[RCGlitchesS] = RCGlitches - Stats[RCGlitchesS];
gke 0:62a1c91a859a 142 WriteStatsPX();
gke 0:62a1c91a859a 143 WritePXImagefile();
gke 0:62a1c91a859a 144 mS[ArmedTimeout] = mSClock() + ARMED_TIMEOUT_MS;
gke 0:62a1c91a859a 145 State = Landed;
gke 0:62a1c91a859a 146 }
gke 0:62a1c91a859a 147 break;
gke 0:62a1c91a859a 148 case Shutdown:
gke 0:62a1c91a859a 149 // wait until arming switch is cycled
gke 0:62a1c91a859a 150 F.LostModel = true;
gke 0:62a1c91a859a 151 DesiredRoll = DesiredPitch = DesiredYaw = DesiredThrottle = 0;
gke 0:62a1c91a859a 152 StopMotors();
gke 0:62a1c91a859a 153 break;
gke 0:62a1c91a859a 154 case InFlight:
gke 0:62a1c91a859a 155 F.MotorsArmed = true;
gke 0:62a1c91a859a 156 DoNavigation();
gke 0:62a1c91a859a 157 LEDChaser();
gke 0:62a1c91a859a 158
gke 0:62a1c91a859a 159 DesiredThrottle = SlewLimit(DesiredThrottle, StickThrottle, 1);
gke 0:62a1c91a859a 160
gke 0:62a1c91a859a 161 if ( StickThrottle < IdleThrottle ) {
gke 0:62a1c91a859a 162 mS[ThrottleIdleTimeout] = mSClock() + THROTTLE_LOW_DELAY_MS;
gke 0:62a1c91a859a 163 RestoreLEDs();
gke 0:62a1c91a859a 164 State = Landing;
gke 0:62a1c91a859a 165 }
gke 0:62a1c91a859a 166 break;
gke 0:62a1c91a859a 167 } // Switch State
gke 0:62a1c91a859a 168 mS[FailsafeTimeout] = mSClock() + FAILSAFE_TIMEOUT_MS;
gke 0:62a1c91a859a 169 FailState = MonitoringRx;
gke 0:62a1c91a859a 170 } else
gke 0:62a1c91a859a 171 DoPPMFailsafe();
gke 0:62a1c91a859a 172
gke 0:62a1c91a859a 173 DoControl();
gke 0:62a1c91a859a 174
gke 0:62a1c91a859a 175 MixAndLimitMotors();
gke 1:1e3318a30ddd 176 OutSignals();
gke 1:1e3318a30ddd 177
gke 0:62a1c91a859a 178 MixAndLimitCam();
gke 1:1e3318a30ddd 179
gke 1:1e3318a30ddd 180 GetTemperature();
gke 0:62a1c91a859a 181 GetBattery();
gke 0:62a1c91a859a 182 CheckAlarms();
gke 0:62a1c91a859a 183 CheckTelemetry();
gke 0:62a1c91a859a 184
gke 0:62a1c91a859a 185 SensorTrace();
gke 0:62a1c91a859a 186
gke 0:62a1c91a859a 187 } // flight while armed
gke 0:62a1c91a859a 188 }
gke 0:62a1c91a859a 189 } // main
gke 0:62a1c91a859a 190