Line data Source code
1 : /*
2 : This program is free software: you can redistribute it and/or modify
3 : it under the terms of the GNU General Public License as published by
4 : the Free Software Foundation, either version 3 of the License, or
5 : (at your option) any later version.
6 :
7 : This program is distributed in the hope that it will be useful,
8 : but WITHOUT ANY WARRANTY; without even the implied warranty of
9 : MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
10 : GNU General Public License for more details.
11 :
12 : You should have received a copy of the GNU General Public License
13 : along with this program. If not, see <http://www.gnu.org/licenses/>.
14 : */
15 : #pragma once
16 :
17 : #include "AP_Vehicle_config.h"
18 :
19 : #if AP_VEHICLE_ENABLED
20 :
21 : /*
22 : this header holds a parameter structure for each vehicle type for
23 : parameters needed by multiple libraries
24 : */
25 :
26 : #include "ModeReason.h" // reasons can't be defined in this header due to circular loops
27 :
28 : #include <AP_AHRS/AP_AHRS.h>
29 : #include <AP_AccelCal/AP_AccelCal.h>
30 : #include <AP_Airspeed/AP_Airspeed.h>
31 : #include <AP_Baro/AP_Baro.h>
32 : #include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library
33 : #include <AP_CANManager/AP_CANManager.h>
34 : #include <AP_Button/AP_Button.h>
35 : #include <AP_Compass/AP_Compass.h>
36 : #include <AP_EFI/AP_EFI.h>
37 : #include <AP_ExternalControl/AP_ExternalControl_config.h>
38 : #include <AP_GPS/AP_GPS.h>
39 : #include <AP_Generator/AP_Generator.h>
40 : #include <AP_Logger/AP_Logger.h>
41 : #include <AP_InertialSensor/AP_InertialSensor.h>
42 : #include <AP_Notify/AP_Notify.h> // Notify library
43 : #include <AP_Param/AP_Param.h>
44 : #include <AP_RangeFinder/AP_RangeFinder.h>
45 : #include <AP_Relay/AP_Relay.h> // APM relay
46 : #include <AP_RSSI/AP_RSSI.h> // RSSI Library
47 : #include <AP_Scheduler/AP_Scheduler.h>
48 : #include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
49 : #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
50 : #include <AP_OpenDroneID/AP_OpenDroneID.h>
51 : #include <AP_Hott_Telem/AP_Hott_Telem.h>
52 : #include <AP_ESC_Telem/AP_ESC_Telem.h>
53 : #include <AP_Servo_Telem/AP_Servo_Telem.h>
54 : #include <AP_GyroFFT/AP_GyroFFT.h>
55 : #include <AP_Networking/AP_Networking.h>
56 : #include <AP_VisualOdom/AP_VisualOdom.h>
57 : #include <AP_VideoTX/AP_VideoTX.h>
58 : #include <AP_MSP/AP_MSP.h>
59 : #include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
60 : #include <AP_ExternalAHRS/AP_ExternalAHRS.h>
61 : #include <AP_VideoTX/AP_SmartAudio.h>
62 : #include <AP_VideoTX/AP_Tramp.h>
63 : #include <AP_TemperatureSensor/AP_TemperatureSensor.h>
64 : #include <SITL/SITL.h>
65 : #include <AP_CustomRotations/AP_CustomRotations.h>
66 : #include <AP_AIS/AP_AIS.h>
67 : #include <AP_NMEA_Output/AP_NMEA_Output.h>
68 : #include <AC_Fence/AC_Fence.h>
69 : #include <AP_CheckFirmware/AP_CheckFirmware.h>
70 : #include <Filter/LowPassFilter.h>
71 : #include <AP_KDECAN/AP_KDECAN.h>
72 : #include <Filter/AP_Filter.h>
73 : #include <AP_Stats/AP_Stats.h> // statistics library
74 : #include <AP_DDS/AP_DDS_config.h>
75 : #if AP_SCRIPTING_ENABLED
76 : #include <AP_Scripting/AP_Scripting.h>
77 : #endif
78 :
79 : #include <AP_Gripper/AP_Gripper_config.h>
80 : #if AP_GRIPPER_ENABLED
81 : #include <AP_Gripper/AP_Gripper.h>
82 : #endif
83 :
84 : #include <AP_Beacon/AP_Beacon_config.h>
85 : #if AP_BEACON_ENABLED
86 : #include <AP_Beacon/AP_Beacon.h>
87 : #endif // AP_BEACON_ENABLED
88 :
89 : #include <AP_RPM/AP_RPM_config.h>
90 : #if AP_RPM_ENABLED
91 : #include <AP_RPM/AP_RPM.h>
92 : #endif
93 :
94 : #include <AP_IBus_Telem/AP_IBus_Telem.h>
95 :
96 : class AP_DDS_Client;
97 :
98 : class AP_Vehicle : public AP_HAL::HAL::Callbacks {
99 :
100 : public:
101 :
102 69170 : AP_Vehicle() {
103 2098 : if (_singleton) {
104 0 : AP_HAL::panic("Too many Vehicles");
105 : }
106 2098 : AP_Param::setup_object_defaults(this, var_info);
107 2098 : _singleton = this;
108 2098 : }
109 :
110 : /* Do not allow copies */
111 : CLASS_NO_COPY(AP_Vehicle);
112 :
113 : static AP_Vehicle *get_singleton();
114 :
115 : // setup() is called once during vehicle startup to initialise the
116 : // vehicle object and the objects it contains. The
117 : // AP_HAL_MAIN_CALLBACKS pragma creates a main(...) function
118 : // referencing an object containing setup() and loop() functions.
119 : // A vehicle is not expected to override setup(), but
120 : // subclass-specific initialisation can be done in init_ardupilot
121 : // which is called from setup().
122 : void setup(void) override final;
123 :
124 : // HAL::Callbacks implementation.
125 : void loop() override final;
126 :
127 : // set_mode *must* set control_mode_reason
128 : virtual bool set_mode(const uint8_t new_mode, const ModeReason reason) = 0;
129 : virtual uint8_t get_mode() const = 0;
130 :
131 0 : ModeReason get_control_mode_reason() const {
132 0 : return control_mode_reason;
133 : }
134 :
135 58465 : virtual bool current_mode_requires_mission() const { return false; }
136 :
137 : // perform any notifications required to indicate a mode change
138 : // failed due to a bad mode number being supplied. This can
139 : // happen for many reasons - bad mavlink packet and bad mode
140 : // parameters for example.
141 : void notify_no_such_mode(uint8_t mode_number);
142 :
143 : #if AP_SCHEDULER_ENABLED
144 : void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);
145 : // implementations *MUST* fill in all passed-in fields or we get
146 : // Valgrind errors
147 : virtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0;
148 : #endif
149 :
150 : /*
151 : set the "likely flying" flag. This is not guaranteed to be
152 : accurate, but is the vehicle codes best guess as to the whether
153 : the vehicle is currently flying
154 : */
155 294970 : void set_likely_flying(bool b) {
156 294970 : if (b && !likely_flying) {
157 931 : _last_flying_ms = AP_HAL::millis();
158 : }
159 294970 : likely_flying = b;
160 294970 : }
161 :
162 : /*
163 : get the likely flying status. Returns true if the vehicle code
164 : thinks we are flying at the moment. Not guaranteed to be
165 : accurate
166 : */
167 19899 : bool get_likely_flying(void) const {
168 19899 : return likely_flying;
169 : }
170 :
171 : /*
172 : return time in milliseconds since likely_flying was set
173 : true. Returns zero if likely_flying is currently false
174 : */
175 41156769 : uint32_t get_time_flying_ms(void) const {
176 41156769 : if (!likely_flying) {
177 15064623 : return 0;
178 : }
179 26092146 : return AP_HAL::millis() - _last_flying_ms;
180 : }
181 :
182 : // returns true if the vehicle has crashed
183 : virtual bool is_crashed() const;
184 :
185 : #if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
186 : // Method to takeoff for use by external control
187 0 : virtual bool start_takeoff(const float alt_m) { return false; }
188 : // Method to control vehicle position for use by external control
189 0 : virtual bool set_target_location(const Location& target_loc) { return false; }
190 : // Get target location for use by external control
191 0 : virtual bool get_target_location(Location& target_loc) { return false; }
192 : #endif // AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
193 : #if AP_SCRIPTING_ENABLED
194 : /*
195 : methods to control vehicle for use by scripting
196 : */
197 0 : virtual bool set_target_pos_NED(const Vector3f& target_pos_ned_m, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool is_terrain_alt) { return false; }
198 0 : virtual bool set_target_posvel_NED(const Vector3f& target_pos_ned_m, const Vector3f& target_vel_ned_ms) { return false; }
199 0 : virtual bool set_target_posvelaccel_NED(const Vector3f& target_pos_ned_m, const Vector3f& target_vel_ned_ms, const Vector3f& target_accel_ned_mss, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }
200 0 : virtual bool set_target_velocity_NED(const Vector3f& vel_ned_ms, bool align_yaw_to_target = false) { return false; }
201 0 : virtual bool set_target_velaccel_NED(const Vector3f& target_vel_ned_ms, const Vector3f& target_accel_ned_mss, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }
202 0 : virtual bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) { return false; }
203 0 : virtual bool set_target_rate_and_throttle(float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps, float throttle) { return false; }
204 0 : virtual bool set_target_angle_and_rate_and_throttle(float roll_deg, float pitch_deg, float yaw_deg, float roll_rate_degs, float pitch_rate_degs, float yaw_rate_degs, float throttle) { return false; }
205 :
206 : // command throttle percentage and roll, pitch, yaw target
207 : // rates. For use with scripting controllers
208 0 : virtual void set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps) {}
209 0 : virtual void set_rudder_offset(float rudder_pct, bool run_yaw_rate_controller) {}
210 0 : virtual bool nav_scripting_enable(uint8_t mode) {return false;}
211 :
212 0 : virtual bool update_target_location(const Location &old_loc, const Location &new_loc) { return false; }
213 :
214 : // circle mode controls (only used by scripting with Copter)
215 0 : virtual bool get_circle_radius(float &radius_m) { return false; }
216 0 : virtual bool set_circle_rate(float rate_dps) { return false; }
217 :
218 : // get or set steering and throttle (-1 to +1) (for use by scripting with Rover)
219 0 : virtual bool set_steering_and_throttle(float steering, float throttle) { return false; }
220 0 : virtual bool get_steering_and_throttle(float& steering, float& throttle) { return false; }
221 :
222 : // set turn rate in deg/sec and speed in meters/sec (for use by scripting with Rover)
223 0 : virtual bool set_desired_turn_rate_and_speed(float turn_rate_degs, float speed_ms) { return false; }
224 :
225 : // set auto mode speed in meters/sec (for use by scripting with Copter/Rover)
226 0 : virtual bool set_desired_speed(float speed_ms) { return false; }
227 :
228 : // support for NAV_SCRIPT_TIME mission command
229 0 : virtual bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) { return false; }
230 0 : virtual void nav_script_time_done(uint16_t id) {}
231 :
232 : // allow for VTOL velocity matching of a target
233 0 : virtual bool set_velocity_match(const Vector2f &velocity_ne_ms) { return false; }
234 :
235 : // returns true if the EKF failsafe has triggered
236 0 : virtual bool has_ekf_failsafed() const { return false; }
237 :
238 : // allow for landing descent rate to be overridden by a script, may be -ve to climb
239 0 : virtual bool set_land_descent_rate(float descent_rate_ms) { return false; }
240 :
241 : // Allow for scripting to have control over the crosstracking when exiting and resuming missions or guided flight
242 : // It's up to the Lua script to ensure the provided location makes sense
243 0 : virtual bool set_crosstrack_start(const Location &new_start_location) { return false; }
244 :
245 : // control outputs enumeration
246 : enum class ControlOutput {
247 : Roll = 1,
248 : Pitch = 2,
249 : Throttle = 3,
250 : Yaw = 4,
251 : Lateral = 5,
252 : MainSail = 6,
253 : WingSail = 7,
254 : Walking_Height = 8,
255 : Last_ControlOutput // place new values before this
256 : };
257 :
258 : // get control output (for use in scripting)
259 : // returns true on success and control_value is set to a value in the range -1 to +1
260 0 : virtual bool get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value) { return false; }
261 :
262 : // Register a custom mode with given number and names, return a structure which the script can edit
263 : struct custom_mode_state {
264 : bool allow_entry;
265 : };
266 0 : virtual custom_mode_state* register_custom_mode(const uint8_t number, const char* full_name, const char* short_name) { return nullptr; }
267 :
268 : #endif // AP_SCRIPTING_ENABLED
269 :
270 : // returns true if vehicle is in the process of landing
271 0 : virtual bool is_landing() const { return false; }
272 :
273 : // returns true if vehicle is in the process of taking off
274 0 : virtual bool is_taking_off() const { return false; }
275 :
276 : // zeroing the RC outputs can prevent unwanted motor movement:
277 1570 : virtual bool should_zero_rc_outputs_on_reboot() const { return false; }
278 :
279 : // reboot the vehicle in an orderly manner, doing various cleanups
280 : // and flashing LEDs as appropriate
281 : void reboot(bool hold_in_bootloader);
282 :
283 : /*
284 : get the distance to next wp in meters
285 : return false if failed or n/a
286 : */
287 0 : virtual bool get_wp_distance_m(float &distance) const { return false; }
288 :
289 : #if AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED
290 : // return the lat/lon/alt etc of waypoint location:
291 0 : virtual bool get_wp_location(Location &loc) const { return false; }
292 : #endif // AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED
293 :
294 : /*
295 : get the current wp bearing in degrees
296 : return false if failed or n/a
297 : */
298 0 : virtual bool get_wp_bearing_deg(float &bearing) const { return false; }
299 :
300 : /*
301 : get the current wp crosstrack error in meters
302 : return false if failed or n/a
303 : */
304 0 : virtual bool get_wp_crosstrack_error_m(float &xtrack_error) const { return false; }
305 :
306 : #if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
307 : AP_Frsky_Parameters frsky_parameters;
308 : #endif
309 :
310 : /*
311 : Returns the pan and tilt for use by onvif camera in scripting
312 : */
313 0 : virtual bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const { return false; }
314 :
315 : // Returns roll, pitch, and yaw for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing PTCH_TRIM_DEG
316 : virtual void get_osd_attitude_rad(float &roll, float &pitch, float &yaw);
317 :
318 : /*
319 : get the target earth-frame angular velocities in rad/s (Z-axis component used by some gimbals)
320 : */
321 0 : virtual bool get_rate_ef_targets(Vector3f& rate_ef_targets_rads) const { return false; }
322 :
323 : #if AP_AHRS_ENABLED
324 0 : virtual bool set_home_to_current_location(bool lock) WARN_IF_UNUSED { return false; }
325 0 : virtual bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED { return false; }
326 : #endif
327 :
328 : protected:
329 :
330 : virtual void init_ardupilot() = 0;
331 : virtual void load_parameters() = 0;
332 : void load_parameters(AP_Int16 &format_version, const uint16_t expected_format_version);
333 :
334 1117 : virtual void set_control_channels() {}
335 :
336 : // board specific config
337 : AP_BoardConfig BoardConfig;
338 :
339 : #if HAL_CANMANAGER_ENABLED
340 : // board specific config for CAN bus
341 : AP_CANManager can_mgr;
342 : #endif
343 :
344 : #if AP_SCHEDULER_ENABLED
345 : // main loop scheduler
346 : AP_Scheduler scheduler;
347 : #endif
348 :
349 : // IMU variables
350 : // Integration time; time last loop took to run
351 : float G_Dt;
352 :
353 : // sensor drivers
354 : #if AP_GPS_ENABLED
355 : AP_GPS gps;
356 : #endif
357 : AP_Baro barometer;
358 : #if AP_COMPASS_ENABLED
359 : Compass compass;
360 : #endif
361 : #if AP_INERTIALSENSOR_ENABLED
362 : AP_InertialSensor ins;
363 : #endif
364 : #if HAL_BUTTON_ENABLED
365 : AP_Button button;
366 : #endif
367 : #if AP_RANGEFINDER_ENABLED
368 : RangeFinder rangefinder;
369 : #endif
370 :
371 : #if HAL_LOGGING_ENABLED
372 : AP_Logger logger;
373 : AP_Int32 bitmask_unused;
374 : // method supplied by vehicle to provide log bitmask:
375 0 : virtual const AP_Int32 &get_log_bitmask() { return bitmask_unused; }
376 0 : virtual const struct LogStructure *get_log_structures() const { return nullptr; }
377 0 : virtual uint8_t get_num_log_structures() const { return 0; }
378 : #endif
379 :
380 : #if AP_GRIPPER_ENABLED
381 : AP_Gripper gripper;
382 : #endif
383 :
384 : #if AP_BEACON_ENABLED
385 : // beacon (non-GPS positioning) library
386 : AP_Beacon beacon;
387 : #endif // AP_BEACON_ENABLED
388 :
389 : #if AP_IBUS_TELEM_ENABLED
390 : AP_IBus_Telem ibus_telem;
391 : #endif
392 :
393 : #if AP_RSSI_ENABLED
394 : AP_RSSI rssi;
395 : #endif
396 :
397 : #if HAL_GYROFFT_ENABLED
398 : AP_GyroFFT gyro_fft;
399 : #endif
400 : #if AP_VIDEOTX_ENABLED
401 : AP_VideoTX vtx;
402 : #endif
403 :
404 : #if AP_SERIALMANAGER_ENABLED
405 : AP_SerialManager serial_manager;
406 : #endif
407 :
408 : #if AP_RELAY_ENABLED
409 : AP_Relay relay;
410 : #endif
411 :
412 : #if AP_SERVORELAYEVENTS_ENABLED
413 : AP_ServoRelayEvents ServoRelayEvents;
414 : #endif
415 :
416 : // notification object for LEDs, buzzers etc (parameter set to
417 : // false disables external leds)
418 : AP_Notify notify;
419 :
420 : #if AP_AHRS_ENABLED
421 : // Inertial Navigation EKF
422 : AP_AHRS ahrs;
423 : #endif
424 :
425 : #if HAL_HOTT_TELEM_ENABLED
426 : AP_Hott_Telem hott_telem;
427 : #endif
428 :
429 : #if HAL_VISUALODOM_ENABLED
430 : AP_VisualOdom visual_odom;
431 : #endif
432 :
433 : #if HAL_WITH_ESC_TELEM
434 : AP_ESC_Telem esc_telem;
435 : #endif
436 :
437 : #if AP_SERVO_TELEM_ENABLED
438 : AP_Servo_Telem servo_telem;
439 : #endif
440 :
441 : #if AP_OPENDRONEID_ENABLED
442 : AP_OpenDroneID opendroneid;
443 : #endif
444 :
445 : #if HAL_MSP_ENABLED
446 : AP_MSP msp;
447 : #endif
448 :
449 : #if HAL_GENERATOR_ENABLED
450 : AP_Generator generator;
451 : #endif
452 :
453 : #if AP_EXTERNAL_AHRS_ENABLED
454 : AP_ExternalAHRS externalAHRS;
455 : #endif
456 :
457 : #if AP_SMARTAUDIO_ENABLED
458 : AP_SmartAudio smartaudio;
459 : #endif
460 :
461 : #if AP_TRAMP_ENABLED
462 : AP_Tramp tramp;
463 : #endif
464 :
465 : #if AP_NETWORKING_ENABLED
466 : AP_Networking networking;
467 : #endif
468 :
469 : #if HAL_EFI_ENABLED
470 : // EFI Engine Monitor
471 : AP_EFI efi;
472 : #endif
473 :
474 : #if AP_AIRSPEED_ENABLED
475 : AP_Airspeed airspeed;
476 : #endif
477 :
478 : #if AP_STATS_ENABLED
479 : // vehicle statistics
480 : AP_Stats stats;
481 : #endif
482 :
483 : #if AP_AIS_ENABLED
484 : // Automatic Identification System - for tracking sea-going vehicles
485 : AP_AIS ais;
486 : #endif
487 :
488 : #if HAL_NMEA_OUTPUT_ENABLED
489 : AP_NMEA_Output nmea;
490 : #endif
491 :
492 : #if AP_KDECAN_ENABLED
493 : AP_KDECAN kdecan;
494 : #endif
495 :
496 : #if AP_FENCE_ENABLED
497 : AC_Fence fence;
498 : struct {
499 : bool have_updates; // true if new breache statuses have been captured but not actioned
500 : uint8_t new_breaches; // the new breaches that are available
501 : uint32_t last_check_ms; // last time the fence check was run
502 : } fence_breaches;
503 :
504 : void fence_init();
505 2329699 : virtual void fence_checks_async() {};
506 : #endif
507 :
508 : #if AP_TEMPERATURE_SENSOR_ENABLED
509 : AP_TemperatureSensor temperature_sensor;
510 : #endif
511 :
512 : #if AP_SCRIPTING_ENABLED
513 : AP_Scripting scripting;
514 : #endif
515 :
516 : #if AP_RPM_ENABLED
517 : AP_RPM rpm_sensor;
518 : #endif
519 :
520 : static const struct AP_Param::GroupInfo var_info[];
521 : #if AP_SCHEDULER_ENABLED
522 : static const struct AP_Scheduler::Task scheduler_tasks[];
523 : #endif
524 :
525 : #if OSD_ENABLED
526 : void publish_osd_info();
527 : #endif
528 :
529 : #if HAL_INS_ACCELCAL_ENABLED
530 : // update accel calibration
531 : void accel_cal_update();
532 : #endif
533 :
534 : // call the arming library's update function
535 : void update_arming();
536 :
537 : // check for motor noise at a particular frequency
538 : void check_motor_noise();
539 :
540 : #if HAL_WITH_ESC_TELEM
541 : // code common to multiple vehicles which ensures ESC telemetry is
542 : // reporting that all motors are performing.
543 : bool motors_takeoff_check(float rpm_min, float rpm_max);
544 : // state for takeoff_check:
545 : struct {
546 : uint32_t warning_ms;
547 : } takeoff_check_state;
548 :
549 : #endif
550 :
551 : ModeReason control_mode_reason = ModeReason::UNKNOWN;
552 :
553 : #if AP_SIM_ENABLED
554 : SITL::SIM sitl;
555 : #endif
556 :
557 : #if AP_DDS_ENABLED
558 : // Declare the dds client for communication with ROS2 and DDS(common for all vehicles)
559 : AP_DDS_Client *dds_client;
560 : bool init_dds_client() WARN_IF_UNUSED;
561 : #endif
562 :
563 : // Check if this mode can be entered from the GCS
564 : bool block_GCS_mode_change(uint8_t mode_num, const uint8_t *mode_list, uint8_t mode_list_length) const;
565 :
566 : #if HAL_GCS_ENABLED
567 : // Return mask of enabled modes, order does not matter, its just for tracking changes
568 7111 : virtual uint32_t get_available_mode_enabled_mask() const { return 0; };
569 : uint32_t last_available_mode_enabled_mask;
570 : #endif
571 :
572 : #if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
573 : // update the harmonic notch
574 : void update_dynamic_notch(AP_InertialSensor::HarmonicNotch ¬ch);
575 : // run notch update at either loop rate or 200Hz
576 : void update_dynamic_notch_at_specified_rate();
577 : #endif // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
578 :
579 : // Bitmask of modes to disable from gcs
580 : AP_Int32 flight_mode_GCS_block;
581 :
582 : private:
583 :
584 : #if AP_SCHEDULER_ENABLED
585 : // delay() callback that processing MAVLink packets
586 : static void scheduler_delay_callback();
587 : #endif
588 :
589 : // if there's been a watchdog reset, notify the world via a
590 : // statustext:
591 : void send_watchdog_reset_statustext();
592 :
593 : #if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
594 : // update the harmonic notch for throttle based notch
595 : void update_throttle_notch(AP_InertialSensor::HarmonicNotch ¬ch);
596 : #endif // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
597 :
598 : // decimation for 1Hz update
599 : uint8_t one_Hz_counter;
600 : void one_Hz_update();
601 :
602 : bool likely_flying; // true if vehicle is probably flying
603 : uint32_t _last_flying_ms; // time when likely_flying last went true
604 : #if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
605 : uint32_t _last_notch_update_ms[HAL_INS_NUM_HARMONIC_NOTCH_FILTERS]; // last time update_dynamic_notch() was run
606 : #endif
607 :
608 : static AP_Vehicle *_singleton;
609 :
610 : #if HAL_GYROFFT_ENABLED && HAL_WITH_ESC_TELEM
611 : LowPassFilterFloat esc_noise[ESC_TELEM_MAX_ESCS];
612 : uint32_t last_motor_noise_ms;
613 : #endif
614 :
615 : bool done_safety_init;
616 :
617 :
618 : uint32_t _last_internal_errors; // backup of AP_InternalError::internal_errors bitmask
619 :
620 : #if AP_CUSTOMROTATIONS_ENABLED
621 : AP_CustomRotations custom_rotations;
622 : #endif
623 :
624 : #if AP_FILTER_ENABLED
625 : AP_Filters filters;
626 : #endif
627 :
628 : };
629 :
630 : namespace AP {
631 : AP_Vehicle *vehicle();
632 : };
633 :
634 : extern const AP_HAL::HAL& hal;
635 :
636 : extern const AP_Param::Info vehicle_var_info[];
637 :
638 : #include "AP_Vehicle_Type.h"
639 :
640 : #endif // AP_VEHICLE_ENABLED
|
