APM_ArduCopter源码解析学习（三）——无人机类型
2024-05-11 06:31:26
APM_ArduCopter源码解析学习（三）——无人机类型
- 一、前言
- 二、class AP_HAL::HAL
- 三、class AP_Vehicle
- 3.1 .h
- 3.2 .cpp
- 四、class Copter
- 4.1 .h
- 4.2 .cpp
- 五、总结
一、前言
本文就主要来讲一讲APM里面的无人机类型好了，当然是以Copter作为主要对象，不过前面的继承关系和基类基本都是一致的，也可以作为参考。
Copter类定义在Copter.h 文件内部，其向上继承自 AP_Vechile 类，这是所有无人机类型（Copter、Rover…）的父类。同样，AP_Vechile向上也有相应的继承关系，具体来说，用下面这种方式表达：
AP_HAL::HAL::Callbacks
|---- AP_Vechile
|---- Copter
因此，为了能对Copter类的无人机类型进行深入了解，我们还是得回到最源头讲起。
二、class AP_HAL::HAL
该类定义于 libraries/AP_HAL/HAL.h 路径下，命名空间为AP_HAL（具体查看 AP_HAL_Namespace.h），该类内部由各种最基础的底层外设抽象组合而成，构成了一个HAL抽象基类组件的集合。
class AP_HAL::HAL {public:HAL(AP_HAL::UARTDriver* _uartA, // consoleAP_HAL::UARTDriver* _uartB, // 1st GPSAP_HAL::UARTDriver* _uartC, // telem1AP_HAL::UARTDriver* _uartD, // telem2AP_HAL::UARTDriver* _uartE, // 2nd GPSAP_HAL::UARTDriver* _uartF, // extra1AP_HAL::UARTDriver* _uartG, // extra2AP_HAL::UARTDriver* _uartH, // extra3AP_HAL::I2CDeviceManager* _i2c_mgr,AP_HAL::SPIDeviceManager* _spi,AP_HAL::AnalogIn* _analogin,AP_HAL::Storage* _storage,AP_HAL::UARTDriver* _console,AP_HAL::GPIO* _gpio,AP_HAL::RCInput* _rcin,AP_HAL::RCOutput* _rcout,AP_HAL::Scheduler* _scheduler,AP_HAL::Util* _util,AP_HAL::OpticalFlow*_opticalflow,AP_HAL::Flash* _flash,AP_HAL::DSP* _dsp,
#if HAL_NUM_CAN_IFACES > 0AP_HAL::CANIface* _can_ifaces[HAL_NUM_CAN_IFACES])
#elseAP_HAL::CANIface** _can_ifaces)
#endif:uartA(_uartA),uartB(_uartB),uartC(_uartC),uartD(_uartD),uartE(_uartE),uartF(_uartF),uartG(_uartG),uartH(_uartH),i2c_mgr(_i2c_mgr),spi(_spi),analogin(_analogin),storage(_storage),console(_console),gpio(_gpio),rcin(_rcin),rcout(_rcout),scheduler(_scheduler),util(_util),opticalflow(_opticalflow),flash(_flash),dsp(_dsp){#if HAL_NUM_CAN_IFACES > 0if (_can_ifaces == nullptr) {for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++)can[i] = nullptr;} else {for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++)can[i] = _can_ifaces[i];}
#endifAP_HAL::init();}struct Callbacks {virtual void setup() = 0;virtual void loop() = 0;};struct FunCallbacks : public Callbacks {FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void));void setup() override { _setup(); }void loop() override { _loop(); }private:void (*_setup)(void);void (*_loop)(void);};virtual void run(int argc, char * const argv[], Callbacks* callbacks) const = 0;AP_HAL::UARTDriver* uartA;AP_HAL::UARTDriver* uartB;AP_HAL::UARTDriver* uartC;AP_HAL::UARTDriver* uartD;AP_HAL::UARTDriver* uartE;AP_HAL::UARTDriver* uartF;AP_HAL::UARTDriver* uartG;AP_HAL::UARTDriver* uartH;AP_HAL::I2CDeviceManager* i2c_mgr;AP_HAL::SPIDeviceManager* spi;AP_HAL::AnalogIn* analogin;AP_HAL::Storage* storage;AP_HAL::UARTDriver* console;AP_HAL::GPIO* gpio;AP_HAL::RCInput* rcin;AP_HAL::RCOutput* rcout;AP_HAL::Scheduler* scheduler;AP_HAL::Util *util;AP_HAL::OpticalFlow *opticalflow;AP_HAL::Flash *flash;AP_HAL::DSP *dsp;
#if HAL_NUM_CAN_IFACES > 0AP_HAL::CANIface* can[HAL_NUM_CAN_IFACES];
#elseAP_HAL::CANIface** can;
#endif
};
参考：Ardupilot之cpu外设基础抽象聚合类 HAL.h
三、class AP_Vehicle
3.1 .h
该类定义于 libraries/AP_Vehicle/AP_Vehicle.h，派生自AP_HAL::HAL::Callbacks接口类，因此拥有 setup() 和 loop() 两种行为。该类的主要目的就是作为各种具体无人机类型的基类，提供最基本的功能，并在具象化特定无人机时提供相应的接口。
代码有点长，一些必要的地方已经备注，请大家耐心看完
class AP_Vehicle : public AP_HAL::HAL::Callbacks {public:AP_Vehicle() {if (_singleton) {AP_HAL::panic("Too many Vehicles");}AP_Param::setup_object_defaults(this, var_info);_singleton = this;}/* Do not allow copies */AP_Vehicle(const AP_Vehicle &other) = delete;AP_Vehicle &operator=(const AP_Vehicle&) = delete;static AP_Vehicle *get_singleton();// setup() is called once during vehicle startup to initialise the// vehicle object and the objects it contains. The// AP_HAL_MAIN_CALLBACKS pragma creates a main(...) function// referencing an object containing setup() and loop() functions.// A vehicle is not expected to override setup(), but// subclass-specific initialisation can be done in init_ardupilot// which is called from setup().void setup(void) override final;// HAL::Callbacks implementation.void loop() override final;bool virtual set_mode(const uint8_t new_mode, const ModeReason reason) = 0;uint8_t virtual get_mode() const = 0;/*common parameters for fixed wing aircraft*/struct FixedWing {AP_Int8 throttle_min;AP_Int8 throttle_max; AP_Int8 throttle_slewrate;AP_Int8 throttle_cruise;AP_Int8 takeoff_throttle_max;AP_Int16 airspeed_min;AP_Int16 airspeed_max;AP_Int32 airspeed_cruise_cm;AP_Int32 min_gndspeed_cm;AP_Int8 crash_detection_enable;AP_Int16 roll_limit_cd;AP_Int16 pitch_limit_max_cd;AP_Int16 pitch_limit_min_cd; AP_Int8 autotune_level;AP_Int8 stall_prevention;AP_Int16 loiter_radius;struct Rangefinder_State {bool in_range:1;bool have_initial_reading:1;bool in_use:1;float initial_range;float correction;float initial_correction;float last_stable_correction;uint32_t last_correction_time_ms;uint8_t in_range_count;float height_estimate;float last_distance;};// stages of flightenum FlightStage {FLIGHT_TAKEOFF = 1,FLIGHT_VTOL = 2,FLIGHT_NORMAL = 3,FLIGHT_LAND = 4,FLIGHT_ABORT_LAND = 7};};/*common parameters for multicopters*/struct MultiCopter {AP_Int16 angle_max;};void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);// implementations *MUST* fill in all passed-in fields or we get// Valgrind errorsvirtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0;/*set the "likely flying" flag. This is not guaranteed to beaccurate, but is the vehicle codes best guess as to the whetherthe vehicle is currently flying*/void set_likely_flying(bool b) {if (b && !likely_flying) {_last_flying_ms = AP_HAL::millis();}likely_flying = b;}/*get the likely flying status. Returns true if the vehicle codethinks we are flying at the moment. Not guaranteed to beaccurate*/bool get_likely_flying(void) const {return likely_flying;}/*return time in milliseconds since likely_flying was settrue. Returns zero if likely_flying is currently false*/uint32_t get_time_flying_ms(void) const {if (!likely_flying) {return 0;}return AP_HAL::millis() - _last_flying_ms;}// returns true if the vehicle has crashedvirtual bool is_crashed() const;/*methods to control vehicle for use by scripting*/virtual bool start_takeoff(float alt) { return false; }virtual bool set_target_location(const Location& target_loc) { return false; }virtual bool set_target_velocity_NED(const Vector3f& vel_ned) { return false; }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; }// get target location (for use by scripting)virtual bool get_target_location(Location& target_loc) { return false; }// set steering and throttle (-1 to +1) (for use by scripting with Rover)virtual bool set_steering_and_throttle(float steering, float throttle) { return false; }// control outputs enumerationenum class ControlOutput {Roll = 1,Pitch = 2,Throttle = 3,Yaw = 4,Lateral = 5,MainSail = 6,WingSail = 7,Walking_Height = 8,Last_ControlOutput // place new values before this};// get control output (for use in scripting)// returns true on success and control_value is set to a value in the range -1 to +1virtual bool get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value) { return false; }// write out harmonic notch log messagesvoid write_notch_log_messages() const;// update the harmonic notchvirtual void update_dynamic_notch() {};// zeroing the RC outputs can prevent unwanted motor movement:virtual bool should_zero_rc_outputs_on_reboot() const { return false; }// reboot the vehicle in an orderly manner, doing various cleanups// and flashing LEDs as appropriatevoid reboot(bool hold_in_bootloader);protected:virtual void init_ardupilot() = 0;virtual void load_parameters() = 0;virtual void set_control_channels() {}// board specific configAP_BoardConfig BoardConfig;#if HAL_MAX_CAN_PROTOCOL_DRIVERS// board specific config for CAN busAP_CANManager can_mgr;
#endif// main loop schedulerAP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&AP_Vehicle::fast_loop, void)};virtual void fast_loop();// IMU variables// Integration time; time last loop took to runfloat G_Dt;// sensor driversAP_GPS gps;AP_Baro barometer;Compass compass;AP_InertialSensor ins;AP_Button button;RangeFinder rangefinder;AP_RSSI rssi;
#if HAL_RUNCAM_ENABLEDAP_RunCam runcam;
#endif
#if HAL_GYROFFT_ENABLEDAP_GyroFFT gyro_fft;
#endifAP_VideoTX vtx;AP_SerialManager serial_manager;AP_Relay relay;AP_ServoRelayEvents ServoRelayEvents;// notification object for LEDs, buzzers etc (parameter set to// false disables external leds)AP_Notify notify;// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLEAP_AHRS_NavEKF ahrs;
#elseAP_AHRS_DCM ahrs;
#endif#if HAL_HOTT_TELEM_ENABLEDAP_Hott_Telem hott_telem;
#endif#if HAL_VISUALODOM_ENABLEDAP_VisualOdom visual_odom;
#endifAP_ESC_Telem esc_telem;#if HAL_MSP_ENABLEDAP_MSP msp;
#endif#if GENERATOR_ENABLEDAP_Generator_RichenPower generator;
#endifstatic const struct AP_Param::GroupInfo var_info[];static const struct AP_Scheduler::Task scheduler_tasks[];private:// delay() callback that processing MAVLink packetsstatic void scheduler_delay_callback();// if there's been a watchdog reset, notify the world via a// statustext:void send_watchdog_reset_statustext();bool likely_flying; // true if vehicle is probably flyinguint32_t _last_flying_ms; // time when likely_flying last went truestatic AP_Vehicle *_singleton;
};
需要注意的是在公有部分内部声明的两个函数setup()和loop()。之前查了很多博客，包括截至写博客期间的官方手册，讲述的都是以前的版本。以前版本的APM源码在对应的具体车辆类型中（如Copter等）是在主文件中（如Copter.cpp）中通过setup()完成初始化，loop()完成主循环。现在的话主循环完成在fast_loop()里面。
此外在protected部分，需要注意的是init_ardupilot()和fast_loop()两个方法。
virtual void init_ardupilot() = 0;
...
virtual void fast_loop();
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3.2 .cpp
在对应的AP_Vechile.cpp文件中实现了setup()，loop()和fast_loop()函数。
/*setup is called when the sketch starts*/
void AP_Vehicle::setup()
{// load the default values of variables listed in var_info[]AP_Param::setup_sketch_defaults();// initialise serial portserial_manager.init_console();hal.console->printf("\n\nInit %s""\n\nFree RAM: %u\n",AP::fwversion().fw_string,(unsigned)hal.util->available_memory());load_parameters();// initialise the main loop schedulerconst AP_Scheduler::Task *tasks;uint8_t task_count;uint32_t log_bit;get_scheduler_tasks(tasks, task_count, log_bit);AP::scheduler().init(tasks, task_count, log_bit);// time per loop - this gets updated in the main loop() based on// actual loop rateG_Dt = scheduler.get_loop_period_s();// this is here for Plane; its failsafe_check method requires the// RC channels to be set as early as possible for maximum// survivability.set_control_channels();// initialise serial manager as early as sensible to get// diagnostic output during boot process. We have to initialise// the GCS singleton first as it sets the global mavlink system ID// which may get used very early on.gcs().init();// initialise serial portsserial_manager.init();gcs().setup_console();// Register scheduler_delay_cb, which will run anytime you have// more than 5ms remaining in your call to hal.scheduler->delayhal.scheduler->register_delay_callback(scheduler_delay_callback, 5);#if HAL_MSP_ENABLED// call MSP init before init_ardupilot to allow for MSP sensorsmsp.init();
#endif// init_ardupilot is where the vehicle does most of its initialisation.init_ardupilot();gcs().send_text(MAV_SEVERITY_INFO, "ArduPilot Ready");// gyro FFT needs to be initialized really late
#if HAL_GYROFFT_ENABLEDgyro_fft.init(AP::scheduler().get_loop_period_us());
#endif
#if HAL_RUNCAM_ENABLEDruncam.init();
#endif
#if HAL_HOTT_TELEM_ENABLEDhott_telem.init();
#endif
#if HAL_VISUALODOM_ENABLED// init library used for visual position estimationvisual_odom.init();
#endifvtx.init();#if AP_PARAM_KEY_DUMPAP_Param::show_all(hal.console, true);
#endif
}
void AP_Vehicle::loop()
{scheduler.loop();G_Dt = scheduler.get_loop_period_s();
}
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/*所有无人机的快速循环回调。 这将在任何特定于无人机的快速循环结束时调用。*/
void AP_Vehicle::fast_loop()
{#if HAL_GYROFFT_ENABLEDgyro_fft.sample_gyros();
#endif
}
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总结：
- 在setup()里面完成了如串口和参数表等部分设备的初始化内容，但是具体的无人机设备初始化需要在init_ardupilot()中完成。
- loop()函数较短，内部实现的是对任务循环并且获取任务单词循环时的时间（以s为单位）。
- fast_loop()见注释。
四、class Copter
4.1 .h
内容实在是有点多，为了排版和阅读方便，这边就不全部放上来了，挑一些重点说一下。
public:friend class GCS_MAVLINK_Copter;friend class GCS_Copter;friend class AP_Rally_Copter;friend class Parameters;friend class ParametersG2;friend class AP_Avoidance_Copter;#if ADVANCED_FAILSAFE == ENABLEDfriend class AP_AdvancedFailsafe_Copter;
#endiffriend class AP_Arming_Copter;friend class ToyMode;friend class RC_Channel_Copter;friend class RC_Channels_Copter;friend class AutoTune;friend class Mode;friend class ModeAcro;friend class ModeAcro_Heli;friend class ModeAltHold;friend class ModeAuto;friend class ModeAutoTune;friend class ModeAvoidADSB;friend class ModeBrake;friend class ModeCircle;friend class ModeDrift;friend class ModeFlip;friend class ModeFlowHold;friend class ModeFollow;friend class ModeGuided;friend class ModeLand;friend class ModeLoiter;friend class ModePosHold;friend class ModeRTL;friend class ModeSmartRTL;friend class ModeSport;friend class ModeStabilize;friend class ModeStabilize_Heli;friend class ModeSystemId;friend class ModeThrow;friend class ModeZigZag;friend class ModeAutorotate;Copter(void);
首先是公有部分，内部声明了多个个友元类，这些类中的成员函数能够访问Copter类中的私有成员。构造函数Copter()在Copter.cpp文件中实现。
// primary input control channelsRC_Channel *channel_roll;RC_Channel *channel_pitch;RC_Channel *channel_throttle;RC_Channel *channel_yaw;
这部分上一篇博客已经提过了，但是这边还是想说一下，此处表示的是Copter的主要输入控制通道。
4.2 .cpp
Copter.cpp文件中实现了Copter类的构造，代码如下
Mode::Number control_mode;
定义control_mode为STABILIZE。而Mode::Number是一个枚举类，具体在ArduCopter路径下的mode.h中进行定义
/*constructor for main Copter class*/
Copter::Copter(void): logger(g.log_bitmask),flight_modes(&g.flight_mode1),control_mode(Mode::Number::STABILIZE),simple_cos_yaw(1.0f),super_simple_cos_yaw(1.0),land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),rc_throttle_control_in_filter(1.0f),inertial_nav(ahrs),param_loader(var_info),flightmode(&mode_stabilize)
{// init sensor error logging flagssensor_health.baro = true;sensor_health.compass = true;
}
在这份文件内主要是通过Copter的构造函数实现了其他组件对象初始化，以上的所有参数均在Copter.h中有所声明。
// Auto Pilot Modes enumerationenum class Number : uint8_t {STABILIZE = 0, // manual airframe angle with manual throttleACRO = 1, // manual body-frame angular rate with manual throttleALT_HOLD = 2, // manual airframe angle with automatic throttleAUTO = 3, // fully automatic waypoint control using mission commandsGUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commandsLOITER = 5, // automatic horizontal acceleration with automatic throttleRTL = 6, // automatic return to launching pointCIRCLE = 7, // automatic circular flight with automatic throttleLAND = 9, // automatic landing with horizontal position controlDRIFT = 11, // semi-automous position, yaw and throttle controlSPORT = 13, // manual earth-frame angular rate control with manual throttleFLIP = 14, // automatically flip the vehicle on the roll axisAUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gainsPOSHOLD = 16, // automatic position hold with manual override, with automatic throttleBRAKE = 17, // full-brake using inertial/GPS system, no pilot inputTHROW = 18, // throw to launch mode using inertial/GPS system, no pilot inputAVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraftGUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitudeSMART_RTL = 21, // SMART_RTL returns to home by retracing its stepsFLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinderFOLLOW = 23, // follow attempts to follow another vehicle or ground stationZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point BSYSTEMID = 25, // System ID mode produces automated system identification signals in the controllersAUTOROTATE = 26, // Autonomous autorotation};关于各个飞行模式，具体可以参考官方手册中对Copter飞行模式的说明：Full list of flight modes
需要注意的是Copter类实现了对AP_Vehicle类的继承，但是其并为对setup()和loop()进行修改或者重写，而相对应的，在其内部另外声明了私有部分函数fast_loop()和init_ardupilot()，并在Copter.cpp和system.cpp中对两个函数进行了具体的实现。以下是Copter.h中对于这两个函数的引用部分。
void fast_loop() override;// system.cppvoid init_ardupilot() override;
五、总结
总的来说，Copter类中实现的就是关于无人机相关功能以及传感器的最初定义。以上内容部分可能过于浅显，也可能会有出错之处，希望大家多多包涵（如有错误请务必留言指出）。后续应该还会再修改整理一下的（第一次更新：2020/12/02）， 现在就先将就看看吧。
感谢博主：https://blog.csdn.net/moumde/article/details/108848428
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