forked from Archive/PX4-Autopilot
Merge branch 'master' of github.com:PX4/Firmware
This commit is contained in:
Lorenz Meier
commit
04d280564c
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@ -38,7 +38,8 @@
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****************************************************************************/
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/**
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* @file multirotor_control.c
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* @file multirotor_attitude_control.c
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*
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* Implementation of multirotor attitude controller.
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*/
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@ -54,7 +55,7 @@
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#include "pid.h"
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#include <arch/board/up_hrt.h>
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extern int ardrone_write;
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extern int multirotor_write;
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extern int gpios;
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#define CONTROL_PID_ATTITUDE_INTERVAL 5e-3
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@ -84,7 +85,10 @@ void navi2body_xy_plane(const float_vect3 *vector, const float yaw,
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// result->z = vector->z; //leave direction normal to xy-plane untouched
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}
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void control_attitude(const struct rc_channels_s *rc, const struct vehicle_attitude_s *att, const struct vehicle_status_s *status, int ardrone_pub, struct ardrone_control_s *ar_control)
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void multirotor_control_attitude(const struct rc_channels_s *rc,
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const struct vehicle_attitude_s *att,
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const struct vehicle_status_s *status,
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struct actuator_controls_s *actuators)
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{
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static int motor_skip_counter = 0;
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@ -352,7 +356,7 @@ void control_attitude(const struct rc_channels_s *rc, const struct vehicle_attit
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// ar_control->attitude_control_output[1] = nick;
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// ar_control->attitude_control_output[2] = yaw;
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// ar_control->zcompensation = zcompensation;
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// orb_publish(ORB_ID(ardrone_control), ardrone_pub, ar_control);
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// orb_publish(ORB_ID(multirotor_control), multirotor_pub, ar_control);
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static float output_band = 0.f;
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static float band_factor = 0.75f;
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@ -34,7 +34,11 @@
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*
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****************************************************************************/
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/* @file attitude control for quadrotors */
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/**
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* @file multirotor_attitude_control.h
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*
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* attitude control for multirotors
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*/
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#ifndef ATTITUDE_CONTROL_H_
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#define ATTITUDE_CONTROL_H_
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@ -42,11 +46,10 @@
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#include <uORB/uORB.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/ardrone_control.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/actuator_controls.h>
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void control_attitude(const struct rc_channels_s *rc, const struct vehicle_attitude_s *att,
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const struct vehicle_status_s *status, int ardrone_pub,
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struct ardrone_control_s *ar_control);
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void multirotor_control_attitude(const struct rc_channels_s *rc, const struct vehicle_attitude_s *att,
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const struct vehicle_status_s *status, struct actuator_controls_s *actuators);
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#endif /* ATTITUDE_CONTROL_H_ */
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@ -34,6 +34,7 @@
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/*
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* @file multirotor_control.c
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*
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* Implementation of multirotor controllers
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*/
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@ -46,8 +47,9 @@
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <termios.h>
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#include <getopt.h>
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#include <time.h>
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#include <poll.h>
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#include <sys/prctl.h>
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#include <arch/board/up_hrt.h>
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#include "multirotor_control.h"
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@ -55,144 +57,151 @@
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/ardrone_control.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/sensor_combined.h>
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__EXPORT int ardrone_control_main(int argc, char *argv[]);
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#include <systemlib/perf_counter.h>
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/****************************************************************************
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* Internal Definitions
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****************************************************************************/
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__EXPORT int multirotor_control_main(int argc, char *argv[]);
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enum {
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static enum {
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CONTROL_MODE_RATES = 0,
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CONTROL_MODE_ATTITUDE = 1,
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} control_mode;
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/*File descriptors */
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int ardrone_write;
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int gpios;
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static bool thread_should_exit;
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static int mc_task;
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bool position_control_thread_started;
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/****************************************************************************
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* pthread loops
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****************************************************************************/
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// static void *position_control_loop(void *arg)
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// {
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// struct vehicle_status_s *state = (struct vehicle_status_s *)arg;
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// // Set thread name
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// prctl(PR_SET_NAME, "ardrone pos ctrl", getpid());
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// while (1) {
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// if (state->state_machine == SYSTEM_STATE_AUTO) {
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// // control_position(); //FIXME TODO XXX
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// /* temporary 50 Hz execution */
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// usleep(20000);
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// } else {
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// position_control_thread_started = false;
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// break;
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// }
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// }
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// return NULL;
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// }
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/****************************************************************************
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* main
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****************************************************************************/
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int ardrone_control_main(int argc, char *argv[])
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static int
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mc_thread_main(int argc, char *argv[])
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{
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/* welcome user */
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printf("[ardrone_control] Control started, taking over motors\n");
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/* default values for arguments */
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char *ardrone_uart_name = "/dev/ttyS1";
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control_mode = CONTROL_MODE_RATES;
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char *commandline_usage = "\tusage: ardrone_control -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n";
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/* read commandline arguments */
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int i;
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for (i = 1; i < argc; i++) {
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if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set
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if (argc > i + 1) {
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ardrone_uart_name = argv[i + 1];
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} else {
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printf(commandline_usage);
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return 0;
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}
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} else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
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if (argc > i + 1) {
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if (strcmp(argv[i + 1], "rates") == 0) {
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control_mode = CONTROL_MODE_RATES;
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} else if (strcmp(argv[i + 1], "attitude") == 0) {
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control_mode = CONTROL_MODE_ATTITUDE;
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} else {
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printf(commandline_usage);
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return 0;
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}
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} else {
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printf(commandline_usage);
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return 0;
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}
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}
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}
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/* initialize motors */
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int counter = 0;
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/* pthread for position control */
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// pthread_t position_control_thread;
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// position_control_thread_started = false;
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/* structures */
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struct vehicle_status_s state;
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struct vehicle_attitude_s att;
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struct rc_channels_s rc;
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struct sensor_combined_s raw;
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struct actuator_controls_s actuators;
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struct actuator_armed_s armed;
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/* subscribe to attitude, motor setpoints and system state */
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int state_sub = orb_subscribe(ORB_ID(vehicle_status));
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int rc_sub = orb_subscribe(ORB_ID(rc_channels));
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int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
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/* publish AR.Drone motor control state */
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// int ardrone_pub = orb_advertise(ORB_ID(ardrone_control), &ar_control);
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/* rate-limit the attitude subscription to 200Hz to pace our loop */
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orb_set_interval(att_sub, 5);
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struct pollfd fds = { .fd = att_sub, .events = POLLIN };
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/* publish actuator controls */
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
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actuators.control[i] = 0.0f;
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int actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
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armed.armed = true;
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int armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
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/* register the perf counter */
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perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_control");
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/* welcome user */
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printf("[multirotor_control] starting\n");
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while (!thread_should_exit) {
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/* wait for a sensor update */
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poll(&fds, 1, -1);
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perf_begin(mc_loop_perf);
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while (1) {
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/* get a local copy of the vehicle state */
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orb_copy(ORB_ID(vehicle_status), state_sub, &state);
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/* get a local copy of rc */
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/* get a local copy of rc inputs */
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orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
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/* get a local copy of attitude */
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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multirotor_control_attitude(&rc, &att, &state);
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/* run the attitude controller */
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multirotor_control_attitude(&rc, &att, &state, &actuators);
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/* run at approximately 200 Hz */
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usleep(5000);
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counter++;
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/* publish the result */
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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perf_end(mc_loop_perf);
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}
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printf("[ardrone_control] ending now...\r\n");
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printf("[multirotor_control] stopping\r\n");
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/* kill all outputs */
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armed.armed = false;
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orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
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actuators.control[i] = 0.0f;
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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close(att_sub);
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close(state_sub);
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close(rc_sub);
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close(actuator_pub);
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close(armed_pub);
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perf_print_counter(mc_loop_perf);
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perf_free(mc_loop_perf);
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fflush(stdout);
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return 0;
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exit(0);
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}
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static void
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usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: multirotor_control [-m <mode>] {start|stop}\n");
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fprintf(stderr, " <mode> is 'rates' or 'attitude'\n");
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exit(1);
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}
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int multirotor_control_main(int argc, char *argv[])
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{
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int ch;
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control_mode = CONTROL_MODE_RATES;
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while ((ch = getopt(argc, argv, "m:")) != EOF) {
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switch (ch) {
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case 'm':
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if (!strcmp(optarg, "rates")) {
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control_mode = CONTROL_MODE_RATES;
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} else if (!strcmp(optarg, "attitude")) {
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control_mode = CONTROL_MODE_RATES;
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} else {
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usage("unrecognized -m value");
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}
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default:
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usage("unrecognized option");
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}
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}
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argc -= optind;
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argv += optind;
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if (argc < 1)
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usage("missing command");
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if (!strcmp(argv[1], "start")) {
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thread_should_exit = false;
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mc_task = task_create("multirotor_attitude", SCHED_PRIORITY_MAX - 15, 2048, mc_thread_main, NULL);
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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thread_should_exit = true;
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exit(0);
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}
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usage("unrecognised command");
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exit(1);
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}
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@ -1,12 +1,12 @@
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/*
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* ardrone_control.h
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/**
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* @file multirotor_control.h
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*
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* Created on: Mar 23, 2012
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* Author: thomasgubler
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*/
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#ifndef ARDRONE_CONTROL_H_
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#define ARDRONE_CONTROL_H_
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#ifndef multirotor_CONTROL_H_
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#define multirotor_CONTROL_H_
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#endif /* ARDRONE_CONTROL_H_ */
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#endif /* multirotor_CONTROL_H_ */
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