forked from Archive/PX4-Autopilot
Just some reordering in commander
This commit is contained in:
Julian Oes
parent
3e161049ac
commit
08926019ea
|
|
@ -159,16 +159,19 @@ enum {
|
|||
|
||||
|
||||
/**
|
||||
* Loop that runs at a lower rate and priority for calibration and parameter tasks.
|
||||
* The daemon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
* Makefile does only apply to this management task.
|
||||
*
|
||||
* The actual stack size should be set in the call
|
||||
* to task_create().
|
||||
*/
|
||||
void *commander_low_prio_loop(void *arg);
|
||||
|
||||
__EXPORT int commander_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Mainloop of commander.
|
||||
* Print the correct usage.
|
||||
*/
|
||||
int commander_thread_main(int argc, char *argv[]);
|
||||
void usage(const char *reason);
|
||||
|
||||
/**
|
||||
* React to commands that are sent e.g. from the mavlink module.
|
||||
|
|
@ -176,11 +179,67 @@ int commander_thread_main(int argc, char *argv[]);
|
|||
void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
* Mainloop of commander.
|
||||
*/
|
||||
void usage(const char *reason);
|
||||
int commander_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Loop that runs at a lower rate and priority for calibration and parameter tasks.
|
||||
*/
|
||||
void *commander_low_prio_loop(void *arg);
|
||||
|
||||
|
||||
int commander_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
warnx("commander already running\n");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
daemon_task = task_spawn_cmd("commander",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 40,
|
||||
3000,
|
||||
commander_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
warnx("\tcommander is running\n");
|
||||
|
||||
} else {
|
||||
warnx("\tcommander not started\n");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
void usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed)
|
||||
{
|
||||
|
|
@ -456,116 +515,6 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
|
|||
|
||||
}
|
||||
|
||||
/*
|
||||
* Provides a coarse estimate of remaining battery power.
|
||||
*
|
||||
* The estimate is very basic and based on decharging voltage curves.
|
||||
*
|
||||
* @return the estimated remaining capacity in 0..1
|
||||
*/
|
||||
float battery_remaining_estimate_voltage(float voltage);
|
||||
|
||||
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
|
||||
PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
|
||||
PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3);
|
||||
|
||||
float battery_remaining_estimate_voltage(float voltage)
|
||||
{
|
||||
float ret = 0;
|
||||
static param_t bat_volt_empty;
|
||||
static param_t bat_volt_full;
|
||||
static param_t bat_n_cells;
|
||||
static bool initialized = false;
|
||||
static unsigned int counter = 0;
|
||||
static float ncells = 3;
|
||||
// XXX change cells to int (and param to INT32)
|
||||
|
||||
if (!initialized) {
|
||||
bat_volt_empty = param_find("BAT_V_EMPTY");
|
||||
bat_volt_full = param_find("BAT_V_FULL");
|
||||
bat_n_cells = param_find("BAT_N_CELLS");
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
static float chemistry_voltage_empty = 3.2f;
|
||||
static float chemistry_voltage_full = 4.05f;
|
||||
|
||||
if (counter % 100 == 0) {
|
||||
param_get(bat_volt_empty, &chemistry_voltage_empty);
|
||||
param_get(bat_volt_full, &chemistry_voltage_full);
|
||||
param_get(bat_n_cells, &ncells);
|
||||
}
|
||||
|
||||
counter++;
|
||||
|
||||
ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
|
||||
|
||||
/* limit to sane values */
|
||||
ret = (ret < 0) ? 0 : ret;
|
||||
ret = (ret > 1) ? 1 : ret;
|
||||
return ret;
|
||||
}
|
||||
|
||||
void usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The daemon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
* Makefile does only apply to this management task.
|
||||
*
|
||||
* The actual stack size should be set in the call
|
||||
* to task_create().
|
||||
*/
|
||||
int commander_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
warnx("commander already running\n");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
daemon_task = task_spawn_cmd("commander",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 40,
|
||||
3000,
|
||||
commander_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
warnx("\tcommander is running\n");
|
||||
|
||||
} else {
|
||||
warnx("\tcommander not started\n");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
int commander_thread_main(int argc, char *argv[])
|
||||
{
|
||||
/* not yet initialized */
|
||||
|
|
|
|||
|
|
@ -49,6 +49,7 @@
|
|||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_tone_alarm.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
|
@ -172,4 +173,46 @@ int led_on(int led)
|
|||
int led_off(int led)
|
||||
{
|
||||
return ioctl(leds, LED_OFF, led);
|
||||
}
|
||||
|
||||
|
||||
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
|
||||
PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
|
||||
PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3);
|
||||
|
||||
float battery_remaining_estimate_voltage(float voltage)
|
||||
{
|
||||
float ret = 0;
|
||||
static param_t bat_volt_empty;
|
||||
static param_t bat_volt_full;
|
||||
static param_t bat_n_cells;
|
||||
static bool initialized = false;
|
||||
static unsigned int counter = 0;
|
||||
static float ncells = 3;
|
||||
// XXX change cells to int (and param to INT32)
|
||||
|
||||
if (!initialized) {
|
||||
bat_volt_empty = param_find("BAT_V_EMPTY");
|
||||
bat_volt_full = param_find("BAT_V_FULL");
|
||||
bat_n_cells = param_find("BAT_N_CELLS");
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
static float chemistry_voltage_empty = 3.2f;
|
||||
static float chemistry_voltage_full = 4.05f;
|
||||
|
||||
if (counter % 100 == 0) {
|
||||
param_get(bat_volt_empty, &chemistry_voltage_empty);
|
||||
param_get(bat_volt_full, &chemistry_voltage_full);
|
||||
param_get(bat_n_cells, &ncells);
|
||||
}
|
||||
|
||||
counter++;
|
||||
|
||||
ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
|
||||
|
||||
/* limit to sane values */
|
||||
ret = (ret < 0) ? 0 : ret;
|
||||
ret = (ret > 1) ? 1 : ret;
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -68,4 +68,13 @@ int led_toggle(int led);
|
|||
int led_on(int led);
|
||||
int led_off(int led);
|
||||
|
||||
/**
|
||||
* Provides a coarse estimate of remaining battery power.
|
||||
*
|
||||
* The estimate is very basic and based on decharging voltage curves.
|
||||
*
|
||||
* @return the estimated remaining capacity in 0..1
|
||||
*/
|
||||
float battery_remaining_estimate_voltage(float voltage);
|
||||
|
||||
#endif /* COMMANDER_HELPER_H_ */
|
||||
|
|
|
|||
Loading…
Reference in New Issue