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merged master, updated fixed wing

This commit is contained in:
Lorenz Meier 2013-08-16 14:44:00 +02:00
parent f78666e0c8 6113be111e
commit 57f8fe3719
21 changed files with 129 additions and 74 deletions
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5
.gitignore vendored
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@ -24,4 +24,7 @@ Firmware.sublime-workspace
Images/*.bin
Images/*.px4
mavlink/include/mavlink/v0.9/
NuttX
/NuttX
/Documentation/doxy.log
/Documentation/html/
/Documentation/doxygen*objdb*tmp

13
Documentation/Doxyfile
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@ -429,19 +429,19 @@ SORT_BY_SCOPE_NAME = NO
# disable (NO) the todo list. This list is created by putting \todo
# commands in the documentation.
GENERATE_TODOLIST = YES
GENERATE_TODOLIST = NO
# The GENERATE_TESTLIST tag can be used to enable (YES) or
# disable (NO) the test list. This list is created by putting \test
# commands in the documentation.
GENERATE_TESTLIST = YES
GENERATE_TESTLIST = NO
# The GENERATE_BUGLIST tag can be used to enable (YES) or
# disable (NO) the bug list. This list is created by putting \bug
# commands in the documentation.
GENERATE_BUGLIST = YES
GENERATE_BUGLIST = NO
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
# disable (NO) the deprecated list. This list is created by putting
@ -569,7 +569,7 @@ WARN_LOGFILE = doxy.log
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
INPUT = ../apps
INPUT = ../src
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
@ -599,9 +599,8 @@ RECURSIVE = YES
# excluded from the INPUT source files. This way you can easily exclude a
# subdirectory from a directory tree whose root is specified with the INPUT tag.
EXCLUDE = ../dist/ \
../docs/html/ \
html
EXCLUDE = ../src/modules/mathlib/CMSIS \
../src/modules/attitude_estimator_ekf/codegen
# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
# directories that are symbolic links (a Unix filesystem feature) are excluded

57
src/modules/fixedwing_att_control/fixedwing_att_control_main.c
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@ -53,6 +53,7 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
@ -116,6 +117,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
memset(&global_pos, 0, sizeof(global_pos));
struct manual_control_setpoint_s manual_sp;
memset(&manual_sp, 0, sizeof(manual_sp));
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
@ -137,7 +140,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* Setup of loop */
float gyro[3] = {0.0f, 0.0f, 0.0f};
@ -178,30 +182,16 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
}
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
gyro[0] = att.rollspeed;
gyro[1] = att.pitchspeed;
gyro[2] = att.yawspeed;
/* control */
if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
/* attitude control */
fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
/* angular rate control */
fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
/* set flaps to zero */
actuators.control[4] = 0.0f;
} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
/* set manual setpoints if required */
if (control_mode.flag_control_manual_enabled) {
if (control_mode.flag_control_attitude_enabled) {
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if (vstatus.rc_signal_lost) {
@ -234,15 +224,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
att_sp.timestamp = hrt_absolute_time();
/* attitude control */
fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
/* angular rate control */
fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
/* pass through flaps */
if (isfinite(manual_sp.flaps)) {
actuators.control[4] = manual_sp.flaps;
@ -251,7 +232,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
actuators.control[4] = 0.0f;
}
} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
} else {
/* directly pass through values */
actuators.control[0] = manual_sp.roll;
/* positive pitch means negative actuator -> pull up */
@ -267,6 +248,22 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
}
}
}
/* execute attitude control if requested */
if (control_mode.flag_control_attitude_enabled) {
/* attitude control */
fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
/* angular rate control */
fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
/* set flaps to zero */
actuators.control[4] = 0.0f;
}
/* publish rates */
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);

4
src/modules/uORB/objects_common.cpp
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@ -37,6 +37,10 @@
* Common object definitions without a better home.
*/
/**
* @defgroup topics List of all uORB topics.
*/
#include <nuttx/config.h>
#include <drivers/drv_orb_dev.h>

9
src/modules/uORB/topics/actuator_controls.h
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@ -55,11 +55,20 @@
/* control sets with pre-defined applications */
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0)
/**
* @addtogroup topics
* @{
*/
struct actuator_controls_s {
uint64_t timestamp;
float control[NUM_ACTUATOR_CONTROLS];
};
/**
* @}
*/
/* actuator control sets; this list can be expanded as more controllers emerge */
ORB_DECLARE(actuator_controls_0);
ORB_DECLARE(actuator_controls_1);

9
src/modules/uORB/topics/actuator_controls_effective.h
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@ -53,11 +53,20 @@
#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
/**
* @addtogroup topics
* @{
*/
struct actuator_controls_effective_s {
uint64_t timestamp;
float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
};
/**
* @}
*/
/* actuator control sets; this list can be expanded as more controllers emerge */
ORB_DECLARE(actuator_controls_effective_0);
ORB_DECLARE(actuator_controls_effective_1);

9
src/modules/uORB/topics/actuator_outputs.h
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@ -52,12 +52,21 @@
#define NUM_ACTUATOR_OUTPUTS 16
#define NUM_ACTUATOR_OUTPUT_GROUPS 4 /**< for sanity checking */
/**
* @addtogroup topics
* @{
*/
struct actuator_outputs_s {
uint64_t timestamp; /**< output timestamp in us since system boot */
float output[NUM_ACTUATOR_OUTPUTS]; /**< output data, in natural output units */
int noutputs; /**< valid outputs */
};
/**
* @}
*/
/* actuator output sets; this list can be expanded as more drivers emerge */
ORB_DECLARE(actuator_outputs_0);
ORB_DECLARE(actuator_outputs_1);

1
src/modules/uORB/topics/debug_key_value.h
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@ -47,6 +47,7 @@
/**
* @addtogroup topics
* @{
*/
/**

11
src/modules/uORB/topics/esc_status.h
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@ -51,10 +51,6 @@
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics @{
*/
/**
* The number of ESCs supported.
* Current (Q2/2013) we support 8 ESCs,
@ -76,7 +72,12 @@ enum ESC_CONNECTION_TYPE {
};
/**
*
* @addtogroup topics
* @{
*/
/**
* Electronic speed controller status.
*/
struct esc_status_s
{

10
src/modules/uORB/topics/mission.h
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@ -46,11 +46,6 @@
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
enum NAV_CMD {
NAV_CMD_WAYPOINT = 0,
NAV_CMD_LOITER_TURN_COUNT,
@ -61,6 +56,11 @@ enum NAV_CMD {
NAV_CMD_TAKEOFF
};
/**
* @addtogroup topics
* @{
*/
/**
* Global position setpoint in WGS84 coordinates.
*

10
src/modules/uORB/topics/offboard_control_setpoint.h
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@ -43,11 +43,6 @@
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Off-board control inputs.
*
@ -66,6 +61,11 @@ enum OFFBOARD_CONTROL_MODE
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};
/**
* @addtogroup topics
* @{
*/
struct offboard_control_setpoint_s {
uint64_t timestamp;

1
src/modules/uORB/topics/omnidirectional_flow.h
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@ -46,6 +46,7 @@
/**
* @addtogroup topics
* @{
*/
/**

9
src/modules/uORB/topics/parameter_update.h
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@ -42,11 +42,20 @@
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct parameter_update_s {
/** time at which the latest parameter was updated */
uint64_t timestamp;
};
/**
* @}
*/
ORB_DECLARE(parameter_update);
#endif

10
src/modules/uORB/topics/rc_channels.h
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@ -45,11 +45,6 @@
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* The number of RC channel inputs supported.
* Current (Q1/2013) radios support up to 18 channels,
@ -85,6 +80,11 @@ enum RC_CHANNELS_FUNCTION
RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
};
/**
* @addtogroup topics
* @{
*/
struct rc_channels_s {
uint64_t timestamp; /**< In microseconds since boot time. */

10
src/modules/uORB/topics/sensor_combined.h
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@ -46,17 +46,17 @@
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
enum MAGNETOMETER_MODE {
MAGNETOMETER_MODE_NORMAL = 0,
MAGNETOMETER_MODE_POSITIVE_BIAS,
MAGNETOMETER_MODE_NEGATIVE_BIAS
};
/**
* @addtogroup topics
* @{
*/
/**
* Sensor readings in raw and SI-unit form.
*

8
src/modules/uORB/topics/subsystem_info.h
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@ -50,10 +50,6 @@
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
*/
enum SUBSYSTEM_TYPE
{
SUBSYSTEM_TYPE_GYRO = 1,
@ -75,6 +71,10 @@ enum SUBSYSTEM_TYPE
SUBSYSTEM_TYPE_RANGEFINDER = 131072
};
/**
* @addtogroup topics
*/
/**
* State of individual sub systems
*/

9
src/modules/uORB/topics/telemetry_status.h
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@ -50,6 +50,11 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
TELEMETRY_STATUS_RADIO_TYPE_WIRE
};
/**
* @addtogroup topics
* @{
*/
struct telemetry_status_s {
uint64_t timestamp;
enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */
@ -62,6 +67,10 @@ struct telemetry_status_s {
uint8_t txbuf; /**< how full the tx buffer is as a percentage */
};
/**
* @}
*/
ORB_DECLARE(telemetry_status);
#endif /* TOPIC_TELEMETRY_STATUS_H */

1
src/modules/uORB/topics/vehicle_attitude.h
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@ -48,6 +48,7 @@
/**
* @addtogroup topics
* @{
*/
/**

9
src/modules/uORB/topics/vehicle_command.h
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@ -45,11 +45,6 @@
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Commands for commander app.
*
@ -110,6 +105,10 @@ enum VEHICLE_CMD_RESULT
VEHICLE_CMD_RESULT_ENUM_END=5, /* | */
};
/**
* @addtogroup topics
* @{
*/
struct vehicle_command_s
{

4
src/modules/uORB/topics/vehicle_global_position_set_triplet.h
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@ -60,8 +60,8 @@
*/
struct vehicle_global_position_set_triplet_s
{
bool previous_valid;
bool next_valid;
bool previous_valid; /**< flag indicating previous position is valid */
bool next_valid; /**< flag indicating next position is valid */
struct vehicle_global_position_setpoint_s previous;
struct vehicle_global_position_setpoint_s current;

4
src/modules/uORB/topics/vehicle_status.h
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@ -159,6 +159,10 @@ enum VEHICLE_BATTERY_WARNING {
VEHICLE_BATTERY_WARNING_ALERT /**< alerting of low voltage 2. stage */
};
/**
* @addtogroup topics
* @{
*/
/**
* state machine / state of vehicle.