forked from Archive/PX4-Autopilot
Added fixed wing controller example
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@ -105,6 +105,10 @@ MODULES += modules/uORB
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# https://pixhawk.ethz.ch/px4/dev/debug_values
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#MODULES += examples/px4_mavlink_debug
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
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MODULES += examples/fixedwing_control
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#
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# Transitional support - add commands from the NuttX export archive.
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#
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@ -0,0 +1,474 @@
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/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file main.c
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* Implementation of a fixed wing attitude controller. This file is a complete
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* fixed wing controller flying manual attitude control or auto waypoint control.
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* There is no need to touch any other system components to extend / modify the
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* complete control architecture.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <math.h>
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#include <poll.h>
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#include <time.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_global_position_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/debug_key_value.h>
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#include <uORB/topics/parameter_update.h>
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#include <systemlib/param/param.h>
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#include <systemlib/pid/pid.h>
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#include <systemlib/geo/geo.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/err.h>
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/* process-specific header files */
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#include "params.h"
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/* Prototypes */
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/**
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* Daemon management function.
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*/
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__EXPORT int ex_fixedwing_control_main(int argc, char *argv[]);
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/**
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* Mainloop of daemon.
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*/
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int fixedwing_control_thread_main(int argc, char *argv[]);
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/**
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* Print the correct usage.
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*/
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static void usage(const char *reason);
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void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
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float speed_body[], float gyro[], struct vehicle_rates_setpoint_s *rates_sp,
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struct actuator_controls_s *actuators);
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void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
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const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
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/* Variables */
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static bool thread_should_exit = false; /**< Daemon exit flag */
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static bool thread_running = false; /**< Daemon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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static struct params p;
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static struct param_handles ph;
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void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
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float speed_body[], float gyro[], struct vehicle_rates_setpoint_s *rates_sp,
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struct actuator_controls_s *actuators)
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{
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/*
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* The PX4 architecture provides a mixer outside of the controller.
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* The mixer is fed with a default vector of actuator controls, representing
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* moments applied to the vehicle frame. This vector
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* is structured as:
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*
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* Control Group 0 (attitude):
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*
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* 0 - roll (-1..+1)
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* 1 - pitch (-1..+1)
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* 2 - yaw (-1..+1)
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* 3 - thrust ( 0..+1)
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* 4 - flaps (-1..+1)
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* ...
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*
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* Control Group 1 (payloads / special):
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*
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* ...
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*/
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/*
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* Calculate roll error and apply P gain
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*/
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float roll_err = att->roll - att_sp->roll_body;
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actuators->control[0] = roll_err * p.roll_p;
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/*
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* Calculate pitch error and apply P gain
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*/
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float pitch_err = att->pitch - att_sp->pitch_body;
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actuators->control[1] = pitch_err * p.pitch_p;
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}
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void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
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const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp)
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{
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/*
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* Calculate heading error of current position to desired position
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*/
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/* PX4 uses 1e7 scaled integers to represent global coordinates for max resolution */
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float bearing = get_bearing_to_next_waypoint(pos->lat/1e7d, pos->lon/1e7d, sp->lat/1e7d, sp->lon/1e7d);
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/* calculate heading error */
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float yaw_err = att->yaw - bearing;
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/* apply control gain */
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att_sp->roll_body = yaw_err * p.hdng_p;
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}
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/* Main Thread */
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int fixedwing_control_thread_main(int argc, char *argv[])
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{
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/* read arguments */
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bool verbose = false;
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for (int i = 1; i < argc; i++) {
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if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
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verbose = true;
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}
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}
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/* welcome user (warnx prints a line, including an appended\n, with variable arguments */
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warnx("[example fixedwing control] started");
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/* initialize parameters, first the handles, then the values */
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parameters_init(&ph);
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parameters_update(&ph, &p);
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/* declare and safely initialize all structs to zero */
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struct vehicle_attitude_s att;
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memset(&att, 0, sizeof(att));
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struct vehicle_attitude_setpoint_s att_sp;
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memset(&att_sp, 0, sizeof(att_sp));
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struct vehicle_rates_setpoint_s rates_sp;
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memset(&rates_sp, 0, sizeof(rates_sp));
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struct vehicle_global_position_s global_pos;
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memset(&global_pos, 0, sizeof(global_pos));
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struct manual_control_setpoint_s manual_sp;
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memset(&manual_sp, 0, sizeof(manual_sp));
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struct vehicle_status_s vstatus;
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memset(&vstatus, 0, sizeof(vstatus));
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struct vehicle_global_position_setpoint_s global_sp;
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memset(&global_sp, 0, sizeof(global_sp));
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/* output structs */
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struct actuator_controls_s actuators;
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memset(&actuators, 0, sizeof(actuators));
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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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}
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orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
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orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
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/* subscribe */
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
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int global_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
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int param_sub = orb_subscribe(ORB_ID(parameter_update));
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/* Setup of loop */
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float gyro[3] = {0.0f, 0.0f, 0.0f};
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float speed_body[3] = {0.0f, 0.0f, 0.0f};
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struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN },
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{ .fd = att_sub, .events = POLLIN }};
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while (!thread_should_exit) {
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/*
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* Wait for a sensor or param update, check for exit condition every 500 ms.
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* This means that the execution will block here without consuming any resources,
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* but will continue to execute the very moment a new attitude measurement or
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* a param update is published. So no latency in contrast to the polling
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* design pattern (do not confuse the poll() system call with polling).
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*
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* This design pattern makes the controller also agnostic of the attitude
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* update speed - it runs as fast as the attitude updates with minimal latency.
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*/
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int ret = poll(fds, 2, 500);
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if (ret < 0) {
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/* poll error, this will not really happen in practice */
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warnx("poll error");
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} else if (ret == 0) {
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/* no return value = nothing changed for 500 ms, ignore */
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} else {
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/* only update parameters if they changed */
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if (fds[0].revents & POLLIN) {
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/* read from param to clear updated flag (uORB API requirement) */
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struct parameter_update_s update;
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orb_copy(ORB_ID(parameter_update), param_sub, &update);
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/* if a param update occured, re-read our parameters */
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parameters_update(&ph, &p);
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}
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/* only run controller if attitude changed */
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if (fds[1].revents & POLLIN) {
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/* Check if there is a new position measurement or position setpoint */
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bool pos_updated;
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orb_check(global_pos_sub, &pos_updated);
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bool global_sp_updated;
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orb_check(global_sp_sub, &global_sp_updated);
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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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if (global_sp_updated)
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orb_copy(ORB_ID(vehicle_global_position_setpoint), global_sp_sub, &global_sp);
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if (pos_updated) {
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orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
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if (att.R_valid) {
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speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
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speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
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speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
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} else {
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speed_body[0] = 0;
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speed_body[1] = 0;
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speed_body[2] = 0;
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warnx("Did not get a valid R\n");
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}
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}
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orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
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orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
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gyro[0] = att.rollspeed;
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gyro[1] = att.pitchspeed;
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gyro[2] = att.yawspeed;
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/* control */
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if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
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vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
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/* simple heading control */
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control_heading(&global_pos, &global_sp, &att, &att_sp);
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/* nail pitch and yaw (rudder) to zero. This example only controls roll (index 0) */
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actuators.control[1] = 0.0f;
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actuators.control[2] = 0.0f;
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/* simple attitude control */
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control_attitude(&att_sp, &att, speed_body, gyro, &rates_sp, &actuators);
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/* pass through throttle */
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actuators.control[3] = att_sp.thrust;
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/* set flaps to zero */
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actuators.control[4] = 0.0f;
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} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
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if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
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/* if the RC signal is lost, try to stay level and go slowly back down to ground */
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if (vstatus.rc_signal_lost) {
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/* put plane into loiter */
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att_sp.roll_body = 0.3f;
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att_sp.pitch_body = 0.0f;
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/* limit throttle to 60 % of last value if sane */
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if (isfinite(manual_sp.throttle) &&
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(manual_sp.throttle >= 0.0f) &&
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(manual_sp.throttle <= 1.0f)) {
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att_sp.thrust = 0.6f * manual_sp.throttle;
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} else {
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att_sp.thrust = 0.0f;
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}
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att_sp.yaw_body = 0;
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// XXX disable yaw control, loiter
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} else {
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att_sp.roll_body = manual_sp.roll;
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att_sp.pitch_body = manual_sp.pitch;
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att_sp.yaw_body = 0;
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att_sp.thrust = manual_sp.throttle;
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}
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att_sp.timestamp = hrt_absolute_time();
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/* attitude control */
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control_attitude(&att_sp, &att, speed_body, gyro, &rates_sp, &actuators);
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/* pass through throttle */
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actuators.control[3] = att_sp.thrust;
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/* pass through flaps */
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if (isfinite(manual_sp.flaps)) {
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actuators.control[4] = manual_sp.flaps;
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} else {
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actuators.control[4] = 0.0f;
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}
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} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
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/* directly pass through values */
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actuators.control[0] = manual_sp.roll;
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/* positive pitch means negative actuator -> pull up */
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actuators.control[1] = manual_sp.pitch;
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actuators.control[2] = manual_sp.yaw;
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actuators.control[3] = manual_sp.throttle;
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if (isfinite(manual_sp.flaps)) {
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actuators.control[4] = manual_sp.flaps;
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} else {
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actuators.control[4] = 0.0f;
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}
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}
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}
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/* publish rates */
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
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/* sanity check and publish actuator outputs */
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if (isfinite(actuators.control[0]) &&
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isfinite(actuators.control[1]) &&
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isfinite(actuators.control[2]) &&
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isfinite(actuators.control[3])) {
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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}
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}
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}
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}
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printf("[ex_fixedwing_control] exiting, stopping all motors.\n");
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thread_running = false;
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/* kill all outputs */
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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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fflush(stdout);
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return 0;
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}
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/* Startup Functions */
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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: ex_fixedwing_control {start|stop|status}\n\n");
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exit(1);
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}
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/**
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* The daemon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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* The actual stack size should be set in the call
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* to task_create().
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*/
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int ex_fixedwing_control_main(int argc, char *argv[])
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{
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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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if (thread_running) {
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printf("ex_fixedwing_control already running\n");
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/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
deamon_task = task_spawn("ex_fixedwing_control",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 20,
|
||||
2048,
|
||||
fixedwing_control_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
thread_running = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
printf("\tex_fixedwing_control is running\n");
|
||||
|
||||
} else {
|
||||
printf("\tex_fixedwing_control not started\n");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,41 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Fixedwing Attitude Control Demo / Example Application
|
||||
#
|
||||
|
||||
MODULE_COMMAND = ex_fixedwing_control
|
||||
|
||||
SRCS = main.c \
|
||||
params.c
|
|
@ -0,0 +1,77 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file params.c
|
||||
*
|
||||
* Parameters for fixedwing demo
|
||||
*/
|
||||
|
||||
#include "params.h"
|
||||
|
||||
/* controller parameters, use max. 15 characters for param name! */
|
||||
|
||||
/**
|
||||
*
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(EXFW_HDNG_P, 0.2f);
|
||||
|
||||
/**
|
||||
*
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(EXFW_ROLL_P, 0.2f);
|
||||
|
||||
/**
|
||||
*
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(EXFW_PITCH_P, 0.2f);
|
||||
|
||||
int parameters_init(struct param_handles *h)
|
||||
{
|
||||
/* PID parameters */
|
||||
h->hdng_p = param_find("EXFW_HDNG_P");
|
||||
h->roll_p = param_find("EXFW_ROLL_P");
|
||||
h->pitch_p = param_find("EXFW_PITCH_P");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int parameters_update(const struct param_handles *h, struct params *p)
|
||||
{
|
||||
param_get(h->hdng_p, &(p->hdng_p));
|
||||
param_get(h->roll_p, &(p->roll_p));
|
||||
param_get(h->pitch_p, &(p->pitch_p));
|
||||
|
||||
return OK;
|
||||
}
|
|
@ -0,0 +1,65 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file params.h
|
||||
*
|
||||
* Definition of parameters for fixedwing example
|
||||
*/
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
struct params {
|
||||
float hdng_p;
|
||||
float roll_p;
|
||||
float pitch_p;
|
||||
};
|
||||
|
||||
struct param_handles {
|
||||
param_t hdng_p;
|
||||
param_t roll_p;
|
||||
param_t pitch_p;
|
||||
};
|
||||
|
||||
/**
|
||||
* Initialize all parameter handles and values
|
||||
*
|
||||
*/
|
||||
int parameters_init(struct param_handles *h);
|
||||
|
||||
/**
|
||||
* Update all parameters
|
||||
*
|
||||
*/
|
||||
int parameters_update(const struct param_handles *h, struct params *p);
|
Loading…
Reference in New Issue