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Merge branch 'rover' of github.com:mstuettgen/Firmware

This commit is contained in:
Lorenz Meier 2015-02-20 16:52:37 +01:00
parent 95dd7d415f 5cdd488628
commit 8f29a9d83b
11 changed files with 690 additions and 0 deletions
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10
ROMFS/px4fmu_common/init.d/50001_rover Normal file
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@ -0,0 +1,10 @@
#!nsh
#
# Generic rover
#
sh /etc/init.d/rc.rover_defaults
set MIXER IO_pass
set PWM_OUT 1234

9
ROMFS/px4fmu_common/init.d/rc.autostart
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@ -285,3 +285,12 @@ then
fi
#
# Ground Rover
#
if param compare SYS_AUTOSTART 50001
then
sh /etc/init.d/50001_rover
fi

9
ROMFS/px4fmu_common/init.d/rc.rover_apps Normal file
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@ -0,0 +1,9 @@
#!nsh
#
# Standard apps for rovers:
# att & pos estimator, rover steering control
#
ekf_att_pos_estimator start
rover_steering_control start

13
ROMFS/px4fmu_common/init.d/rc.rover_defaults Normal file
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@ -0,0 +1,13 @@
#!nsh
set VEHICLE_TYPE rover
if [ $AUTOCNF == yes ]
then
# param set MC_ROLL_P 7.0
fi
set PWM_RATE 50
set PWM_DISARMED 1100
set PWM_MIN 1100
set PWM_MAX 1900

19
ROMFS/px4fmu_common/init.d/rcS
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@ -602,6 +602,25 @@ then
sh /etc/init.d/rc.vtol_apps
fi
fi
#
# Rover setup
#
if [ $VEHICLE_TYPE == rover ]
then
# 10 is MAV_TYPE_GROUND_ROVER
set MAV_TYPE 10
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard rover apps
if [ $LOAD_DAPPS == yes ]
then
sh /etc/init.d/rc.rover_apps
fi
fi
unset MIXER
unset MAV_TYPE
unset OUTPUT_MODE

38
ROMFS/px4fmu_common/mixers/IO_pass.main.mix Normal file
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@ -0,0 +1,38 @@
Passthrough mixer for PX4IO
============================
This file defines passthrough mixers suitable for testing.
Channel group 0, channels 0-7 are passed directly through to the outputs.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

5
makefiles/config_px4fmu-v2_default.mk
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@ -128,6 +128,11 @@ MODULES += modules/bottle_drop
#
MODULES += examples/flow_position_estimator
#
# Rover apps
#
MODULES += examples/rover_steering_control
#
# Demo apps
#

450
src/examples/rover_steering_control/main.cpp Normal file
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@ -0,0 +1,450 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 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.
*
****************************************************************************/
/**
* @file main.cpp
*
* Example implementation of a rover steering controller.
*
* @author Lorenz Meier <lorenz@px4.io>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
#include <geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
/* process-specific header files */
#include "params.h"
/* Prototypes */
/**
* Daemon management function.
*
* This function allows to start / stop the background task (daemon).
* The purpose of it is to be able to start the controller on the
* command line, query its status and stop it, without giving up
* the command line to one particular process or the need for bg/fg
* ^Z support by the shell.
*/
extern "C" __EXPORT int rover_steering_control_main(int argc, char *argv[]);
struct params {
float yaw_p;
};
struct param_handles {
param_t yaw_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);
/**
* Mainloop of daemon.
*/
int rover_steering_control_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
/**
* Control roll and pitch angle.
*
* This very simple roll and pitch controller takes the current roll angle
* of the system and compares it to a reference. Pitch is controlled to zero and yaw remains
* uncontrolled (tutorial code, not intended for flight).
*
* @param att_sp The current attitude setpoint - the values the system would like to reach.
* @param att The current attitude. The controller should make the attitude match the setpoint
*/
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
struct actuator_controls_s *actuators);
/* Variables */
static bool thread_should_exit = false; /**< Daemon exit flag */
static bool thread_running = false; /**< Daemon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
static struct params pp;
static struct param_handles ph;
int parameters_init(struct param_handles *h)
{
/* PID parameters */
h->yaw_p = param_find("RV_YAW_P");
return OK;
}
int parameters_update(const struct param_handles *h, struct params *p)
{
param_get(h->yaw_p, &(p->yaw_p));
return OK;
}
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
struct actuator_controls_s *actuators)
{
/*
* The PX4 architecture provides a mixer outside of the controller.
* The mixer is fed with a default vector of actuator controls, representing
* moments applied to the vehicle frame. This vector
* is structured as:
*
* Control Group 0 (attitude):
*
* 0 - roll (-1..+1)
* 1 - pitch (-1..+1)
* 2 - yaw (-1..+1)
* 3 - thrust ( 0..+1)
* 4 - flaps (-1..+1)
* ...
*
* Control Group 1 (payloads / special):
*
* ...
*/
/* set r/p zero */
actuators->control[0] = 0.0f;
actuators->control[1] = 0.0f;
/*
* Calculate roll error and apply P gain
*/
float yaw_err = att->yaw - att_sp->yaw_body;
actuators->control[2] = yaw_err * pp.yaw_p;
/* copy throttle */
actuators->control[3] = att_sp->thrust;
actuators->timestamp = hrt_absolute_time();
}
/* Main Thread */
int rover_steering_control_thread_main(int argc, char *argv[])
{
/* read arguments */
bool verbose = false;
for (int i = 1; i < argc; i++) {
if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
verbose = true;
}
}
/* initialize parameters, first the handles, then the values */
parameters_init(&ph);
parameters_update(&ph, &pp);
/*
* PX4 uses a publish/subscribe design pattern to enable
* multi-threaded communication.
*
* The most elegant aspect of this is that controllers and
* other processes can either 'react' to new data, or run
* at their own pace.
*
* PX4 developer guide:
* https://pixhawk.ethz.ch/px4/dev/shared_object_communication
*
* Wikipedia description:
* http://en.wikipedia.org/wiki/Publish–subscribe_pattern
*
*/
/*
* Declare and safely initialize all structs to zero.
*
* These structs contain the system state and things
* like attitude, position, the current waypoint, etc.
*/
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
struct manual_control_setpoint_s manual_sp;
memset(&manual_sp, 0, sizeof(manual_sp));
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
struct position_setpoint_s global_sp;
memset(&global_sp, 0, sizeof(global_sp));
/* output structs - this is what is sent to the mixer */
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
/* publish actuator controls with zero values */
for (unsigned i = 0; i < (sizeof(actuators.control) / sizeof(actuators.control[0])); i++) {
actuators.control[i] = 0.0f;
}
struct vehicle_attitude_setpoint_s _att_sp = {};
/*
* Advertise that this controller will publish actuator
* control values and the rate setpoint
*/
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
/* subscribe to topics. */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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 att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int param_sub = orb_subscribe(ORB_ID(parameter_update));
/* Setup of loop */
struct pollfd fds[2];
fds[0].fd = param_sub;
fds[0].events = POLLIN;
fds[1].fd = att_sub;
fds[1].events = POLLIN;
while (!thread_should_exit) {
/*
* Wait for a sensor or param update, check for exit condition every 500 ms.
* This means that the execution will block here without consuming any resources,
* but will continue to execute the very moment a new attitude measurement or
* a param update is published. So no latency in contrast to the polling
* design pattern (do not confuse the poll() system call with polling).
*
* This design pattern makes the controller also agnostic of the attitude
* update speed - it runs as fast as the attitude updates with minimal latency.
*/
int ret = poll(fds, 2, 500);
if (ret < 0) {
/*
* Poll error, this will not really happen in practice,
* but its good design practice to make output an error message.
*/
warnx("poll error");
} else if (ret == 0) {
/* no return value = nothing changed for 500 ms, ignore */
} else {
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag (uORB API requirement) */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), param_sub, &update);
/* if a param update occured, re-read our parameters */
parameters_update(&ph, &pp);
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
/* Check if there is a new position measurement or position setpoint */
bool pos_updated;
orb_check(global_pos_sub, &pos_updated);
bool att_sp_updated;
orb_check(att_sp_sub, &att_sp_updated);
bool manual_sp_updated;
orb_check(manual_sp_sub, &manual_sp_updated);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
if (att_sp_updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &_att_sp);
}
/* control attitude / heading */
control_attitude(&_att_sp, &att, &actuators);
if (manual_sp_updated)
/* get the RC (or otherwise user based) input */
{
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
}
// XXX copy from manual depending on flight / usage mode to override
/* get the system status and the flight mode we're in */
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
/* sanity check and publish actuator outputs */
if (isfinite(actuators.control[0]) &&
isfinite(actuators.control[1]) &&
isfinite(actuators.control[2]) &&
isfinite(actuators.control[3])) {
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
if (verbose) {
warnx("published");
}
}
}
}
}
warnx("exiting, stopping all motors.");
thread_running = false;
/* kill all outputs */
for (unsigned i = 0; i < (sizeof(actuators.control) / sizeof(actuators.control[0])); i++) {
actuators.control[i] = 0.0f;
}
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
fflush(stdout);
return 0;
}
/* Startup Functions */
static void
usage(const char *reason)
{
if (reason) {
fprintf(stderr, "%s\n", reason);
}
fprintf(stderr, "usage: rover_steering_control {start|stop|status}\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_spawn_cmd().
*/
int rover_steering_control_main(int argc, char *argv[])
{
if (argc < 1) {
usage("missing command");
}
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("running");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn_cmd("rover_steering_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
rover_steering_control_thread_main,
(argv) ? (char *const *)&argv[2] : (char *const *)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) {
warnx("running");
} else {
warnx("not started");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}

45
src/examples/rover_steering_control/module.mk Normal file
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@ -0,0 +1,45 @@
############################################################################
#
# Copyright (c) 2012-2015 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.
#
############################################################################
#
# Rover Steering Demo / Example Application
#
MODULE_COMMAND = rover_steering_control
SRCS = main.cpp \
params.c
MODULE_STACKSIZE = 1200
EXTRACFLAGS = -Wframe-larger-than=1300

49
src/examples/rover_steering_control/params.c Normal file
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@ -0,0 +1,49 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 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.
*
****************************************************************************/
/*
* @file params.c
*
* Parameters for rover demo
*
* @author Lorenz Meier <lorenz@px4.io>
*/
#include "params.h"
/* controller parameters, use max. 15 characters for param name! */
/**
*
*/
PARAM_DEFINE_FLOAT(RV_YAW_P, 0.1f);

43
src/examples/rover_steering_control/params.h Normal file
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@ -0,0 +1,43 @@
/****************************************************************************
*
* 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>