forked from Archive/PX4-Autopilot
Add navigator - not enabled for compilation, WIP
This commit is contained in:
Lorenz Meier
parent
85eafa323a
commit
966cee66df
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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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#
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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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# Main Navigation Controller
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#
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MODULE_COMMAND = navigator
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SRCS = navigator_main.cpp \
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navigator_params.c
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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
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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 navigator_main.c
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* Implementation of the main navigation state machine.
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*
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* Handles missions, geo fencing and failsafe navigation behavior.
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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 <arch/board/board.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/airspeed.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_global_position_set_triplet.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_attitude.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/mission.h>
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#include <systemlib/param/param.h>
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#include <systemlib/err.h>
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#include <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 <mathlib/mathlib.h>
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/**
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* navigator app start / stop handling function
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*
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* @ingroup apps
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*/
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extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
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class Navigator
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{
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public:
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/**
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* Constructor
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*/
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Navigator();
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/**
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* Destructor, also kills the sensors task.
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*/
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~Navigator();
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/**
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* Start the sensors task.
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*
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* @return OK on success.
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*/
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int start();
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private:
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bool _task_should_exit; /**< if true, sensor task should exit */
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int _navigator_task; /**< task handle for sensor task */
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int _global_pos_sub;
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int _att_sub; /**< vehicle attitude subscription */
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int _attitude_sub; /**< raw rc channels data subscription */
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int _airspeed_sub; /**< airspeed subscription */
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int _vstatus_sub; /**< vehicle status subscription */
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int _params_sub; /**< notification of parameter updates */
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int _manual_control_sub; /**< notification of manual control updates */
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int _mission_sub;
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orb_advert_t _triplet_pub; /**< position setpoint */
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struct vehicle_attitude_s _att; /**< vehicle attitude */
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struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
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struct manual_control_setpoint_s _manual; /**< r/c channel data */
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struct airspeed_s _airspeed; /**< airspeed */
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struct vehicle_status_s _vstatus; /**< vehicle status */
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struct vehicle_global_position_s _global_pos; /**< global vehicle position */
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struct vehicle_global_position_set_triplet_s _global_triplet; /**< triplet of global setpoints */
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perf_counter_t _loop_perf; /**< loop performance counter */
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unsigned _mission_items_maxcount; /**< maximum number of mission items supported */
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struct mission_item_s * _mission_items; /**< storage for mission items */
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bool _mission_valid; /**< flag if mission is valid */
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/** manual control states */
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float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */
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float _loiter_hold_lat;
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float _loiter_hold_lon;
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float _loiter_hold_alt;
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bool _loiter_hold;
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struct {
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float throttle_cruise;
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} _parameters; /**< local copies of interesting parameters */
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struct {
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param_t throttle_cruise;
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} _parameter_handles; /**< handles for interesting parameters */
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/**
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* Update our local parameter cache.
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*/
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int parameters_update();
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/**
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* Update control outputs
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*
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*/
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void control_update();
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/**
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* Check for changes in vehicle status.
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*/
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void vehicle_status_poll();
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/**
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* Check for position updates.
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*/
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void vehicle_attitude_poll();
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/**
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* Check for set triplet updates.
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*/
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void mission_poll();
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/**
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* Control throttle.
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*/
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float control_throttle(float energy_error);
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/**
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* Control pitch.
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*/
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float control_pitch(float altitude_error);
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void calculate_airspeed_errors();
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void calculate_gndspeed_undershoot();
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void calculate_altitude_error();
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/**
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* Shim for calling task_main from task_create.
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*/
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static void task_main_trampoline(int argc, char *argv[]);
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/**
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* Main sensor collection task.
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*/
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void task_main() __attribute__((noreturn));
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};
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namespace navigator
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{
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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Navigator *g_navigator;
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}
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Navigator::Navigator() :
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_task_should_exit(false),
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_navigator_task(-1),
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/* subscriptions */
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_global_pos_sub(-1),
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_att_sub(-1),
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_airspeed_sub(-1),
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_vstatus_sub(-1),
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_params_sub(-1),
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_manual_control_sub(-1),
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/* publications */
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_triplet_pub(-1),
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
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/* states */
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_mission_items_maxcount(20),
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_mission_valid(false),
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_loiter_hold(false)
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{
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_mission_items = (mission_item_s*)malloc(sizeof(mission_item_s) * _mission_items_maxcount);
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if (!_mission_items) {
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_mission_items_maxcount = 0;
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warnx("no free RAM to allocate mission, rejecting any waypoints");
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}
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_parameter_handles.throttle_cruise = param_find("NAV_DUMMY");
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/* fetch initial parameter values */
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parameters_update();
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}
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Navigator::~Navigator()
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{
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if (_navigator_task != -1) {
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/* task wakes up every 100ms or so at the longest */
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_task_should_exit = true;
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/* wait for a second for the task to quit at our request */
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unsigned i = 0;
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do {
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/* wait 20ms */
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usleep(20000);
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/* if we have given up, kill it */
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if (++i > 50) {
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task_delete(_navigator_task);
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break;
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}
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} while (_navigator_task != -1);
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}
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navigator::g_navigator = nullptr;
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}
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int
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Navigator::parameters_update()
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{
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//param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
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return OK;
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}
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void
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Navigator::vehicle_status_poll()
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{
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bool vstatus_updated;
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/* Check HIL state if vehicle status has changed */
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orb_check(_vstatus_sub, &vstatus_updated);
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if (vstatus_updated) {
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orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
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}
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}
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void
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Navigator::vehicle_attitude_poll()
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{
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/* check if there is a new position */
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bool att_updated;
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orb_check(_att_sub, &att_updated);
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if (att_updated) {
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orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
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}
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}
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void
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Navigator::mission_poll()
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{
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/* check if there is a new setpoint */
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bool mission_updated;
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orb_check(_mission_sub, &mission_updated);
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if (mission_updated) {
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struct mission_s mission;
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orb_copy(ORB_ID(mission), _mission_sub, &mission);
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// XXX this is not optimal yet, but a first prototype /
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// test implementation
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if (mission.count <= _mission_items_maxcount) {
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/*
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* Perform an atomic copy & state update
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*/
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irqstate_t flags = irqsave();
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memcpy(_mission_items, mission.items, mission.count * sizeof(struct mission_item_s));
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_mission_valid = true;
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irqrestore(flags);
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} else {
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warnx("mission larger than storage space");
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}
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}
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}
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void
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Navigator::task_main_trampoline(int argc, char *argv[])
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{
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navigator::g_navigator->task_main();
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}
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void
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Navigator::task_main()
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{
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/* inform about start */
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warnx("Initializing..");
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fflush(stdout);
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/*
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* do subscriptions
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*/
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_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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_mission_sub = orb_subscribe(ORB_ID(mission));
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_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
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_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
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_params_sub = orb_subscribe(ORB_ID(parameter_update));
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_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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/* rate limit vehicle status updates to 5Hz */
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orb_set_interval(_vstatus_sub, 200);
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/* rate limit position updates to 50 Hz */
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orb_set_interval(_global_pos_sub, 20);
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parameters_update();
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/* wakeup source(s) */
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struct pollfd fds[2];
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/* Setup of loop */
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fds[0].fd = _params_sub;
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fds[0].events = POLLIN;
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fds[1].fd = _global_pos_sub;
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fds[1].events = POLLIN;
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while (!_task_should_exit) {
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/* wait for up to 500ms for data */
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int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
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/* timed out - periodic check for _task_should_exit, etc. */
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if (pret == 0)
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continue;
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/* this is undesirable but not much we can do - might want to flag unhappy status */
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if (pret < 0) {
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warn("poll error %d, %d", pret, errno);
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continue;
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}
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perf_begin(_loop_perf);
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/* check vehicle status for changes to publication state */
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vehicle_status_poll();
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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 */
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struct parameter_update_s update;
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orb_copy(ORB_ID(parameter_update), _params_sub, &update);
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/* update parameters from storage */
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parameters_update();
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}
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/* only run controller if position changed */
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if (fds[1].revents & POLLIN) {
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static uint64_t last_run = 0;
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float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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/* guard against too large deltaT's */
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if (deltaT > 1.0f)
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deltaT = 0.01f;
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/* load local copies */
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orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
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vehicle_attitude_poll();
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mission_poll();
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math::Vector2f ground_speed(_global_pos.vx, _global_pos.vy);
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// Current waypoint
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math::Vector2f next_wp(_global_triplet.current.lat / 1e7f, _global_triplet.current.lon / 1e7f);
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// Global position
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math::Vector2f current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f);
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/* AUTONOMOUS FLIGHT */
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if (1 /* autonomous flight */) {
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/* execute navigation once we have a setpoint */
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if (_mission_valid) {
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// Next waypoint
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math::Vector2f prev_wp;
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if (_global_triplet.previous_valid) {
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prev_wp.setX(_global_triplet.previous.lat / 1e7f);
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prev_wp.setY(_global_triplet.previous.lon / 1e7f);
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} else {
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/*
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* No valid next waypoint, go for heading hold.
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* This is automatically handled by the L1 library.
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*/
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prev_wp.setX(_global_triplet.current.lat / 1e7f);
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prev_wp.setY(_global_triplet.current.lon / 1e7f);
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}
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/******** MAIN NAVIGATION STATE MACHINE ********/
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// XXX to be put in its own class
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if (_global_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) {
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/* waypoint is a plain navigation waypoint */
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} else if (_global_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
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_global_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
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_global_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
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/* waypoint is a loiter waypoint */
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}
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// XXX at this point we always want no loiter hold if a
|
||||
// mission is active
|
||||
_loiter_hold = false;
|
||||
|
||||
} else {
|
||||
|
||||
if (!_loiter_hold) {
|
||||
_loiter_hold_lat = _global_pos.lat / 1e7f;
|
||||
_loiter_hold_lon = _global_pos.lon / 1e7f;
|
||||
_loiter_hold_alt = _global_pos.alt;
|
||||
_loiter_hold = true;
|
||||
}
|
||||
|
||||
//_parameters.loiter_hold_radius
|
||||
}
|
||||
|
||||
} else if (0/* seatbelt mode enabled */) {
|
||||
|
||||
/** SEATBELT FLIGHT **/
|
||||
continue;
|
||||
|
||||
} else {
|
||||
|
||||
/** MANUAL FLIGHT **/
|
||||
|
||||
/* no flight mode applies, do not publish an attitude setpoint */
|
||||
continue;
|
||||
}
|
||||
|
||||
/******** MAIN NAVIGATION STATE MACHINE ********/
|
||||
|
||||
if (_global_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
|
||||
// XXX define launch position and return
|
||||
|
||||
} else if (_global_triplet.current.nav_cmd == NAV_CMD_LAND) {
|
||||
// XXX flared descent on final approach
|
||||
|
||||
} else if (_global_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
|
||||
|
||||
/* apply minimum pitch if altitude has not yet been reached */
|
||||
if (_global_pos.alt < _global_triplet.current.altitude) {
|
||||
_att_sp.pitch_body = math::max(_att_sp.pitch_body, _global_triplet.current.param1);
|
||||
}
|
||||
}
|
||||
|
||||
/* lazily publish the setpoint only once available */
|
||||
if (_triplet_pub > 0) {
|
||||
/* publish the attitude setpoint */
|
||||
orb_publish(ORB_ID(vehicle_global_position_set_triplet), _triplet_pub, &_global_triplet);
|
||||
|
||||
} else {
|
||||
/* advertise and publish */
|
||||
_triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &_global_triplet);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
perf_end(_loop_perf);
|
||||
}
|
||||
|
||||
warnx("exiting.\n");
|
||||
|
||||
_navigator_task = -1;
|
||||
_exit(0);
|
||||
}
|
||||
|
||||
int
|
||||
Navigator::start()
|
||||
{
|
||||
ASSERT(_navigator_task == -1);
|
||||
|
||||
/* start the task */
|
||||
_navigator_task = task_spawn_cmd("navigator",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
2048,
|
||||
(main_t)&Navigator::task_main_trampoline,
|
||||
nullptr);
|
||||
|
||||
if (_navigator_task < 0) {
|
||||
warn("task start failed");
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int navigator_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1)
|
||||
errx(1, "usage: navigator {start|stop|status}");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (navigator::g_navigator != nullptr)
|
||||
errx(1, "already running");
|
||||
|
||||
navigator::g_navigator = new Navigator;
|
||||
|
||||
if (navigator::g_navigator == nullptr)
|
||||
errx(1, "alloc failed");
|
||||
|
||||
if (OK != navigator::g_navigator->start()) {
|
||||
delete navigator::g_navigator;
|
||||
navigator::g_navigator = nullptr;
|
||||
err(1, "start failed");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
if (navigator::g_navigator == nullptr)
|
||||
errx(1, "not running");
|
||||
|
||||
delete navigator::g_navigator;
|
||||
navigator::g_navigator = nullptr;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (navigator::g_navigator) {
|
||||
errx(0, "running");
|
||||
|
||||
} else {
|
||||
errx(1, "not running");
|
||||
}
|
||||
}
|
||||
|
||||
warnx("unrecognized command");
|
||||
return 1;
|
||||
}
|
||||
|
|
@ -0,0 +1,53 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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 navigator_params.c
|
||||
*
|
||||
* Parameters defined by the navigator task.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
/*
|
||||
* Navigator parameters, accessible via MAVLink
|
||||
*
|
||||
*/
|
||||
|
||||
PARAM_DEFINE_FLOAT(NAV_DUMMY, 0.0f);
|
||||
|
||||
Loading…
Reference in New Issue