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Add navigator - not enabled for compilation, WIP

This commit is contained in:
Lorenz Meier 2013-08-22 15:32:58 +02:00
parent 85eafa323a
commit 966cee66df
3 changed files with 698 additions and 0 deletions
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src/modules/navigator/module.mk Normal file
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############################################################################
#
# Copyright (c) 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.
#
############################################################################
#
# Main Navigation Controller
#
MODULE_COMMAND = navigator
SRCS = navigator_main.cpp \
navigator_params.c

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src/modules/navigator/navigator_main.cpp Normal file
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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier
*
* 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_main.c
* Implementation of the main navigation state machine.
*
* Handles missions, geo fencing and failsafe navigation behavior.
*/
#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 <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_set_triplet.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
/**
* navigator app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
class Navigator
{
public:
/**
* Constructor
*/
Navigator();
/**
* Destructor, also kills the sensors task.
*/
~Navigator();
/**
* Start the sensors task.
*
* @return OK on success.
*/
int start();
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _navigator_task; /**< task handle for sensor task */
int _global_pos_sub;
int _att_sub; /**< vehicle attitude subscription */
int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
int _mission_sub;
orb_advert_t _triplet_pub; /**< position setpoint */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_status_s _vstatus; /**< vehicle status */
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
struct vehicle_global_position_set_triplet_s _global_triplet; /**< triplet of global setpoints */
perf_counter_t _loop_perf; /**< loop performance counter */
unsigned _mission_items_maxcount; /**< maximum number of mission items supported */
struct mission_item_s * _mission_items; /**< storage for mission items */
bool _mission_valid; /**< flag if mission is valid */
/** manual control states */
float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */
float _loiter_hold_lat;
float _loiter_hold_lon;
float _loiter_hold_alt;
bool _loiter_hold;
struct {
float throttle_cruise;
} _parameters; /**< local copies of interesting parameters */
struct {
param_t throttle_cruise;
} _parameter_handles; /**< handles for interesting parameters */
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Update control outputs
*
*/
void control_update();
/**
* Check for changes in vehicle status.
*/
void vehicle_status_poll();
/**
* Check for position updates.
*/
void vehicle_attitude_poll();
/**
* Check for set triplet updates.
*/
void mission_poll();
/**
* Control throttle.
*/
float control_throttle(float energy_error);
/**
* Control pitch.
*/
float control_pitch(float altitude_error);
void calculate_airspeed_errors();
void calculate_gndspeed_undershoot();
void calculate_altitude_error();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
};
namespace navigator
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
Navigator *g_navigator;
}
Navigator::Navigator() :
_task_should_exit(false),
_navigator_task(-1),
/* subscriptions */
_global_pos_sub(-1),
_att_sub(-1),
_airspeed_sub(-1),
_vstatus_sub(-1),
_params_sub(-1),
_manual_control_sub(-1),
/* publications */
_triplet_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
/* states */
_mission_items_maxcount(20),
_mission_valid(false),
_loiter_hold(false)
{
_mission_items = (mission_item_s*)malloc(sizeof(mission_item_s) * _mission_items_maxcount);
if (!_mission_items) {
_mission_items_maxcount = 0;
warnx("no free RAM to allocate mission, rejecting any waypoints");
}
_parameter_handles.throttle_cruise = param_find("NAV_DUMMY");
/* fetch initial parameter values */
parameters_update();
}
Navigator::~Navigator()
{
if (_navigator_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_navigator_task);
break;
}
} while (_navigator_task != -1);
}
navigator::g_navigator = nullptr;
}
int
Navigator::parameters_update()
{
//param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
return OK;
}
void
Navigator::vehicle_status_poll()
{
bool vstatus_updated;
/* Check HIL state if vehicle status has changed */
orb_check(_vstatus_sub, &vstatus_updated);
if (vstatus_updated) {
orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
}
}
void
Navigator::vehicle_attitude_poll()
{
/* check if there is a new position */
bool att_updated;
orb_check(_att_sub, &att_updated);
if (att_updated) {
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
}
}
void
Navigator::mission_poll()
{
/* check if there is a new setpoint */
bool mission_updated;
orb_check(_mission_sub, &mission_updated);
if (mission_updated) {
struct mission_s mission;
orb_copy(ORB_ID(mission), _mission_sub, &mission);
// XXX this is not optimal yet, but a first prototype /
// test implementation
if (mission.count <= _mission_items_maxcount) {
/*
* Perform an atomic copy & state update
*/
irqstate_t flags = irqsave();
memcpy(_mission_items, mission.items, mission.count * sizeof(struct mission_item_s));
_mission_valid = true;
irqrestore(flags);
} else {
warnx("mission larger than storage space");
}
}
}
void
Navigator::task_main_trampoline(int argc, char *argv[])
{
navigator::g_navigator->task_main();
}
void
Navigator::task_main()
{
/* inform about start */
warnx("Initializing..");
fflush(stdout);
/*
* do subscriptions
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_mission_sub = orb_subscribe(ORB_ID(mission));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
/* rate limit position updates to 50 Hz */
orb_set_interval(_global_pos_sub, 20);
parameters_update();
/* wakeup source(s) */
struct pollfd fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _global_pos_sub;
fds[1].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0)
continue;
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* check vehicle status for changes to publication state */
vehicle_status_poll();
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if position changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f)
deltaT = 0.01f;
/* load local copies */
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
vehicle_attitude_poll();
mission_poll();
math::Vector2f ground_speed(_global_pos.vx, _global_pos.vy);
// Current waypoint
math::Vector2f next_wp(_global_triplet.current.lat / 1e7f, _global_triplet.current.lon / 1e7f);
// Global position
math::Vector2f current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f);
/* AUTONOMOUS FLIGHT */
if (1 /* autonomous flight */) {
/* execute navigation once we have a setpoint */
if (_mission_valid) {
// Next waypoint
math::Vector2f prev_wp;
if (_global_triplet.previous_valid) {
prev_wp.setX(_global_triplet.previous.lat / 1e7f);
prev_wp.setY(_global_triplet.previous.lon / 1e7f);
} else {
/*
* No valid next waypoint, go for heading hold.
* This is automatically handled by the L1 library.
*/
prev_wp.setX(_global_triplet.current.lat / 1e7f);
prev_wp.setY(_global_triplet.current.lon / 1e7f);
}
/******** MAIN NAVIGATION STATE MACHINE ********/
// XXX to be put in its own class
if (_global_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) {
/* waypoint is a plain navigation waypoint */
} else if (_global_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_global_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_global_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
/* waypoint is a loiter waypoint */
}
// 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;
}

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src/modules/navigator/navigator_params.c Normal file
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/****************************************************************************
*
* 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);