forked from Archive/PX4-Autopilot
Remove unmaintained rover_steering_control example
This commit is contained in:
parent
a953167a6a
commit
aac05d7bcd
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@ -82,5 +82,4 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
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CONFIG_EXAMPLES_HELLO=y
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CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
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CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
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CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
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CONFIG_EXAMPLES_WORK_ITEM=y
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@ -85,5 +85,4 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
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CONFIG_EXAMPLES_HELLO=y
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CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
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CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
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CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
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CONFIG_EXAMPLES_WORK_ITEM=y
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@ -81,5 +81,4 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
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CONFIG_EXAMPLES_HELLO=y
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CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
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CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
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CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
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CONFIG_EXAMPLES_WORK_ITEM=y
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@ -69,5 +69,4 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
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CONFIG_EXAMPLES_HELLO=y
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CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
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CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
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CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
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CONFIG_EXAMPLES_WORK_ITEM=y
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@ -75,5 +75,4 @@ CONFIG_EXAMPLES_FAKE_GPS=y
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CONFIG_EXAMPLES_HELLO=y
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CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
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CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
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CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
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CONFIG_EXAMPLES_WORK_ITEM=y
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@ -1,40 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 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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px4_add_module(
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MODULE examples__rover_steering_control
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MAIN rover_steering_control
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STACK_MAX 1300
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SRCS
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main.cpp
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DEPENDS
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)
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@ -1,5 +0,0 @@
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menuconfig EXAMPLES_ROVER_STEERING_CONTROL
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bool "rover_steering_control"
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default n
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---help---
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Enable support for rover_steering_control
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@ -1,454 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2015 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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* @file main.cpp
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*
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* Example implementation of a rover steering controller.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/tasks.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/Subscription.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/position_setpoint_triplet.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_global_position.h>
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#include <uORB/topics/parameter_update.h>
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#include <parameters/param.h>
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#include <lib/geo/geo.h>
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include <matrix/math.hpp>
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/* process-specific header files */
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#include "params.h"
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using namespace time_literals;
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/* Prototypes */
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/**
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* Daemon management function.
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*
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* This function allows to start / stop the background task (daemon).
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* The purpose of it is to be able to start the controller on the
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* command line, query its status and stop it, without giving up
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* the command line to one particular process or the need for bg/fg
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* ^Z support by the shell.
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*/
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extern "C" __EXPORT int rover_steering_control_main(int argc, char *argv[]);
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struct params {
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float yaw_p;
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};
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struct param_handles {
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param_t yaw_p;
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};
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/**
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* Initialize all parameter handles and values
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*
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*/
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int parameters_init(struct param_handles *h);
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/**
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* Update all parameters
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*
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*/
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int parameter_update(const struct param_handles *h, struct params *p);
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/**
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* Mainloop of daemon.
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*/
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int rover_steering_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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/**
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* Control roll and pitch angle.
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*
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* This very simple roll and pitch controller takes the current roll angle
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* of the system and compares it to a reference. Pitch is controlled to zero and yaw remains
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* uncontrolled (tutorial code, not intended for flight).
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*
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* @param att_sp The current attitude setpoint - the values the system would like to reach.
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* @param att The current attitude. The controller should make the attitude match the setpoint
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*/
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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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struct actuator_controls_s *actuators);
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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 pp;
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static struct param_handles ph;
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int parameters_init(struct param_handles *h)
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{
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/* PID parameters */
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h->yaw_p = param_find("RV_YAW_P");
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return OK;
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}
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int parameter_update(const struct param_handles *h, struct params *p)
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{
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param_get(h->yaw_p, &(p->yaw_p));
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return OK;
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}
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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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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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/* set r/p zero */
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actuators->control[0] = 0.0f;
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actuators->control[1] = 0.0f;
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/*
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* Calculate yaw error and apply P gain
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*/
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float yaw_err = matrix::Eulerf(matrix::Quatf(att->q)).psi() - matrix::Eulerf(matrix::Quatf(att_sp->q_d)).psi();
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actuators->control[2] = yaw_err * pp.yaw_p;
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/* copy throttle */
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actuators->control[3] = att_sp->thrust_body[0];
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actuators->timestamp = hrt_absolute_time();
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}
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/* Main Thread */
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int rover_steering_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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/* initialize parameters, first the handles, then the values */
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parameters_init(&ph);
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parameter_update(&ph, &pp);
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/*
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* PX4 uses a publish/subscribe design pattern to enable
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* multi-threaded communication.
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*
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* The most elegant aspect of this is that controllers and
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* other processes can either 'react' to new data, or run
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* at their own pace.
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*
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* PX4 developer guide:
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* https://pixhawk.ethz.ch/px4/dev/shared_object_communication
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*
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* Wikipedia description:
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* http://en.wikipedia.org/wiki/Publish–subscribe_pattern
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*
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*/
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/*
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* Declare and safely initialize all structs to zero.
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*
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* These structs contain the system state and things
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* like attitude, position, the current waypoint, etc.
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*/
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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_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_control_setpoint;
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memset(&manual_control_setpoint, 0, sizeof(manual_control_setpoint));
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struct vehicle_status_s vstatus;
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memset(&vstatus, 0, sizeof(vstatus));
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struct position_setpoint_s global_sp;
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memset(&global_sp, 0, sizeof(global_sp));
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/* output structs - this is what is sent to the mixer */
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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 with zero values */
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for (unsigned i = 0; i < (sizeof(actuators.control) / sizeof(actuators.control[0])); i++) {
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actuators.control[i] = 0.0f;
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}
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struct vehicle_attitude_setpoint_s _att_sp = {};
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/*
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* Advertise that this controller will publish actuator
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* control values and the rate setpoint
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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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/* subscribe to topics. */
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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int manual_control_setpoint_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 att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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uORB::SubscriptionInterval parameter_update_sub{ORB_ID(parameter_update), 1_s};
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/* Setup of loop */
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struct pollfd fds[1] {};
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fds[0].fd = att_sub;
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fds[0].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, 1, 500);
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if (ret < 0) {
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/*
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* Poll error, this will not really happen in practice,
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* but its good design practice to make output an error message.
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*/
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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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// check for parameter updates
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if (parameter_update_sub.updated()) {
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// clear update
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parameter_update_s pupdate;
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parameter_update_sub.copy(&pupdate);
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// if a param update occured, re-read our parameters
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parameter_update(&ph, &pp);
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}
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/* only run controller if attitude changed */
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if (fds[0].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 att_sp_updated;
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orb_check(att_sp_sub, &att_sp_updated);
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bool manual_control_setpoint_updated;
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orb_check(manual_control_setpoint_sub, &manual_control_setpoint_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 (att_sp_updated) {
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orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &_att_sp);
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}
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/* control attitude / heading */
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control_attitude(&_att_sp, &att, &actuators);
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if (manual_control_setpoint_updated)
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/* get the RC (or otherwise user based) input */
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{
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orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual_control_setpoint);
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}
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// XXX copy from manual depending on flight / usage mode to override
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/* get the system status and the flight mode we're in */
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orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
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/* sanity check and publish actuator outputs */
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if (PX4_ISFINITE(actuators.control[0]) &&
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PX4_ISFINITE(actuators.control[1]) &&
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PX4_ISFINITE(actuators.control[2]) &&
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PX4_ISFINITE(actuators.control[3])) {
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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if (verbose) {
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warnx("published");
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}
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}
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}
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}
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}
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warnx("exiting, stopping all motors.");
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thread_running = false;
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/* kill all outputs */
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for (unsigned i = 0; i < (sizeof(actuators.control) / sizeof(actuators.control[0])); i++) {
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actuators.control[i] = 0.0f;
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}
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actuators.timestamp = hrt_absolute_time();
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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;
|
||||
}
|
||||
|
||||
/* 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");
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 px4_task_spawn_cmd().
|
||||
*/
|
||||
int rover_steering_control_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
usage("missing command");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
warnx("running");
|
||||
/* this is not an error */
|
||||
return 0;
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
deamon_task = px4_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 *)nullptr);
|
||||
thread_running = true;
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
warnx("running");
|
||||
|
||||
} else {
|
||||
warnx("not started");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -1,49 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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);
|
|
@ -1,43 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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 <parameters/param.h>
|
||||
|
||||
|
Loading…
Reference in New Issue