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System state updates

This commit is contained in:
Lorenz Meier 2012-10-23 13:15:36 +02:00
parent a24e50b931
commit d7d373f465
4 changed files with 134 additions and 15 deletions
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41
apps/commander/calibration_routines.c
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@ -1,3 +1,44 @@
/****************************************************************************
*
* Copyright (C) 2012 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 calibration_routines.c
* Calibration routines implementations.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <math.h>
#include "calibration_routines.h"

40
apps/commander/calibration_routines.h
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@ -1,3 +1,43 @@
/****************************************************************************
*
* Copyright (C) 2012 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 calibration_routines.h
* Calibration routines definitions.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/**
* Least-squares fit of a sphere to a set of points.

51
apps/commander/commander.c
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@ -1,10 +1,10 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -38,6 +38,12 @@
/**
* @file commander.c
* Main system state machine implementation.
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
*/
#include "commander.h"
@ -121,9 +127,9 @@ static orb_advert_t stat_pub;
static unsigned int failsafe_lowlevel_timeout_ms;
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
static bool thread_should_exit = false; /**< daemon exit flag */
static bool thread_running = false; /**< daemon status flag */
static int daemon_task; /**< Handle of daemon task / thread */
/* pthread loops */
static void *orb_receive_loop(void *arg);
@ -942,6 +948,8 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr
int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
struct subsystem_info_s info;
struct vehicle_status_s *vstatus = (struct vehicle_status_s*)arg;
while (!thread_should_exit) {
struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } };
@ -952,6 +960,27 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr
orb_copy(ORB_ID(subsystem_info), subsys_sub, &info);
printf("Subsys changed: %d\n", (int)info.subsystem_type);
/* mark / unmark as present */
if (info.present) {
vstatus->onboard_control_sensors_present |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_present &= ~info.subsystem_type;
}
/* mark / unmark as enabled */
if (info.enabled) {
vstatus->onboard_control_sensors_enabled |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type;
}
/* mark / unmark as ok */
if (info.ok) {
vstatus->onboard_control_sensors_health |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_health &= ~info.subsystem_type;
}
}
}
@ -1014,12 +1043,12 @@ usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* 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.
*
@ -1040,7 +1069,7 @@ int commander_main(int argc, char *argv[])
}
thread_should_exit = false;
deamon_task = task_spawn("commander",
daemon_task = task_spawn("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 50,
8000,
@ -1126,7 +1155,7 @@ int commander_thread_main(int argc, char *argv[])
pthread_attr_t subsystem_info_attr;
pthread_attr_init(&subsystem_info_attr);
pthread_attr_setstacksize(&subsystem_info_attr, 2048);
pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, NULL);
pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, &current_status);
/* Start monitoring loop */
uint16_t counter = 0;

17
apps/commander/commander.h
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@ -1,10 +1,11 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
@ -34,12 +35,20 @@
*
****************************************************************************/
/* @file Main system state machine definition */
/**
* @file commander.h
* Main system state machine definition.
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
*/
#ifndef COMMANDER_H_
#define COMMANDER_H_
#define VOLTAGE_BATTERY_CRITICAL_VOLTS 10.0f
#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f