forked from Archive/PX4-Autopilot
Rover: Add simple steering controller.
This commit is contained in:
Lorenz Meier
parent
8b5c7b5c84
commit
e59aaa771c
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@ -128,6 +128,11 @@ MODULES += modules/bottle_drop
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#
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#
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MODULES += examples/flow_position_estimator
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MODULES += examples/flow_position_estimator
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#
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# Rover apps
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#
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MODULES += examples/rover_steering_control
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#
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#
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# Demo apps
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# Demo apps
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#
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#
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@ -0,0 +1,412 @@
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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.c
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*
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* Example implementation of a fixed wing attitude controller. This file is a complete
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* fixed wing controller for manual attitude control or auto waypoint control.
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* There is no need to touch any other system components to extend / modify the
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* complete control architecture.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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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 <uORB/uORB.h>
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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/actuator_controls_0.h>
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#include <uORB/topics/actuator_controls_1.h>
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#include <uORB/topics/actuator_controls_2.h>
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#include <uORB/topics/actuator_controls_3.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 <systemlib/param/param.h>
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#include <systemlib/pid/pid.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 <systemlib/err.h>
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/* process-specific header files */
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#include "params.h"
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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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__EXPORT int rover_steering_control_main(int argc, char *argv[]);
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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 p;
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static struct param_handles ph;
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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 roll error and apply P gain
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*/
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float yaw_err = att->yaw - att_sp->yaw_body;
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actuators->control[2] = yaw_err * p.yaw_p;
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/* copy throttle */
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actuators->control[3] = att_sp->thrust;
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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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parameters_update(&ph, &p);
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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_sp;
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memset(&manual_sp, 0, sizeof(manual_sp));
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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 < NUM_ACTUATOR_CONTROLS; i++) {
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actuators.control[i] = 0.0f;
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}
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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_sp_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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int param_sub = orb_subscribe(ORB_ID(parameter_update));
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/* Setup of loop */
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struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN },
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{ .fd = att_sub, .events = POLLIN }
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};
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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, 2, 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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/* 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 (uORB API requirement) */
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struct parameter_update_s update;
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orb_copy(ORB_ID(parameter_update), param_sub, &update);
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/* if a param update occured, re-read our parameters */
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parameters_update(&ph, &p);
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}
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/* only run controller if attitude changed */
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if (fds[1].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_sp_updated;
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orb_check(manual_sp_sub, &manual_sp_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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struct vehicle_attitude_setpoint_s _att_sp;
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orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &_att_sp);
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/* control attitude / heading */
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control_attitude(&_att_sp, &att, &actuators);
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}
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if (manual_sp_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_sp_sub, &manual_sp);
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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 (isfinite(actuators.control[0]) &&
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isfinite(actuators.control[1]) &&
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isfinite(actuators.control[2]) &&
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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 < NUM_ACTUATOR_CONTROLS; i++) {
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actuators.control[i] = 0.0f;
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}
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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;
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}
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/* Startup Functions */
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static void
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usage(const char *reason)
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{
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if (reason) {
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fprintf(stderr, "%s\n", reason);
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}
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fprintf(stderr, "usage: rover_steering_control {start|stop|status}\n\n");
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exit(1);
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}
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/**
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* The daemon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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* The actual stack size should be set in the call
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* to task_spawn_cmd().
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*/
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int rover_steering_control_main(int argc, char *argv[])
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{
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if (argc < 1) {
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usage("missing command");
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}
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||||||
|
if (!strcmp(argv[1], "start")) {
|
||||||
|
|
||||||
|
if (thread_running) {
|
||||||
|
warnx("running");
|
||||||
|
/* this is not an error */
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
thread_should_exit = false;
|
||||||
|
deamon_task = task_spawn_cmd("rover_steering_control",
|
||||||
|
SCHED_DEFAULT,
|
||||||
|
SCHED_PRIORITY_MAX - 20,
|
||||||
|
2048,
|
||||||
|
rover_steering_control_thread_main,
|
||||||
|
(argv) ? (char *const *)&argv[2] : (char *const *)NULL);
|
||||||
|
thread_running = true;
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "stop")) {
|
||||||
|
thread_should_exit = true;
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "status")) {
|
||||||
|
if (thread_running) {
|
||||||
|
warnx("running");
|
||||||
|
|
||||||
|
} else {
|
||||||
|
warnx("not started");
|
||||||
|
}
|
||||||
|
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
usage("unrecognized command");
|
||||||
|
exit(1);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -0,0 +1,45 @@
|
||||||
|
############################################################################
|
||||||
|
#
|
||||||
|
# Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
|
||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
#
|
||||||
|
# Rover Steering Demo / Example Application
|
||||||
|
#
|
||||||
|
|
||||||
|
MODULE_COMMAND = rover_steering_control
|
||||||
|
|
||||||
|
SRCS = main.c \
|
||||||
|
params.c
|
||||||
|
|
||||||
|
MODULE_STACKSIZE = 1200
|
||||||
|
|
||||||
|
EXTRACFLAGS = -Wframe-larger-than=1300
|
||||||
|
|
@ -0,0 +1,64 @@
|
||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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);
|
||||||
|
|
||||||
|
int parameters_init(struct param_handles *h)
|
||||||
|
{
|
||||||
|
/* PID parameters */
|
||||||
|
h->yaw_p = param_find("RV_YAW_P");
|
||||||
|
|
||||||
|
return OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
int parameters_update(const struct param_handles *h, struct params *p)
|
||||||
|
{
|
||||||
|
param_get(h->yaw_p, &(p->yaw_p));
|
||||||
|
|
||||||
|
return OK;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,61 @@
|
||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||||
|
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* @file params.h
|
||||||
|
*
|
||||||
|
* Definition of parameters for fixedwing example
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <systemlib/param/param.h>
|
||||||
|
|
||||||
|
struct params {
|
||||||
|
float yaw_p;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct param_handles {
|
||||||
|
param_t yaw_p;
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initialize all parameter handles and values
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
int parameters_init(struct param_handles *h);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update all parameters
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
int parameters_update(const struct param_handles *h, struct params *p);
|
||||||
Loading…
Reference in New Issue