/**************************************************************************** * * Copyright (C) 2008-2012 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 Implementation of AR.Drone 1.0 / 2.0 control interface */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include "ardrone_control.h" #include "attitude_control.h" #include "rate_control.h" #include "ardrone_motor_control.h" #include "position_control.h" #include #include #include #include #include #include #include #include "ardrone_control_helper.h" __EXPORT int ardrone_control_main(int argc, char *argv[]); /**************************************************************************** * Internal Definitions ****************************************************************************/ enum { CONTROL_MODE_RATES = 0, CONTROL_MODE_ATTITUDE = 1, } control_mode; /**************************************************************************** * Private Data ****************************************************************************/ /*File descriptors */ int ardrone_write; int gpios; bool position_control_thread_started; /**************************************************************************** * pthread loops ****************************************************************************/ static void *position_control_loop(void *arg) { struct vehicle_status_s *state = (struct vehicle_status_s *)arg; // Set thread name prctl(PR_SET_NAME, "ardrone pos ctrl", getpid()); while (1) { if (state->state_machine == SYSTEM_STATE_AUTO) { // control_position(); //FIXME TODO XXX /* temporary 50 Hz execution */ usleep(20000); } else { position_control_thread_started = false; break; } } return NULL; } /**************************************************************************** * main ****************************************************************************/ int ardrone_control_main(int argc, char *argv[]) { /* welcome user */ printf("[ardrone_control] Control started, taking over motors\n"); /* default values for arguments */ char *ardrone_uart_name = "/dev/ttyS1"; control_mode = CONTROL_MODE_RATES; char *commandline_usage = "\tusage: ardrone_control -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n"; /* read commandline arguments */ int i; for (i = 1; i < argc; i++) { if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set if (argc > i + 1) { ardrone_uart_name = argv[i + 1]; } else { printf(commandline_usage); return 0; } } else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) { if (argc > i + 1) { if (strcmp(argv[i + 1], "rates") == 0) { control_mode = CONTROL_MODE_RATES; } else if (strcmp(argv[i + 1], "attitude") == 0) { control_mode = CONTROL_MODE_ATTITUDE; } else { printf(commandline_usage); return 0; } } else { printf(commandline_usage); return 0; } } } /* open uarts */ printf("[ardrone_control] AR.Drone UART is %s\n", ardrone_uart_name); ardrone_write = open(ardrone_uart_name, O_RDWR | O_NOCTTY | O_NDELAY); /* initialize motors */ ar_init_motors(ardrone_write, &gpios); int counter = 0; /* pthread for position control */ pthread_t position_control_thread; position_control_thread_started = false; /* structures */ struct vehicle_status_s state; struct vehicle_attitude_s att; struct ardrone_control_s ar_control; struct rc_channels_s rc; struct sensor_combined_s raw; struct ardrone_motors_setpoint_s setpoint; /* subscribe to attitude, motor setpoints and system state */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int state_sub = orb_subscribe(ORB_ID(vehicle_status)); int rc_sub = orb_subscribe(ORB_ID(rc_channels)); int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint)); /* publish AR.Drone motor control state */ int ardrone_pub = orb_advertise(ORB_ID(ardrone_control), &ar_control); while (1) { /* get a local copy of the vehicle state */ orb_copy(ORB_ID(vehicle_status), state_sub, &state); /* get a local copy of rc */ orb_copy(ORB_ID(rc_channels), rc_sub, &rc); /* get a local copy of attitude */ orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); if (state.state_machine == SYSTEM_STATE_AUTO) { if (false == position_control_thread_started) { pthread_attr_t position_control_thread_attr; pthread_attr_init(&position_control_thread_attr); pthread_attr_setstacksize(&position_control_thread_attr, 2048); pthread_create(&position_control_thread, &position_control_thread_attr, position_control_loop, &state); position_control_thread_started = true; } control_attitude(&rc, &att, &state, ardrone_pub, &ar_control); //No check for remote sticks to disarm in auto mode, land/disarm with ground station } else if (state.state_machine == SYSTEM_STATE_MANUAL) { if (control_mode == CONTROL_MODE_RATES) { orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); orb_copy(ORB_ID(ardrone_motors_setpoint), setpoint_sub, &setpoint); control_rates(&raw, &setpoint); } else if (control_mode == CONTROL_MODE_ATTITUDE) { control_attitude(&rc, &att, &state, ardrone_pub, &ar_control); } } else { } //fancy led animation... static int blubb = 0; if (counter % 20 == 0) { if (blubb == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0); if (blubb == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0); if (blubb == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0); if (blubb == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0); if (blubb == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0); if (blubb == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0); if (blubb == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0); if (blubb == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0); if (blubb == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0); if (blubb == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1); if (blubb == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1); if (blubb == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0); blubb++; if (blubb == 12) blubb = 0; } /* run at approximately 200 Hz */ usleep(5000); counter++; } /* close uarts */ close(ardrone_write); ar_multiplexing_deinit(gpios); printf("[ardrone_control] ending now...\r\n"); fflush(stdout); return 0; }