forked from Archive/PX4-Autopilot
235 lines
7.1 KiB
C
235 lines
7.1 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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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 Implementation of AR.Drone 1.0 / 2.0 control interface
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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 <stdbool.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 <debug.h>
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#include <termios.h>
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#include <time.h>
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#include <sys/prctl.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_status.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_vicon_position.h>
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#include <systemlib/systemlib.h>
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#include "multirotor_pos_control_params.h"
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static bool thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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__EXPORT int multirotor_pos_control_main(int argc, char *argv[]);
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/**
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* Mainloop of position controller.
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*/
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static int multirotor_pos_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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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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fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
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exit(1);
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}
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/**
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* The deamon 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().
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*/
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int multirotor_pos_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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if (!strcmp(argv[1], "start")) {
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if (thread_running) {
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printf("multirotor pos control already running\n");
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/* this is not an error */
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exit(0);
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}
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thread_should_exit = false;
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deamon_task = task_spawn("multirotor pos control",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 60,
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4096,
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multirotor_pos_control_thread_main,
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(argv) ? (const char **)&argv[2] : (const char **)NULL);
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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thread_should_exit = true;
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exit(0);
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}
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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printf("\tmultirotor pos control app is running\n");
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} else {
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printf("\tmultirotor pos control app not started\n");
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}
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exit(0);
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}
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usage("unrecognized command");
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exit(1);
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}
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static int
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multirotor_pos_control_thread_main(int argc, char *argv[])
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{
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/* welcome user */
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printf("[multirotor pos control] Control started, taking over position control\n");
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/* structures */
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struct vehicle_status_s state;
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struct vehicle_attitude_s att;
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//struct vehicle_global_position_setpoint_s global_pos_sp;
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struct vehicle_local_position_setpoint_s local_pos_sp;
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struct vehicle_vicon_position_s local_pos;
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struct manual_control_setpoint_s manual;
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struct vehicle_attitude_setpoint_s att_sp;
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/* subscribe to attitude, motor setpoints and system state */
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int state_sub = orb_subscribe(ORB_ID(vehicle_status));
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int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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int local_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
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//int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
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int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
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/* publish attitude setpoint */
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orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
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thread_running = true;
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int loopcounter = 0;
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struct multirotor_position_control_params p;
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struct multirotor_position_control_param_handles h;
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parameters_init(&h);
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parameters_update(&h, &p);
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while (1) {
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/* get a local copy of the vehicle state */
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orb_copy(ORB_ID(vehicle_status), state_sub, &state);
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/* get a local copy of manual setpoint */
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orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
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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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/* get a local copy of local position */
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orb_copy(ORB_ID(vehicle_vicon_position), local_pos_sub, &local_pos);
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/* get a local copy of local position setpoint */
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orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp);
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if (loopcounter == 500) {
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parameters_update(&h, &p);
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loopcounter = 0;
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}
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// if (state.state_machine == SYSTEM_STATE_AUTO) {
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// XXX IMPLEMENT POSITION CONTROL HERE
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float dT = 1.0f / 50.0f;
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float x_setpoint = 0.0f;
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/* local pos is the Vicon position */
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att_sp.pitch_body = (local_pos.x - x_setpoint) * p.p * dT;
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att_sp.roll_body = 0.0f;
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att_sp.yaw_body = 0.0f;
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att_sp.thrust = 0.4f;
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att_sp.timestamp = hrt_absolute_time();
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/* publish new attitude setpoint */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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// } else if (state.state_machine == SYSTEM_STATE_STABILIZED) {
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/* set setpoint to current position */
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// XXX select pos reset channel on remote
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/* reset setpoint to current position (position hold) */
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// if (1 == 2) {
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// local_pos_sp.x = local_pos.x;
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// local_pos_sp.y = local_pos.y;
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// local_pos_sp.z = local_pos.z;
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// local_pos_sp.yaw = att.yaw;
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// }
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// }
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/* run at approximately 50 Hz */
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usleep(20000);
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loopcounter++;
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}
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printf("[multirotor pos control] ending now...\n");
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thread_running = false;
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fflush(stdout);
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return 0;
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}
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