forked from Archive/PX4-Autopilot
273 lines
8.4 KiB
C
273 lines
8.4 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 <arch/board/up_hrt.h>
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#include "ardrone_control.h"
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#include "attitude_control.h"
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#include "rate_control.h"
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#include "ardrone_motor_control.h"
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#include "position_control.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/ardrone_control.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/ardrone_motors_setpoint.h>
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#include <uORB/topics/sensor_combined.h>
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#include "ardrone_control_helper.h"
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__EXPORT int ardrone_control_main(int argc, char *argv[]);
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/****************************************************************************
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* Internal Definitions
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****************************************************************************/
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enum {
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CONTROL_MODE_RATES = 0,
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CONTROL_MODE_ATTITUDE = 1,
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} control_mode;
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/*File descriptors */
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int ardrone_write;
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int gpios;
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bool position_control_thread_started;
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/****************************************************************************
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* pthread loops
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****************************************************************************/
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static void *position_control_loop(void *arg)
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{
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struct vehicle_status_s *state = (struct vehicle_status_s *)arg;
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// Set thread name
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prctl(PR_SET_NAME, "ardrone pos ctrl", getpid());
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while (1) {
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if (state->state_machine == SYSTEM_STATE_AUTO) {
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// control_position(); //FIXME TODO XXX
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/* temporary 50 Hz execution */
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usleep(20000);
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} else {
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position_control_thread_started = false;
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break;
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}
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}
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return NULL;
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}
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/****************************************************************************
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* main
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****************************************************************************/
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int ardrone_control_main(int argc, char *argv[])
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{
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/* welcome user */
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printf("[ardrone_control] Control started, taking over motors\n");
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/* default values for arguments */
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char *ardrone_uart_name = "/dev/ttyS1";
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control_mode = CONTROL_MODE_RATES;
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char *commandline_usage = "\tusage: ardrone_control -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n";
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/* read commandline arguments */
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int i;
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for (i = 1; i < argc; i++) {
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if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set
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if (argc > i + 1) {
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ardrone_uart_name = argv[i + 1];
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} else {
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printf(commandline_usage);
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return 0;
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}
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} else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
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if (argc > i + 1) {
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if (strcmp(argv[i + 1], "rates") == 0) {
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control_mode = CONTROL_MODE_RATES;
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} else if (strcmp(argv[i + 1], "attitude") == 0) {
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control_mode = CONTROL_MODE_ATTITUDE;
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} else {
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printf(commandline_usage);
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return 0;
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}
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} else {
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printf(commandline_usage);
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return 0;
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}
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}
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}
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/* open uarts */
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printf("[ardrone_control] AR.Drone UART is %s\n", ardrone_uart_name);
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ardrone_write = open(ardrone_uart_name, O_RDWR | O_NOCTTY | O_NDELAY);
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/* initialize motors */
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ar_init_motors(ardrone_write, &gpios);
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int counter = 0;
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/* pthread for position control */
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pthread_t position_control_thread;
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position_control_thread_started = false;
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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 ardrone_control_s ar_control;
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struct rc_channels_s rc;
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struct sensor_combined_s raw;
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struct ardrone_motors_setpoint_s setpoint;
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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 rc_sub = orb_subscribe(ORB_ID(rc_channels));
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int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
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int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
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/* publish AR.Drone motor control state */
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int ardrone_pub = orb_advertise(ORB_ID(ardrone_control), &ar_control);
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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 rc */
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orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
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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 (state.state_machine == SYSTEM_STATE_AUTO) {
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if (false == position_control_thread_started) {
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pthread_attr_t position_control_thread_attr;
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pthread_attr_init(&position_control_thread_attr);
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pthread_attr_setstacksize(&position_control_thread_attr, 2048);
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pthread_create(&position_control_thread, &position_control_thread_attr, position_control_loop, &state);
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position_control_thread_started = true;
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}
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control_attitude(&rc, &att, &state, ardrone_pub, &ar_control);
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//No check for remote sticks to disarm in auto mode, land/disarm with ground station
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} else if (state.state_machine == SYSTEM_STATE_MANUAL) {
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if (control_mode == CONTROL_MODE_RATES) {
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orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
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orb_copy(ORB_ID(ardrone_motors_setpoint), setpoint_sub, &setpoint);
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control_rates(&raw, &setpoint);
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} else if (control_mode == CONTROL_MODE_ATTITUDE) {
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control_attitude(&rc, &att, &state, ardrone_pub, &ar_control);
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}
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} else {
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}
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//fancy led animation...
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static int blubb = 0;
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if (counter % 20 == 0) {
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if (blubb == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0);
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if (blubb == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0);
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if (blubb == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0);
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if (blubb == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0);
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if (blubb == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0);
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if (blubb == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0);
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if (blubb == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0);
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if (blubb == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0);
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if (blubb == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0);
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if (blubb == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1);
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if (blubb == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1);
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if (blubb == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0);
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blubb++;
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if (blubb == 12) blubb = 0;
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}
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/* run at approximately 200 Hz */
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usleep(5000);
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counter++;
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}
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/* close uarts */
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close(ardrone_write);
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ar_multiplexing_deinit(gpios);
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printf("[ardrone_control] ending now...\r\n");
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fflush(stdout);
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return 0;
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}
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