forked from Archive/PX4-Autopilot
320 lines
11 KiB
C
320 lines
11 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 <math.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 <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/vehicle_attitude_setpoint.h>
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#include <uORB/topics/ardrone_control.h>
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#include <uORB/topics/manual_control_setpoint.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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__EXPORT int ardrone_control_main(int argc, char *argv[]);
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// static void turn_xy_plane(const float_vect3 *vector, float yaw,
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// float_vect3 *result);
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// static void navi2body_xy_plane(const float_vect3 *vector, const float yaw,
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// float_vect3 *result);
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// static void turn_xy_plane(const float_vect3 *vector, float yaw,
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// float_vect3 *result)
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// {
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// //turn clockwise
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// static uint16_t counter;
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// result->x = (cosf(yaw) * vector->x + sinf(yaw) * vector->y);
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// result->y = (-sinf(yaw) * vector->x + cosf(yaw) * vector->y);
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// result->z = vector->z; //leave direction normal to xy-plane untouched
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// counter++;
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// }
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// static void navi2body_xy_plane(const float_vect3 *vector, const float yaw,
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// float_vect3 *result)
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// {
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// turn_xy_plane(vector, yaw, result);
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// // result->x = vector->x;
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// // result->y = vector->y;
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// // result->z = vector->z;
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// // result->x = cos(yaw) * vector->x + sin(yaw) * vector->y;
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// // result->y = -sin(yaw) * vector->x + cos(yaw) * vector->y;
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// // result->z = vector->z; //leave direction normal to xy-plane untouched
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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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/* File descriptors */
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int ardrone_write;
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int gpios;
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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 = CONTROL_MODE_ATTITUDE;
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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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bool motor_test_mode = false;
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/* read commandline arguments */
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for (int 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 ERROR;
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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 ERROR;
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}
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} else {
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printf(commandline_usage);
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return ERROR;
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}
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} else if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) {
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motor_test_mode = true;
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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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if (ardrone_write < 0) {
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fprintf(stderr, "[ardrone_control] Failed opening AR.Drone UART, exiting.\n");
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exit(ERROR);
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}
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/* initialize motors */
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if (OK != ar_init_motors(ardrone_write, &gpios)) {
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close(ardrone_write);
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fprintf(stderr, "[ardrone_control] Failed initializing AR.Drone motors, exiting.\n");
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exit(ERROR);
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}
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/* Led animation */
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int counter = 0;
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int led_counter = 0;
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/* declare and safely initialize all structs */
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struct vehicle_status_s state;
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memset(&state, 0, sizeof(state));
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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 manual_control_setpoint_s manual;
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memset(&manual, 0, sizeof(manual));
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struct sensor_combined_s raw;
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memset(&raw, 0, sizeof(raw));
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struct ardrone_motors_setpoint_s setpoint;
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memset(&setpoint, 0, sizeof(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 att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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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 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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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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if (state.state_machine == SYSTEM_STATE_MANUAL ||
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state.state_machine == SYSTEM_STATE_GROUND_READY ||
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state.state_machine == SYSTEM_STATE_STABILIZED ||
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state.state_machine == SYSTEM_STATE_AUTO ||
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state.state_machine == SYSTEM_STATE_MISSION_ABORT ||
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state.state_machine == SYSTEM_STATE_EMCY_LANDING ||
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motor_test_mode) {
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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(ardrone_write, &raw, &setpoint);
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} else if (control_mode == CONTROL_MODE_ATTITUDE) {
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// XXX Add failsafe logic for RC loss situations
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/* hardcore, last-resort safety checking */
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//if (status->rc_signal_lost) {
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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 attitude setpoint */
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orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
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att_sp.roll_body = -manual.roll * M_PI_F / 8.0f;
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att_sp.pitch_body = -manual.pitch * M_PI_F / 8.0f;
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att_sp.yaw_body = -manual.yaw * M_PI_F;
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if (motor_test_mode) {
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att_sp.roll_body = 0.0f;
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att_sp.pitch_body = 0.0f;
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att_sp.yaw_body = 0.0f;
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att_sp.thrust = 0.3f;
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} else {
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if (state.state_machine == SYSTEM_STATE_MANUAL ||
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state.state_machine == SYSTEM_STATE_GROUND_READY ||
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state.state_machine == SYSTEM_STATE_STABILIZED ||
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state.state_machine == SYSTEM_STATE_AUTO ||
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state.state_machine == SYSTEM_STATE_MISSION_ABORT ||
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state.state_machine == SYSTEM_STATE_EMCY_LANDING) {
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att_sp.thrust = manual.throttle;
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} else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) {
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/* immediately cut off motors */
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att_sp.thrust = 0.0f;
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} else {
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/* limit motor throttle to zero for an unknown mode */
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att_sp.thrust = 0.0f;
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}
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}
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float roll_control, pitch_control, yaw_control, thrust_control;
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multirotor_control_attitude(&att_sp, &att, &state, motor_test_mode,
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&roll_control, &pitch_control, &yaw_control, &thrust_control);
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ardrone_mixing_and_output(ardrone_write, roll_control, pitch_control, yaw_control, thrust_control, motor_test_mode);
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} else {
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/* invalid mode, complain */
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if (counter % 200 == 0) printf("[multirotor control] INVALID CONTROL MODE, locking down propulsion\n");
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ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
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}
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} else {
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/* Silently lock down motor speeds to zero */
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ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
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}
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if (counter % 30 == 0) {
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if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0);
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if (led_counter == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0);
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if (led_counter == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0);
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if (led_counter == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0);
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if (led_counter == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0);
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if (led_counter == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0);
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if (led_counter == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0);
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if (led_counter == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0);
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if (led_counter == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0);
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if (led_counter == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1);
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if (led_counter == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1);
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if (led_counter == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0);
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led_counter++;
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if (led_counter == 12) led_counter = 0;
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}
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/* run at approximately 200 Hz */
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usleep(5000);
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// This is a hardcore debug code piece to validate
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// the motor interface
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// uint8_t motorSpeedBuf[5] = {1, 2, 3, 4, 5};
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// ar_get_motor_packet(motorSpeedBuf, 20, 20, 20, 20);
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// write(ardrone_write, motorSpeedBuf, 5);
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// usleep(15000);
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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...\n");
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fflush(stdout);
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return OK;
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}
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