px4-firmware/apps/ardrone_control/ardrone_control.c

322 lines
11 KiB
C

/****************************************************************************
*
* Copyright (C) 2008-2012 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 Implementation of AR.Drone 1.0 / 2.0 control interface
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <math.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <termios.h>
#include <time.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include "ardrone_control.h"
#include "attitude_control.h"
#include "rate_control.h"
#include "ardrone_motor_control.h"
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/ardrone_control.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/ardrone_motors_setpoint.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/actuator_controls.h>
__EXPORT int ardrone_control_main(int argc, char *argv[]);
// static void turn_xy_plane(const float_vect3 *vector, float yaw,
// float_vect3 *result);
// static void navi2body_xy_plane(const float_vect3 *vector, const float yaw,
// float_vect3 *result);
// static void turn_xy_plane(const float_vect3 *vector, float yaw,
// float_vect3 *result)
// {
// //turn clockwise
// static uint16_t counter;
// result->x = (cosf(yaw) * vector->x + sinf(yaw) * vector->y);
// result->y = (-sinf(yaw) * vector->x + cosf(yaw) * vector->y);
// result->z = vector->z; //leave direction normal to xy-plane untouched
// counter++;
// }
// static void navi2body_xy_plane(const float_vect3 *vector, const float yaw,
// float_vect3 *result)
// {
// turn_xy_plane(vector, yaw, result);
// // result->x = vector->x;
// // result->y = vector->y;
// // result->z = vector->z;
// // result->x = cos(yaw) * vector->x + sin(yaw) * vector->y;
// // result->y = -sin(yaw) * vector->x + cos(yaw) * vector->y;
// // result->z = vector->z; //leave direction normal to xy-plane untouched
// }
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";
/* File descriptors */
int ardrone_write;
int gpios;
enum {
CONTROL_MODE_RATES = 0,
CONTROL_MODE_ATTITUDE = 1,
} control_mode = CONTROL_MODE_ATTITUDE;
char *commandline_usage = "\tusage: ardrone_control -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n";
bool motor_test_mode = false;
/* read commandline arguments */
for (int 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 ERROR;
}
} 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 ERROR;
}
} else {
printf(commandline_usage);
return ERROR;
}
} else if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) {
motor_test_mode = true;
}
}
/* 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);
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_control] Failed opening AR.Drone UART, exiting.\n");
exit(ERROR);
}
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, &gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_control] Failed initializing AR.Drone motors, exiting.\n");
exit(ERROR);
}
/* Led animation */
int counter = 0;
int led_counter = 0;
/* declare and safely initialize all structs */
struct vehicle_status_s state;
memset(&state, 0, sizeof(state));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
struct ardrone_motors_setpoint_s setpoint;
memset(&setpoint, 0, sizeof(setpoint));
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
/* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
while (1) {
/* get a local copy of the vehicle state */
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
if (state.state_machine == SYSTEM_STATE_MANUAL ||
state.state_machine == SYSTEM_STATE_GROUND_READY ||
state.state_machine == SYSTEM_STATE_STABILIZED ||
state.state_machine == SYSTEM_STATE_AUTO ||
state.state_machine == SYSTEM_STATE_MISSION_ABORT ||
state.state_machine == SYSTEM_STATE_EMCY_LANDING ||
motor_test_mode) {
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(ardrone_write, &raw, &setpoint);
} else if (control_mode == CONTROL_MODE_ATTITUDE) {
// XXX Add failsafe logic for RC loss situations
/* hardcore, last-resort safety checking */
//if (status->rc_signal_lost) {
/* get a local copy of manual setpoint */
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
/* get a local copy of attitude setpoint */
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
att_sp.roll_body = -manual.roll * M_PI_F / 8.0f;
att_sp.pitch_body = -manual.pitch * M_PI_F / 8.0f;
att_sp.yaw_body = -manual.yaw * M_PI_F;
if (motor_test_mode) {
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = 0.3f;
} else {
if (state.state_machine == SYSTEM_STATE_MANUAL ||
state.state_machine == SYSTEM_STATE_GROUND_READY ||
state.state_machine == SYSTEM_STATE_STABILIZED ||
state.state_machine == SYSTEM_STATE_AUTO ||
state.state_machine == SYSTEM_STATE_MISSION_ABORT ||
state.state_machine == SYSTEM_STATE_EMCY_LANDING) {
att_sp.thrust = manual.throttle;
} else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) {
/* immediately cut off motors */
att_sp.thrust = 0.0f;
} else {
/* limit motor throttle to zero for an unknown mode */
att_sp.thrust = 0.0f;
}
}
float roll_control, pitch_control, yaw_control, thrust_control;
multirotor_control_attitude(&att_sp, &att, &state, &actuator_controls, motor_test_mode);
ardrone_mixing_and_output(ardrone_write, &actuator_controls, motor_test_mode);
} else {
/* invalid mode, complain */
if (counter % 200 == 0) printf("[multirotor control] INVALID CONTROL MODE, locking down propulsion\n");
ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
}
} else {
/* Silently lock down motor speeds to zero */
ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
}
if (counter % 30 == 0) {
if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0);
if (led_counter == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0);
if (led_counter == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0);
if (led_counter == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0);
if (led_counter == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0);
if (led_counter == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0);
if (led_counter == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0);
if (led_counter == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0);
if (led_counter == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0);
if (led_counter == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1);
if (led_counter == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1);
if (led_counter == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0);
led_counter++;
if (led_counter == 12) led_counter = 0;
}
/* run at approximately 200 Hz */
usleep(5000);
// This is a hardcore debug code piece to validate
// the motor interface
// uint8_t motorSpeedBuf[5] = {1, 2, 3, 4, 5};
// ar_get_motor_packet(motorSpeedBuf, 20, 20, 20, 20);
// write(ardrone_write, motorSpeedBuf, 5);
// usleep(15000);
counter++;
}
/* close uarts */
close(ardrone_write);
ar_multiplexing_deinit(gpios);
printf("[ardrone_control] ending now...\n");
fflush(stdout);
return OK;
}