1 files changed, 306 insertions, 0 deletions
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
new file mode 100644
index 000000000..033e7dc88
--- /dev/null
+++ b/src/modules/commander/commander_helper.cpp
@@ -0,0 +1,306 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *           Anton Babushkin <anton.babushkin@me.com>
+ *
+ * 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 commander_helper.cpp
+ * Commander helper functions implementations
+ */
+
+#include <stdio.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <math.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <systemlib/err.h>
+#include <systemlib/param/param.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_tone_alarm.h>
+#include <drivers/drv_led.h>
+#include <drivers/drv_rgbled.h>
+
+#include "commander_helper.h"
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+#define BLINK_MSG_TIME	700000	// 3 fast blinks
+
+bool is_multirotor(const struct vehicle_status_s *current_status)
+{
+	return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
+		(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
+		(current_status->system_type == VEHICLE_TYPE_OCTOROTOR) ||
+		(current_status->system_type == VEHICLE_TYPE_TRICOPTER));
+}
+
+bool is_rotary_wing(const struct vehicle_status_s *current_status)
+{
+	return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER)
+	       || (current_status->system_type == VEHICLE_TYPE_COAXIAL);
+}
+
+static int buzzer;
+static hrt_abstime blink_msg_end;
+
+int buzzer_init()
+{
+	buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY);
+
+	if (buzzer < 0) {
+		warnx("Buzzer: open fail\n");
+		return ERROR;
+	}
+
+	return OK;
+}
+
+void buzzer_deinit()
+{
+	close(buzzer);
+}
+
+void tune_error()
+{
+	ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE);
+}
+
+void tune_positive()
+{
+	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
+	rgbled_set_color(RGBLED_COLOR_GREEN);
+	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
+	ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_POSITIVE_TUNE);
+}
+
+void tune_neutral()
+{
+	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
+	rgbled_set_color(RGBLED_COLOR_WHITE);
+	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
+	ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE);
+}
+
+void tune_negative()
+{
+	led_negative();
+	ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE);
+}
+
+void led_negative()
+{
+	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
+	rgbled_set_color(RGBLED_COLOR_RED);
+	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
+}
+
+int tune_arm()
+{
+	return ioctl(buzzer, TONE_SET_ALARM, TONE_ARMING_WARNING_TUNE);
+}
+
+int tune_low_bat()
+{
+	return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_SLOW_TUNE);
+}
+
+int tune_critical_bat()
+{
+	return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_FAST_TUNE);
+}
+
+void tune_stop()
+{
+	ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE);
+}
+
+int blink_msg_state()
+{
+	if (blink_msg_end == 0) {
+		return 0;
+
+	} else if (hrt_absolute_time() > blink_msg_end) {
+		return 2;
+
+	} else {
+		return 1;
+	}
+}
+
+static int leds;
+static int rgbleds;
+
+int led_init()
+{
+	blink_msg_end = 0;
+
+	/* first open normal LEDs */
+	leds = open(LED_DEVICE_PATH, 0);
+
+	if (leds < 0) {
+		warnx("LED: open fail\n");
+		return ERROR;
+	}
+
+	/* the blue LED is only available on FMUv1 but not FMUv2 */
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+
+	if (ioctl(leds, LED_ON, LED_BLUE)) {
+		warnx("Blue LED: ioctl fail\n");
+		return ERROR;
+	}
+
+#endif
+
+	if (ioctl(leds, LED_ON, LED_AMBER)) {
+		warnx("Amber LED: ioctl fail\n");
+		return ERROR;
+	}
+
+	/* then try RGB LEDs, this can fail on FMUv1*/
+	rgbleds = open(RGBLED_DEVICE_PATH, 0);
+
+	if (rgbleds == -1) {
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+		errx(1, "Unable to open " RGBLED_DEVICE_PATH);
+#else
+		warnx("No RGB LED found");
+#endif
+	}
+
+	return 0;
+}
+
+void led_deinit()
+{
+	close(leds);
+
+	if (rgbleds != -1) {
+		close(rgbleds);
+	}
+}
+
+int led_toggle(int led)
+{
+	return ioctl(leds, LED_TOGGLE, led);
+}
+
+int led_on(int led)
+{
+	return ioctl(leds, LED_ON, led);
+}
+
+int led_off(int led)
+{
+	return ioctl(leds, LED_OFF, led);
+}
+
+void rgbled_set_color(rgbled_color_t color)
+{
+
+	if (rgbleds != -1)
+		ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color);
+}
+
+void rgbled_set_mode(rgbled_mode_t mode)
+{
+
+	if (rgbleds != -1)
+		ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode);
+}
+
+void rgbled_set_pattern(rgbled_pattern_t *pattern)
+{
+
+	if (rgbleds != -1)
+		ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
+}
+
+float battery_remaining_estimate_voltage(float voltage, float discharged)
+{
+	float ret = 0;
+	static param_t bat_v_empty_h;
+	static param_t bat_v_full_h;
+	static param_t bat_n_cells_h;
+	static param_t bat_capacity_h;
+	static float bat_v_empty = 3.2f;
+	static float bat_v_full = 4.0f;
+	static int bat_n_cells = 3;
+	static float bat_capacity = -1.0f;
+	static bool initialized = false;
+	static unsigned int counter = 0;
+
+	if (!initialized) {
+		bat_v_empty_h = param_find("BAT_V_EMPTY");
+		bat_v_full_h = param_find("BAT_V_FULL");
+		bat_n_cells_h = param_find("BAT_N_CELLS");
+		bat_capacity_h = param_find("BAT_CAPACITY");
+		initialized = true;
+	}
+
+	if (counter % 100 == 0) {
+		param_get(bat_v_empty_h, &bat_v_empty);
+		param_get(bat_v_full_h, &bat_v_full);
+		param_get(bat_n_cells_h, &bat_n_cells);
+		param_get(bat_capacity_h, &bat_capacity);
+	}
+
+	counter++;
+
+	/* remaining charge estimate based on voltage */
+	float remaining_voltage = (voltage - bat_n_cells * bat_v_empty) / (bat_n_cells * (bat_v_full - bat_v_empty));
+
+	if (bat_capacity > 0.0f) {
+		/* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */
+		ret = fminf(remaining_voltage, 1.0f - discharged / bat_capacity);
+	} else {
+		/* else use voltage */
+		ret = remaining_voltage;
+	}
+
+	/* limit to sane values */
+	ret = (ret < 0.0f) ? 0.0f : ret;
+	ret = (ret > 1.0f) ? 1.0f : ret;
+	return ret;
+}