Add navigator - not enabled for compilation, WIP

3 files changed, 698 insertions, 0 deletions

diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
new file mode 100644
index 000000000..0404b06c7
--- /dev/null
+++ b/src/modules/navigator/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+#
+# Main Navigation Controller
+#
+
+MODULE_COMMAND	= navigator
+
+SRCS		= navigator_main.cpp \
+		  navigator_params.c
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
new file mode 100644
index 000000000..f6c44444a
--- /dev/null
+++ b/src/modules/navigator/navigator_main.cpp
@@ -0,0 +1,604 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	Lorenz Meier
+ *
+ * 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 navigator_main.c
+ * Implementation of the main navigation state machine.
+ *
+ * Handles missions, geo fencing and failsafe navigation behavior.
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <drivers/drv_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/airspeed.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_global_position_set_triplet.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/mission.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <geo/geo.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <mathlib/mathlib.h>
+
+/**
+ * navigator app start / stop handling function
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
+
+class Navigator
+{
+public:
+	/**
+	 * Constructor
+	 */
+	Navigator();
+
+	/**
+	 * Destructor, also kills the sensors task.
+	 */
+	~Navigator();
+
+	/**
+	 * Start the sensors task.
+	 *
+	 * @return		OK on success.
+	 */
+	int		start();
+
+private:
+
+	bool		_task_should_exit;		/**< if true, sensor task should exit */
+	int		_navigator_task;			/**< task handle for sensor task */
+
+	int		_global_pos_sub;
+	int		_att_sub;			/**< vehicle attitude subscription */
+	int		_attitude_sub;			/**< raw rc channels data subscription */
+	int		_airspeed_sub;			/**< airspeed subscription */
+	int		_vstatus_sub;			/**< vehicle status subscription */
+	int 		_params_sub;			/**< notification of parameter updates */
+	int 		_manual_control_sub;		/**< notification of manual control updates */
+	int		_mission_sub;
+
+	orb_advert_t	_triplet_pub;			/**< position setpoint */
+
+	struct vehicle_attitude_s			_att;			/**< vehicle attitude */
+	struct vehicle_attitude_setpoint_s		_att_sp;		/**< vehicle attitude setpoint */
+	struct manual_control_setpoint_s		_manual;		/**< r/c channel data */
+	struct airspeed_s				_airspeed;		/**< airspeed */
+	struct vehicle_status_s				_vstatus;		/**< vehicle status */
+	struct vehicle_global_position_s		_global_pos;		/**< global vehicle position */
+	struct vehicle_global_position_set_triplet_s	_global_triplet;	/**< triplet of global setpoints */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	unsigned	_mission_items_maxcount;				/**< maximum number of mission items supported */
+	struct	mission_item_s 				* _mission_items;	/**< storage for mission items */
+	bool		_mission_valid;						/**< flag if mission is valid */
+
+	/** manual control states */
+	float		_seatbelt_hold_heading;		/**< heading the system should hold in seatbelt mode */
+	float		_loiter_hold_lat;
+	float		_loiter_hold_lon;
+	float		_loiter_hold_alt;
+	bool		_loiter_hold;
+
+	struct {
+		float throttle_cruise;
+	}		_parameters;			/**< local copies of interesting parameters */
+
+	struct {
+		param_t throttle_cruise;
+
+	}		_parameter_handles;		/**< handles for interesting parameters */
+
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int		parameters_update();
+
+	/**
+	 * Update control outputs
+	 *
+	 */
+	void		control_update();
+
+	/**
+	 * Check for changes in vehicle status.
+	 */
+	void		vehicle_status_poll();
+
+	/**
+	 * Check for position updates.
+	 */
+	void		vehicle_attitude_poll();
+
+	/**
+	 * Check for set triplet updates.
+	 */
+	void		mission_poll();
+
+	/**
+	 * Control throttle.
+	 */
+	float		control_throttle(float energy_error);
+
+	/**
+	 * Control pitch.
+	 */
+	float		control_pitch(float altitude_error);
+
+	void calculate_airspeed_errors();
+	void calculate_gndspeed_undershoot();
+	void calculate_altitude_error();
+
+	/**
+	 * Shim for calling task_main from task_create.
+	 */
+	static void	task_main_trampoline(int argc, char *argv[]);
+
+	/**
+	 * Main sensor collection task.
+	 */
+	void		task_main() __attribute__((noreturn));
+};
+
+namespace navigator
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+Navigator	*g_navigator;
+}
+
+Navigator::Navigator() :
+
+	_task_should_exit(false),
+	_navigator_task(-1),
+
+/* subscriptions */
+	_global_pos_sub(-1),
+	_att_sub(-1),
+	_airspeed_sub(-1),
+	_vstatus_sub(-1),
+	_params_sub(-1),
+	_manual_control_sub(-1),
+
+/* publications */
+	_triplet_pub(-1),
+
+/* performance counters */
+	_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
+/* states */
+	_mission_items_maxcount(20),
+	_mission_valid(false),
+	_loiter_hold(false)
+{
+	_mission_items = (mission_item_s*)malloc(sizeof(mission_item_s) * _mission_items_maxcount);
+	if (!_mission_items) {
+		_mission_items_maxcount = 0;
+		warnx("no free RAM to allocate mission, rejecting any waypoints");
+	}
+
+	_parameter_handles.throttle_cruise = param_find("NAV_DUMMY");
+
+	/* fetch initial parameter values */
+	parameters_update();
+}
+
+Navigator::~Navigator()
+{
+	if (_navigator_task != -1) {
+
+		/* task wakes up every 100ms or so at the longest */
+		_task_should_exit = true;
+
+		/* wait for a second for the task to quit at our request */
+		unsigned i = 0;
+
+		do {
+			/* wait 20ms */
+			usleep(20000);
+
+			/* if we have given up, kill it */
+			if (++i > 50) {
+				task_delete(_navigator_task);
+				break;
+			}
+		} while (_navigator_task != -1);
+	}
+
+	navigator::g_navigator = nullptr;
+}
+
+int
+Navigator::parameters_update()
+{
+
+	//param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
+
+	return OK;
+}
+
+void
+Navigator::vehicle_status_poll()
+{
+	bool vstatus_updated;
+
+	/* Check HIL state if vehicle status has changed */
+	orb_check(_vstatus_sub, &vstatus_updated);
+
+	if (vstatus_updated) {
+
+		orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
+	}
+}
+
+void
+Navigator::vehicle_attitude_poll()
+{
+	/* check if there is a new position */
+	bool att_updated;
+	orb_check(_att_sub, &att_updated);
+
+	if (att_updated) {
+		orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
+	}
+}
+
+void
+Navigator::mission_poll()
+{
+	/* check if there is a new setpoint */
+	bool mission_updated;
+	orb_check(_mission_sub, &mission_updated);
+
+	if (mission_updated) {
+
+		struct mission_s mission;
+		orb_copy(ORB_ID(mission), _mission_sub, &mission);
+
+		// XXX this is not optimal yet, but a first prototype /
+		// test implementation
+
+		if (mission.count <= _mission_items_maxcount) {
+			/*
+			 * Perform an atomic copy & state update
+			 */
+			irqstate_t flags = irqsave();
+
+			memcpy(_mission_items, mission.items, mission.count * sizeof(struct mission_item_s));
+			_mission_valid = true;
+
+			irqrestore(flags);
+		} else {
+			warnx("mission larger than storage space");
+		}
+	}
+}
+
+void
+Navigator::task_main_trampoline(int argc, char *argv[])
+{
+	navigator::g_navigator->task_main();
+}
+
+void
+Navigator::task_main()
+{
+
+	/* inform about start */
+	warnx("Initializing..");
+	fflush(stdout);
+
+	/*
+	 * do subscriptions
+	 */
+	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	_mission_sub = orb_subscribe(ORB_ID(mission));
+	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+	_params_sub = orb_subscribe(ORB_ID(parameter_update));
+	_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+
+	/* rate limit vehicle status updates to 5Hz */
+	orb_set_interval(_vstatus_sub, 200);
+	/* rate limit position updates to 50 Hz */
+	orb_set_interval(_global_pos_sub, 20);
+
+	parameters_update();
+
+	/* wakeup source(s) */
+	struct pollfd fds[2];
+
+	/* Setup of loop */
+	fds[0].fd = _params_sub;
+	fds[0].events = POLLIN;
+	fds[1].fd = _global_pos_sub;
+	fds[1].events = POLLIN;
+
+	while (!_task_should_exit) {
+
+		/* wait for up to 500ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+
+		/* timed out - periodic check for _task_should_exit, etc. */
+		if (pret == 0)
+			continue;
+
+		/* this is undesirable but not much we can do - might want to flag unhappy status */
+		if (pret < 0) {
+			warn("poll error %d, %d", pret, errno);
+			continue;
+		}
+
+		perf_begin(_loop_perf);
+
+		/* check vehicle status for changes to publication state */
+		vehicle_status_poll();
+
+		/* only update parameters if they changed */
+		if (fds[0].revents & POLLIN) {
+			/* read from param to clear updated flag */
+			struct parameter_update_s update;
+			orb_copy(ORB_ID(parameter_update), _params_sub, &update);
+
+			/* update parameters from storage */
+			parameters_update();
+		}
+
+		/* only run controller if position changed */
+		if (fds[1].revents & POLLIN) {
+
+
+			static uint64_t last_run = 0;
+			float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+			last_run = hrt_absolute_time();
+
+			/* guard against too large deltaT's */
+			if (deltaT > 1.0f)
+				deltaT = 0.01f;
+
+			/* load local copies */
+			orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
+
+			vehicle_attitude_poll();
+
+			mission_poll();
+
+			math::Vector2f ground_speed(_global_pos.vx, _global_pos.vy);
+			// Current waypoint
+			math::Vector2f next_wp(_global_triplet.current.lat / 1e7f, _global_triplet.current.lon / 1e7f);
+			// Global position
+			math::Vector2f current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f);
+
+			/* AUTONOMOUS FLIGHT */
+
+			if (1 /* autonomous flight */) {
+
+				/* execute navigation once we have a setpoint */
+				if (_mission_valid) {
+
+					// Next waypoint
+					math::Vector2f prev_wp;
+
+					if (_global_triplet.previous_valid) {
+						prev_wp.setX(_global_triplet.previous.lat / 1e7f);
+						prev_wp.setY(_global_triplet.previous.lon / 1e7f);
+
+					} else {
+						/*
+						 * No valid next waypoint, go for heading hold.
+						 * This is automatically handled by the L1 library.
+						 */
+						prev_wp.setX(_global_triplet.current.lat / 1e7f);
+						prev_wp.setY(_global_triplet.current.lon / 1e7f);
+
+					}
+
+
+
+					/********   MAIN NAVIGATION STATE MACHINE   ********/
+
+					// XXX to be put in its own class
+
+					if (_global_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) {
+						/* waypoint is a plain navigation waypoint */
+						
+
+					} else if (_global_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
+						_global_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
+						_global_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
+
+						/* waypoint is a loiter waypoint */
+						
+					}
+
+					// XXX at this point we always want no loiter hold if a
+					// mission is active
+					_loiter_hold = false;
+
+				} else {
+
+					if (!_loiter_hold) {
+						_loiter_hold_lat = _global_pos.lat / 1e7f;
+						_loiter_hold_lon = _global_pos.lon / 1e7f;
+						_loiter_hold_alt = _global_pos.alt;
+						_loiter_hold = true;
+					}
+
+					//_parameters.loiter_hold_radius
+				}
+
+			} else if (0/* seatbelt mode enabled */) {
+
+				/** SEATBELT FLIGHT **/
+				continue;
+
+			} else {
+
+				/** MANUAL FLIGHT **/
+
+				/* no flight mode applies, do not publish an attitude setpoint */
+				continue;
+			}
+
+			/********   MAIN NAVIGATION STATE MACHINE   ********/
+
+			if (_global_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
+				// XXX define launch position and return
+
+			} else if (_global_triplet.current.nav_cmd == NAV_CMD_LAND) {
+				// XXX flared descent on final approach
+
+			} else if (_global_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
+
+				/* apply minimum pitch if altitude has not yet been reached */
+				if (_global_pos.alt < _global_triplet.current.altitude) {
+					_att_sp.pitch_body = math::max(_att_sp.pitch_body, _global_triplet.current.param1);
+				}
+			}
+
+			/* lazily publish the setpoint only once available */
+			if (_triplet_pub > 0) {
+				/* publish the attitude setpoint */
+				orb_publish(ORB_ID(vehicle_global_position_set_triplet), _triplet_pub, &_global_triplet);
+
+			} else {
+				/* advertise and publish */
+				_triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &_global_triplet);
+			}
+
+		}
+
+		perf_end(_loop_perf);
+	}
+
+	warnx("exiting.\n");
+
+	_navigator_task = -1;
+	_exit(0);
+}
+
+int
+Navigator::start()
+{
+	ASSERT(_navigator_task == -1);
+
+	/* start the task */
+	_navigator_task = task_spawn_cmd("navigator",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2048,
+				       (main_t)&Navigator::task_main_trampoline,
+				       nullptr);
+
+	if (_navigator_task < 0) {
+		warn("task start failed");
+		return -errno;
+	}
+
+	return OK;
+}
+
+int navigator_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		errx(1, "usage: navigator {start|stop|status}");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (navigator::g_navigator != nullptr)
+			errx(1, "already running");
+
+		navigator::g_navigator = new Navigator;
+
+		if (navigator::g_navigator == nullptr)
+			errx(1, "alloc failed");
+
+		if (OK != navigator::g_navigator->start()) {
+			delete navigator::g_navigator;
+			navigator::g_navigator = nullptr;
+			err(1, "start failed");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		if (navigator::g_navigator == nullptr)
+			errx(1, "not running");
+
+		delete navigator::g_navigator;
+		navigator::g_navigator = nullptr;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (navigator::g_navigator) {
+			errx(0, "running");
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	warnx("unrecognized command");
+	return 1;
+}
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c
new file mode 100644
index 000000000..06df9a452
--- /dev/null
+++ b/src/modules/navigator/navigator_params.c
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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 navigator_params.c
+ *
+ * Parameters defined by the navigator task.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * Navigator parameters, accessible via MAVLink
+ *
+ */
+
+PARAM_DEFINE_FLOAT(NAV_DUMMY, 0.0f);
+