Segway stabilized.

11 files changed, 138 insertions, 165 deletions

diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp
index d6dd64a09..d43e3aef9 100644
--- a/src/drivers/md25/md25.cpp
+++ b/src/drivers/md25/md25.cpp
@@ -116,7 +116,8 @@ MD25::MD25(const char *deviceName, int bus,
 	setMotor2Speed(0);
 	resetEncoders();
 	_setMode(MD25::MODE_UNSIGNED_SPEED);
-	setSpeedRegulation(true);
+	setSpeedRegulation(false);
+	setMotorAccel(10);
 	setTimeout(true);
 }
 
@@ -308,6 +309,12 @@ int MD25::setDeviceAddress(uint8_t address)
 	return OK;
 }
 
+int MD25::setMotorAccel(uint8_t accel)
+{
+	return _writeUint8(REG_ACCEL_RATE_RW,
+			   accel);
+}
+
 int MD25::setMotor1Speed(float value)
 {
 	return _writeUint8(REG_SPEED1_RW,
@@ -461,12 +468,12 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
 	MD25 md25("/dev/md25", bus, address);
 
 	// print status
-	char buf[200];
+	char buf[400];
 	md25.status(buf, sizeof(buf));
 	printf("%s\n", buf);
 
 	// setup for test
-	md25.setSpeedRegulation(true);
+	md25.setSpeedRegulation(false);
 	md25.setTimeout(true);
 	float dt = 0.1;
 	float speed = 0.2;
@@ -568,12 +575,12 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
 	MD25 md25("/dev/md25", bus, address);
 
 	// print status
-	char buf[200];
+	char buf[400];
 	md25.status(buf, sizeof(buf));
 	printf("%s\n", buf);
 
 	// setup for test
-	md25.setSpeedRegulation(true);
+	md25.setSpeedRegulation(false);
 	md25.setTimeout(true);
 	float dt = 0.01;
 	float t_final = 60.0;
diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp
index 780978514..1661f67f9 100644
--- a/src/drivers/md25/md25.hpp
+++ b/src/drivers/md25/md25.hpp
@@ -213,6 +213,19 @@ public:
 	int setDeviceAddress(uint8_t address);
 
 	/**
+	 * set motor acceleration
+	 * @param accel
+	 * controls motor speed change (1-10)
+	 * accel rate  | time for full fwd. to full rev.
+	 *  1          | 6.375 s
+	 *  2          | 1.6 s
+	 *  3          | 0.675 s
+	 *  5(default) | 1.275 s
+	 * 10          | 0.65 s
+	 */
+	int setMotorAccel(uint8_t accel);
+
+	/**
 	 * set motor 1 speed
 	 * @param normSpeed normalize speed between -1 and 1
 	 * @return non-zero -> error
diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index 3260705c1..7e5904d05 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -82,7 +82,7 @@ usage(const char *reason)
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
 
-	fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
+	fprintf(stderr, "usage: md25 {start|stop|read|status|search|test|change_address}\n\n");
 	exit(1);
 }
 
@@ -184,6 +184,29 @@ int md25_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "read")) {
+		if (argc < 4) {
+			printf("usage: md25 read bus address\n");
+			exit(0);
+		}
+
+		const char *deviceName = "/dev/md25";
+
+		uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+		uint8_t address = strtoul(argv[3], nullptr, 0);
+
+		MD25 md25(deviceName, bus, address);
+
+		// print status
+		char buf[400];
+		md25.status(buf, sizeof(buf));
+		printf("%s\n", buf);
+
+		exit(0);
+	}
+	
+
 	if (!strcmp(argv[1], "search")) {
 		if (argc < 3) {
 			printf("usage: md25 search bus\n");
@@ -268,7 +291,7 @@ int md25_thread_main(int argc, char *argv[])
 	uint8_t address = strtoul(argv[4], nullptr, 0);
 
 	// start
-	MD25 md25("/dev/md25", bus, address);
+	MD25 md25(deviceName, bus, address);
 
 	thread_running = true;
 
diff --git a/src/modules/controllib/uorb/blocks.cpp b/src/modules/controllib/uorb/blocks.cpp
index 6e5ade519..448a42a99 100644
--- a/src/modules/controllib/uorb/blocks.cpp
+++ b/src/modules/controllib/uorb/blocks.cpp
@@ -42,6 +42,43 @@
 namespace control
 {
 
+BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_xtYawLimit(this, "XT2YAW"),
+	_xt2Yaw(this, "XT2YAW"),
+	_psiCmd(0)
+{
+}
+
+BlockWaypointGuidance::~BlockWaypointGuidance() {};
+
+void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
+				   vehicle_attitude_s &att,
+				   vehicle_global_position_setpoint_s &posCmd,
+				   vehicle_global_position_setpoint_s &lastPosCmd)
+{
+
+	// heading to waypoint
+	float psiTrack = get_bearing_to_next_waypoint(
+				 (double)pos.lat / (double)1e7d,
+				 (double)pos.lon / (double)1e7d,
+				 (double)posCmd.lat / (double)1e7d,
+				 (double)posCmd.lon / (double)1e7d);
+
+	// cross track
+	struct crosstrack_error_s xtrackError;
+	get_distance_to_line(&xtrackError,
+			     (double)pos.lat / (double)1e7d,
+			     (double)pos.lon / (double)1e7d,
+			     (double)lastPosCmd.lat / (double)1e7d,
+			     (double)lastPosCmd.lon / (double)1e7d,
+			     (double)posCmd.lat / (double)1e7d,
+			     (double)posCmd.lon / (double)1e7d);
+
+	_psiCmd = _wrap_2pi(psiTrack -
+			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
+}
+
 BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
 	SuperBlock(parent, name),
 	// subscriptions
diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp
index 54f31735c..9c0720aa5 100644
--- a/src/modules/controllib/uorb/blocks.hpp
+++ b/src/modules/controllib/uorb/blocks.hpp
@@ -57,6 +57,10 @@
 #include <drivers/drv_hrt.h>
 #include <poll.h>
 
+extern "C" {
+#include <systemlib/geo/geo.h>
+}
+
 #include "../blocks.hpp"
 #include "UOrbSubscription.hpp"
 #include "UOrbPublication.hpp"
@@ -65,6 +69,25 @@ namespace control
 {
 
 /**
+ * Waypoint Guidance block
+ */
+class __EXPORT BlockWaypointGuidance : public SuperBlock
+{
+private:
+	BlockLimitSym _xtYawLimit;
+	BlockP _xt2Yaw;
+	float _psiCmd;
+public:
+	BlockWaypointGuidance(SuperBlock *parent, const char *name);
+	virtual ~BlockWaypointGuidance();
+	void update(vehicle_global_position_s &pos,
+		    vehicle_attitude_s &att,
+		    vehicle_global_position_setpoint_s &posCmd,
+		    vehicle_global_position_setpoint_s &lastPosCmd);
+	float getPsiCmd() { return _psiCmd; }
+};
+
+/**
  * UorbEnabledAutopilot
  */
 class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp
index d5dc746e0..f655a13bd 100644
--- a/src/modules/fixedwing_backside/fixedwing.cpp
+++ b/src/modules/fixedwing_backside/fixedwing.cpp
@@ -86,43 +86,6 @@ void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
 	_yawDamper.update(rCmd, r, outputScale);
 }
 
-BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
-	SuperBlock(parent, name),
-	_xtYawLimit(this, "XT2YAW"),
-	_xt2Yaw(this, "XT2YAW"),
-	_psiCmd(0)
-{
-}
-
-BlockWaypointGuidance::~BlockWaypointGuidance() {};
-
-void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
-				   vehicle_attitude_s &att,
-				   vehicle_global_position_setpoint_s &posCmd,
-				   vehicle_global_position_setpoint_s &lastPosCmd)
-{
-
-	// heading to waypoint
-	float psiTrack = get_bearing_to_next_waypoint(
-				 (double)pos.lat / (double)1e7d,
-				 (double)pos.lon / (double)1e7d,
-				 (double)posCmd.lat / (double)1e7d,
-				 (double)posCmd.lon / (double)1e7d);
-
-	// cross track
-	struct crosstrack_error_s xtrackError;
-	get_distance_to_line(&xtrackError,
-			     (double)pos.lat / (double)1e7d,
-			     (double)pos.lon / (double)1e7d,
-			     (double)lastPosCmd.lat / (double)1e7d,
-			     (double)lastPosCmd.lon / (double)1e7d,
-			     (double)posCmd.lat / (double)1e7d,
-			     (double)posCmd.lon / (double)1e7d);
-
-	_psiCmd = _wrap_2pi(psiTrack -
-			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
-}
-
 BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
 	BlockUorbEnabledAutopilot(parent, name),
 	_stabilization(this, ""), // no name needed, already unique
diff --git a/src/modules/fixedwing_backside/fixedwing.hpp b/src/modules/fixedwing_backside/fixedwing.hpp
index eb5d38381..3876e4630 100644
--- a/src/modules/fixedwing_backside/fixedwing.hpp
+++ b/src/modules/fixedwing_backside/fixedwing.hpp
@@ -42,10 +42,6 @@
 #include <controllib/blocks.hpp>
 #include <controllib/uorb/blocks.hpp>
 
-extern "C" {
-#include <systemlib/geo/geo.h>
-}
-
 namespace control
 {
 
@@ -232,25 +228,6 @@ public:
  */
 
 /**
- * Waypoint Guidance block
- */
-class __EXPORT BlockWaypointGuidance : public SuperBlock
-{
-private:
-	BlockLimitSym _xtYawLimit;
-	BlockP _xt2Yaw;
-	float _psiCmd;
-public:
-	BlockWaypointGuidance(SuperBlock *parent, const char *name);
-	virtual ~BlockWaypointGuidance();
-	void update(vehicle_global_position_s &pos,
-		    vehicle_attitude_s &att,
-		    vehicle_global_position_setpoint_s &posCmd,
-		    vehicle_global_position_setpoint_s &lastPosCmd);
-	float getPsiCmd() { return _psiCmd; }
-};
-
-/**
  * Multi-mode Autopilot
  */
 class __EXPORT BlockMultiModeBacksideAutopilot : public BlockUorbEnabledAutopilot
diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
index b7a0bbbcc..682758a14 100644
--- a/src/modules/segway/BlockSegwayController.cpp
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -30,23 +30,24 @@ void BlockSegwayController::update() {
 		// update guidance
 	}
 
-	// XXX handle STABILIZED (loiter on spot) as well
-	// once the system switches from manual or auto to stabilized
-	// the setpoint should update to loitering around this position
+	// compute speed command
+	float spdCmd = -theta2spd.update(_att.pitch) - q2spd.update(_att.pitchspeed);
 
 	// handle autopilot modes
 	if (_status.state_machine == SYSTEM_STATE_AUTO ||
 	    _status.state_machine == SYSTEM_STATE_STABILIZED) {
-
-		float spdCmd = phi2spd.update(_att.phi);
-
-		// output
 		_actuators.control[0] = spdCmd;
 		_actuators.control[1] = spdCmd;
 
 	} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
-		_actuators.control[0] = _manual.roll;
-		_actuators.control[1] = _manual.roll;
+		if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+			_actuators.control[CH_LEFT] = _manual.throttle;
+			_actuators.control[CH_RIGHT] = _manual.pitch;
+
+		} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
+			_actuators.control[0] = spdCmd;
+			_actuators.control[1] = spdCmd;
+		}
 	}
 
 	// update all publications
diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp
index b16d38338..e2faa4916 100644
--- a/src/modules/segway/BlockSegwayController.hpp
+++ b/src/modules/segway/BlockSegwayController.hpp
@@ -8,11 +8,20 @@ class BlockSegwayController : public control::BlockUorbEnabledAutopilot {
 public:
 	BlockSegwayController() :
 		BlockUorbEnabledAutopilot(NULL,"SEG"),
-		phi2spd(this, "PHI2SPD")
+		theta2spd(this, "THETA2SPD"),
+		q2spd(this, "Q2SPD"),
+		_attPoll(),
+		_timeStamp(0)
 	{
+		_attPoll.fd = _att.getHandle();
+		_attPoll.events = POLLIN;
 	}
 	void update();
 private:
-	BlockP phi2spd;
+	enum {CH_LEFT, CH_RIGHT};
+	BlockPI theta2spd;
+	BlockP q2spd;
+	struct pollfd _attPoll;
+	uint64_t _timeStamp;
 };
 
diff --git a/src/modules/segway/params.c b/src/modules/segway/params.c
index db30af416..1669785d3 100644
--- a/src/modules/segway/params.c
+++ b/src/modules/segway/params.c
@@ -1,72 +1,8 @@
 #include <systemlib/param/param.h>
 
-// currently tuned for easystar from arkhangar in HIL
-//https://github.com/arktools/arkhangar
-
 // 16 is max name length
+PARAM_DEFINE_FLOAT(SEG_THETA2SPD_P, 10.0f); // pitch to speed
+PARAM_DEFINE_FLOAT(SEG_THETA2SPD_I, 0.0f); // pitch integral to speed 
+PARAM_DEFINE_FLOAT(SEG_THETA2SPD_I_MAX, 0.0f); // integral limiter
+PARAM_DEFINE_FLOAT(SEG_Q2SPD, 1.0f); // pitch rate to speed
 
-// gyro low pass filter
-PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq
-PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq
-PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq
-
-// yaw washout
-PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
-
-// stabilization mode
-PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron
-PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
-PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
-
-//  psi -> phi -> p
-PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f);      // heading 2 roll
-PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f);        // roll to roll rate
-PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f);  // roll limit, 28 deg
-
-// velocity -> theta
-PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f);      // velocity to pitch angle PID, prop gain
-PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);      // integral gain
-PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);      // derivative gain
-PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);   // derivative low-pass
-PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);  // integrator wind up guard
-PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f);     // the max commanded pitch angle
-PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);      // the min commanded pitch angle
-
-
-// theta -> q
-PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);      // pitch angle to pitch-rate PID
-PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
-
-//  h -> thr
-PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f);     // altitude to throttle PID
-PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
-
-// crosstrack
-PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f);  // cross-track to yaw angle limit 90 deg
-PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f);     // cross-track to yaw angle gain
-
-// speed command
-PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f);       // minimum commanded velocity
-PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f);       // commanded velocity
-PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f);       // maximum commanded velocity
-
-// rate of climb
-// this is what rate of climb is commanded (in m/s) 
-// when the pitch stick is fully defelcted in simple mode
-PARAM_DEFINE_FLOAT(FWB_CR_MAX, 1.0f);
-
-//  climb rate -> thr
-PARAM_DEFINE_FLOAT(FWB_CR2THR_P, 0.01f);   // rate of climb to throttle PID
-PARAM_DEFINE_FLOAT(FWB_CR2THR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_CR2THR_D, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_CR2THR_D_LP, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_CR2THR_I_MAX, 0.0f);
-
-PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f);    // trim throttle (0,1)
-PARAM_DEFINE_FLOAT(FWB_TRIM_V, 12.0f);     // trim velocity, m/s
diff --git a/src/modules/segway/segway_main.cpp b/src/modules/segway/segway_main.cpp
index 8be1cc7aa..061fbf9b9 100644
--- a/src/modules/segway/segway_main.cpp
+++ b/src/modules/segway/segway_main.cpp
@@ -64,12 +64,7 @@ extern "C" __EXPORT int segway_main(int argc, char *argv[]);
 /**
  * Mainloop of deamon.
  */
-int control_demo_thread_main(int argc, char *argv[]);
-
-/**
- * Test function
- */
-void test();
+int segway_thread_main(int argc, char *argv[]);
 
 /**
  * Print the correct usage.
@@ -114,16 +109,11 @@ int segway_main(int argc, char *argv[])
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,
-					 control_demo_thread_main,
+					 segway_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "test")) {
-		test();
-		exit(0);
-	}
-
 	if (!strcmp(argv[1], "stop")) {
 		thread_should_exit = true;
 		exit(0);
@@ -144,7 +134,7 @@ int segway_main(int argc, char *argv[])
 	exit(1);
 }
 
-int control_demo_thread_main(int argc, char *argv[])
+int segway_thread_main(int argc, char *argv[])
 {
 
 	warnx("starting");
@@ -165,9 +155,3 @@ int control_demo_thread_main(int argc, char *argv[])
 
 	return 0;
 }
-
-void test()
-{
-	warnx("beginning control lib test");
-	control::basicBlocksTest();
-}