Added control library.

3 files changed, 273 insertions, 0 deletions

diff --git a/apps/examples/control_demo/Makefile b/apps/examples/control_demo/Makefile
new file mode 100644
index 000000000..6e40e645f
--- /dev/null
+++ b/apps/examples/control_demo/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# Basic example application
+#
+
+APPNAME		 = control_demo
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/control_demo/control_demo.cpp b/apps/examples/control_demo/control_demo.cpp
new file mode 100644
index 000000000..c60c5e8b9
--- /dev/null
+++ b/apps/examples/control_demo/control_demo.cpp
@@ -0,0 +1,168 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Example User <mail@example.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 control_demo.cpp
+ * Demonstration of control library
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/control/fixedwing.hpp>
+#include <systemlib/param/param.h>
+#include <drivers/drv_hrt.h>
+#include <math.h>
+
+static bool thread_should_exit = false;     /**< Deamon exit flag */
+static bool thread_running = false;     /**< Deamon status flag */
+static int deamon_task;             /**< Handle of deamon task / thread */
+
+/**
+ * Deamon management function.
+ */
+extern "C" __EXPORT int control_demo_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int control_demo_thread_main(int argc, char *argv[]);
+
+/**
+ * Test function
+ */
+void test();
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage: control_demo {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int control_demo_main(int argc, char *argv[])
+{
+
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("control_demo already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("control_demo",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 10,
+					 4096,
+					 control_demo_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);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tcontrol_demo app is running\n");
+
+		} else {
+			printf("\tcontrol_demo app not started\n");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int control_demo_thread_main(int argc, char *argv[])
+{
+
+	printf("[control_Demo] starting\n");
+
+	using namespace control;
+
+	fixedwing::BlockMultiModeBacksideAutopilot autopilot(NULL, "FWB");
+
+	thread_running = true;
+
+	while (!thread_should_exit) {
+		autopilot.update();
+	}
+
+	printf("[control_demo] exiting.\n");
+
+	thread_running = false;
+
+	return 0;
+}
+
+void test()
+{
+	printf("beginning control lib test\n");
+	control::basicBlocksTest();
+}
diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c
new file mode 100644
index 000000000..4eec456fb
--- /dev/null
+++ b/apps/examples/control_demo/params.c
@@ -0,0 +1,63 @@
+#include <systemlib/param/param.h>
+
+// currently tuned for easystar from arkhangar in HIL
+//https://github.com/arktools/arkhangar
+
+// 16 is max name length
+
+// gyro low pass filter
+PARAM_DEFINE_FLOAT(FWB_P_LP, 10.0f); // roll rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_Q_LP, 10.0f); // pitch rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_R_LP, 10.0f); // 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, 0.1f); // 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, 2.0f);      // heading 2 roll
+PARAM_DEFINE_FLOAT(FWB_PHI2P, 2.0f);        // roll to roll rate
+PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 1.0f);  // roll limit
+
+// velocity -> theta
+PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.5f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE_MIN, -1.0f);
+PARAM_DEFINE_FLOAT(FWB_THE_MAX, 1.0f);
+
+
+// theta -> q
+PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);
+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, 0.005f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.001f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.01f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 250.0f);
+
+// crosstrack
+PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.01f);
+
+// speed command
+PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);
+PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);
+PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);
+
+// trim
+PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.7f);