[work in progess] added pos control skeleton

4 files changed, 501 insertions, 0 deletions

diff --git a/apps/fixedwing_att_control/Makefile b/apps/fixedwing_att_control/Makefile
new file mode 100644
index 000000000..01465fa9e
--- /dev/null
+++ b/apps/fixedwing_att_control/Makefile
@@ -0,0 +1,45 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Fixedwing Control application
+#
+
+APPNAME		 = fixedwing_att_control
+PRIORITY	 = SCHED_PRIORITY_MAX - 30
+STACKSIZE	 = 2048
+
+INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
+
+include $(APPDIR)/mk/app.mk
+
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
new file mode 100644
index 000000000..4680147a1
--- /dev/null
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -0,0 +1,237 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Ivan Ovinnikov <oivan@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 fixedwing_att_control.c
+ * Implementation of a fixed wing attitude controller.
+ */
+
+#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 <arch/board/up_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_status.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 <systemlib/param/param.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/systemlib.h>
+
+#include <fixedwing_att_control_rate.h>
+
+/* Prototypes */
+/**
+ * Deamon management function.
+ */
+__EXPORT int fixedwing_att_control_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int fixedwing_att_control_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+/* Variables */
+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 */
+
+/* Main Thread */
+int fixedwing_att_control_thread_main(int argc, char *argv[])
+{
+	/* read arguments */
+		bool verbose = false;
+
+		for (int i = 1; i < argc; i++) {
+			if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+				verbose = true;
+			}
+		}
+
+		/* welcome user */
+		printf("[fixedwing att_control] started\n");
+
+		/* declare and safely initialize all structs */
+		struct vehicle_attitude_s att;
+		memset(&att, 0, sizeof(att));
+		struct vehicle_rates_setpoint_s rates_sp;
+		memset(&rates_sp, 0, sizeof(rates_sp));
+
+		/* output structs */
+		struct actuator_controls_s actuators;
+		memset(&actuators, 0, sizeof(actuators));
+
+		/* publish actuator controls */
+		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+			actuators.control[i] = 0.0f;
+		orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
+
+
+
+		/* subscribe to attitude (for attitude rate) and rate septoint */
+		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+
+		/* Setup of loop */
+		float gyro[3] = {0.0f, 0.0f, 0.0f};
+		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
+
+		while(!thread_should_exit)
+		{
+			/* wait for a sensor update, check for exit condition every 500 ms */
+			poll(&fds, 1, 500);
+
+			/*Get Local Copies */
+			/* get a local copy of attitude */
+			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+
+			gyro[0] = att.rollspeed;
+			gyro[1] = att.pitchspeed;
+			gyro[2] = att.yawspeed;
+
+			/* Control */
+
+			/* Attitude Control */
+			rates_sp.roll = 0.0f;
+			rates_sp.pitch = 0.0f;
+			rates_sp.yaw = 0.0f;
+
+			/* Attitude Rate Control */
+			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
+
+			//REMOVEME XXX
+			actuators.control[3] = 0.7f;
+
+			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+		}
+
+		printf("[fixedwing_att_control] exiting, stopping all motors.\n");
+		thread_running = false;
+
+		/* kill all outputs */
+		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+			actuators.control[i] = 0.0f;
+		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+
+
+		close(att_sub);
+		close(actuator_pub);
+
+		fflush(stdout);
+		exit(0);
+
+		return 0;
+
+}
+
+/* Startup Functions */
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\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 fixedwing_att_control_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("fixedwing_att_control already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("fixedwing_att_control",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 20,
+					 4096,
+					 fixedwing_att_control_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		thread_running = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tfixedwing_att_control is running\n");
+		} else {
+			printf("\tfixedwing_att_control not started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+
+
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
new file mode 100644
index 000000000..d00909104
--- /dev/null
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -0,0 +1,171 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.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 fixedwing_att_control_rate.c
+ * Implementation of a fixed wing attitude controller.
+ */
+#include <fixedwing_att_control_rate.h>
+
+#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 <arch/board/up_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <systemlib/param/param.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/systemlib.h>
+
+
+
+
+struct fw_rate_control_params {
+
+	param_t yawrate_p;
+	param_t yawrate_i;
+	param_t yawrate_d;
+	param_t yawrate_awu;
+	param_t yawrate_lim;
+
+	param_t attrate_p;
+	param_t attrate_i;
+	param_t attrate_d;
+	param_t attrate_awu;
+	param_t attrate_lim;
+};
+
+
+
+/* Internal Prototypes */
+static int parameters_init(struct fw_rate_control_params *h);
+static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p);
+
+static int parameters_init(struct fw_rate_control_params *h)
+{
+	/* PID parameters */
+	h->yawrate_p 	=	param_find("MC_YAWRATE_P");   //TODO define rate params for fixed wing
+	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
+	h->yawrate_d 	=	param_find("MC_YAWRATE_D");
+	h->yawrate_awu 	=	param_find("MC_YAWRATE_AWU");
+	h->yawrate_lim 	=	param_find("MC_YAWRATE_LIM");
+
+	h->attrate_p 	= 	param_find("MC_ATTRATE_P");
+	h->attrate_i 	= 	param_find("MC_ATTRATE_I");
+	h->attrate_d 	= 	param_find("MC_ATTRATE_D");
+	h->attrate_awu 	= 	param_find("MC_ATTRATE_AWU");
+	h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
+
+//	if(h->attrate_i == PARAM_INVALID)
+//		printf("FATAL MC_ATTRATE_I does not exist\n");
+
+	return OK;
+}
+
+static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p)
+{
+	param_get(h->yawrate_p, &(p->yawrate_p));
+	param_get(h->yawrate_i, &(p->yawrate_i));
+	param_get(h->yawrate_d, &(p->yawrate_d));
+	param_get(h->yawrate_awu, &(p->yawrate_awu));
+	param_get(h->yawrate_lim, &(p->yawrate_lim));
+
+	param_get(h->attrate_p, &(p->attrate_p));
+	param_get(h->attrate_i, &(p->attrate_i));
+	param_get(h->attrate_d, &(p->attrate_d));
+	param_get(h->attrate_awu, &(p->attrate_awu));
+	param_get(h->attrate_lim, &(p->attrate_lim));
+
+	p->attrate_i = 0.01f; //TODO: as long as the parameter is not implemented
+
+	return OK;
+}
+
+int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
+		const float rates[],
+		struct actuator_controls_s *actuators)
+{
+	static int counter = 0;
+	static bool initialized = false;
+
+	static struct fw_rate_control_params p;
+	static struct fw_rate_control_params h;
+
+	static PID_t roll_rate_controller;
+
+	static uint64_t last_run = 0;
+	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	last_run = hrt_absolute_time();
+
+	if(!initialized)
+	{
+		parameters_init(&h);
+		parameters_update(&h, &p);
+		pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu, PID_MODE_DERIVATIV_SET); //D part set to 0 because the controller layout is with a PI rate controller
+		initialized = true;
+	}
+
+	/* load new parameters with lower rate */
+	if (counter % 2500 == 0) {
+		/* update parameters from storage */
+		pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu);
+		parameters_update(&h, &p);
+	}
+
+	/* Roll Rate (PI) */
+	float roll_rate_error = rate_sp->roll - rates[0];
+	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);;
+
+
+	actuators->control[1] = 0;
+	actuators->control[2] = 0;
+
+	counter++;
+
+	return 0;
+}
+
+
+
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/apps/fixedwing_att_control/fixedwing_att_control_rate.h
new file mode 100644
index 000000000..2023353eb
--- /dev/null
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.h
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.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 Main system state machine definition */
+
+#ifndef FIXEDWING_ATT_CONTROL_RATE_H_
+#define FIXEDWING_ATT_CONTROL_RATE_H_
+
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+
+int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
+		const float rates[],
+		struct actuator_controls_s *actuators);
+
+#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */