[work in progess] added pos control skeleton

2 files changed, 253 insertions, 0 deletions

diff --git a/apps/fixedwing_pos_control/Makefile b/apps/fixedwing_pos_control/Makefile
new file mode 100644
index 000000000..bce391f49
--- /dev/null
+++ b/apps/fixedwing_pos_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_pos_control
+PRIORITY	 = SCHED_PRIORITY_MAX - 30
+STACKSIZE	 = 2048
+
+INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
+
+include $(APPDIR)/mk/app.mk
+
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
new file mode 100644
index 000000000..892da5f09
--- /dev/null
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -0,0 +1,208 @@
+/****************************************************************************
+ *
+ *   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_pos_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_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>
+
+/* Prototypes */
+/**
+ * Deamon management function.
+ */
+__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int fixedwing_pos_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_pos_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 */
+
+
+		/* output structs */
+		struct vehicle_attitude_setpoint_s attitude_setpoint;
+		memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
+
+		/* publish attitude setpoint */
+
+		attitude_setpoint.roll_body = 0.0f;
+		attitude_setpoint.pitch_body = 0.0f;
+		attitude_setpoint.yaw_body = 0.0f;
+		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
+
+
+
+//		/* subscribe to attitude (for attitude rate) and rate septoint */
+//
+
+		/* Setup of loop */
+//		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);
+			sleep(500); //TODO removeme, this is for testing only
+
+			/* Control */
+
+
+			orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
+		}
+
+		printf("[fixedwing_pos_control] exiting.\n");
+		thread_running = false;
+
+
+		close(attitude_setpoint_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_pos_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_pos_control_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("fixedwing_pos_control already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("fixedwing_pos_control",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 20,
+					 4096,
+					 fixedwing_pos_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_pos_control is running\n");
+		} else {
+			printf("\tfixedwing_pos_control not started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+
+