Fixedwing controller code style

1 files changed, 208 insertions, 205 deletions

diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index fbd6138de..71c78f5b8 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -108,8 +108,8 @@ struct planned_path_segments_s {
 	double end_lon;
 	float radius;				// Radius of arc
 	float arc_start_bearing;		// Bearing from center to start of arc
-	float arc_sweep;				// Angle (radians) swept out by arc around center.  
-								// Positive for clockwise, negative for counter-clockwise
+	float arc_sweep;				// Angle (radians) swept out by arc around center.
+	// Positive for clockwise, negative for counter-clockwise
 };
 
 
@@ -176,241 +176,241 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
 int fixedwing_pos_control_thread_main(int argc, char *argv[])
 {
 	/* read arguments */
-		bool verbose = false;
+	bool verbose = false;
 
-		for (int i = 1; i < argc; i++) {
-			if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-				verbose = true;
-			}
+	for (int i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+			verbose = true;
 		}
+	}
+
+	/* welcome user */
+	printf("[fixedwing pos control] started\n");
+
+	/* declare and safely initialize all structs */
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	struct vehicle_global_position_s start_pos;		// Temporary variable, replace with
+	memset(&start_pos, 0, sizeof(start_pos));		// previous waypoint when available
+	struct vehicle_global_position_setpoint_s global_setpoint;
+	memset(&global_setpoint, 0, sizeof(global_setpoint));
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	struct crosstrack_error_s xtrack_err;
+	memset(&xtrack_err, 0, sizeof(xtrack_err));
+	struct parameter_update_s param_update;
+	memset(&param_update, 0, sizeof(param_update));
+
+	/* 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;
+	attitude_setpoint.thrust = 0.0f;
+	orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
+
+	/* subscribe */
+	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int param_sub = orb_subscribe(ORB_ID(parameter_update));
+
+	/* Setup of loop */
+	struct pollfd fds[2] = {
+		{ .fd = param_sub, .events = POLLIN },
+		{ .fd = att_sub, .events = POLLIN }
+	};
+	bool global_sp_updated_set_once = false;
+
+	float psi_track = 0.0f;
+
+	int counter = 0;
+
+	struct fw_pos_control_params p;
+	struct fw_pos_control_param_handles h;
+
+	PID_t heading_controller;
+	PID_t heading_rate_controller;
+	PID_t offtrack_controller;
+	PID_t altitude_controller;
+
+	parameters_init(&h);
+	parameters_update(&h, &p);
+	pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
+	pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
+	pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
+	pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
+
+	/* error and performance monitoring */
+	perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
+	perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
+
+	while (!thread_should_exit) {
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		int ret = poll(fds, 2, 500);
+
+		if (ret < 0) {
+			/* poll error, count it in perf */
+			perf_count(fw_err_perf);
+
+		} else if (ret == 0) {
+			/* no return value, ignore */
+		} else {
+
+			/* 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), param_sub, &update);
+
+				/* update parameters from storage */
+				parameters_update(&h, &p);
+				pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
+				pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
+				pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
+				pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value
+			}
+
+			/* only run controller if attitude changed */
+			if (fds[1].revents & POLLIN) {
+
+
+				static uint64_t last_run = 0;
+				const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+				last_run = hrt_absolute_time();
 
-		/* welcome user */
-		printf("[fixedwing pos control] started\n");
-
-		/* declare and safely initialize all structs */
-		struct vehicle_global_position_s global_pos;
-		memset(&global_pos, 0, sizeof(global_pos));
-		struct vehicle_global_position_s start_pos;		// Temporary variable, replace with
-		memset(&start_pos, 0, sizeof(start_pos));		// previous waypoint when available
-		struct vehicle_global_position_setpoint_s global_setpoint;
-		memset(&global_setpoint, 0, sizeof(global_setpoint));
-		struct vehicle_attitude_s att;
-		memset(&att, 0, sizeof(att));
-		struct crosstrack_error_s xtrack_err;
-		memset(&xtrack_err, 0, sizeof(xtrack_err));
-		struct parameter_update_s param_update;
-		memset(&param_update, 0, sizeof(param_update));
-		
-		/* 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;
-		attitude_setpoint.thrust = 0.0f;
-		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
-
-		/* subscribe */
-		int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-		int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-		int param_sub = orb_subscribe(ORB_ID(parameter_update));
-
-		/* Setup of loop */
-		struct pollfd fds[2] = { 
-			{ .fd = param_sub, .events = POLLIN },
-			{ .fd = att_sub, .events = POLLIN }
-		};
-		bool global_sp_updated_set_once = false;
-
-		float psi_track = 0.0f;
-
-		int counter = 0;
-
-		struct fw_pos_control_params p;
-		struct fw_pos_control_param_handles h;
-
-		PID_t heading_controller;
-		PID_t heading_rate_controller;
-		PID_t offtrack_controller;
-		PID_t altitude_controller;
-
-		parameters_init(&h);
-		parameters_update(&h, &p);
-		pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
-		pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
-		pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
-		pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f*M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
-
-		/* error and performance monitoring */
-		perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
-		perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
-
-		while(!thread_should_exit)
-		{
-			/* wait for a sensor update, check for exit condition every 500 ms */
-			int ret = poll(fds, 2, 500);
-
-			if (ret < 0) {
-				/* poll error, count it in perf */
-				perf_count(fw_err_perf);
-			} else if (ret == 0) {
-				/* no return value, ignore */
-			} else {
-
-				/* 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), param_sub, &update);
-
-					/* update parameters from storage */
-					parameters_update(&h, &p);
-					pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
-					pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
-					pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
-					pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value
+				/* check if there is a new position or setpoint */
+				bool pos_updated;
+				orb_check(global_pos_sub, &pos_updated);
+				bool global_sp_updated;
+				orb_check(global_setpoint_sub, &global_sp_updated);
+
+				/* load local copies */
+				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+
+				if (pos_updated) {
+					orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
 				}
 
-				/* only run controller if attitude changed */
-				if (fds[1].revents & POLLIN) {
+				if (global_sp_updated) {
+					orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
+					start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
+					global_sp_updated_set_once = true;
+					psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+							(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
 
+					printf("next wp direction: %0.4f\n", (double)psi_track);
+				}
 
-					static uint64_t last_run = 0;
-					const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-					last_run = hrt_absolute_time();
+				/* Simple Horizontal Control */
+				if (global_sp_updated_set_once) {
+					//				if (counter % 100 == 0)
+					//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
 
-					/* check if there is a new position or setpoint */
-					bool pos_updated;
-					orb_check(global_pos_sub, &pos_updated);
-					bool global_sp_updated;
-					orb_check(global_setpoint_sub, &global_sp_updated);
+					/* calculate crosstrack error */
+					// Only the case of a straight line track following handled so far
+					int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+										(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
+										(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
 
-					/* load local copies */
-					orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+					// XXX what is xtrack_err.past_end?
+					if (distance_res == OK /*&& !xtrack_err.past_end*/) {
 
-					if (pos_updated) {
-						orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-					}
+						float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
 
-					if (global_sp_updated) {
-						orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
-						start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
-						global_sp_updated_set_once = true;
-						psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
-								(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-						
-						printf("next wp direction: %0.4f\n", (double)psi_track);
-					}
+						float psi_c = psi_track + delta_psi_c;
+						float psi_e = psi_c - att.yaw;
+
+						/* wrap difference back onto -pi..pi range */
+						psi_e = _wrap_pi(psi_e);
+
+						if (verbose) {
+							printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
+							printf("delta_psi_c %.4f ", (double)delta_psi_c);
+							printf("psi_c %.4f ", (double)psi_c);
+							printf("att.yaw %.4f ", (double)att.yaw);
+							printf("psi_e %.4f ", (double)psi_e);
+						}
 
-					/* Simple Horizontal Control */
-					if(global_sp_updated_set_once)
-					{
-		//				if (counter % 100 == 0)
-		//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
-
-						/* calculate crosstrack error */
-						// Only the case of a straight line track following handled so far
-						 int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
-								(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
-								(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-
-						 // XXX what is xtrack_err.past_end?
-						if(distance_res == OK /*&& !xtrack_err.past_end*/) {
-
-							float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
-
-							float psi_c = psi_track + delta_psi_c;
-							float psi_e = psi_c - att.yaw;
-							
-							/* wrap difference back onto -pi..pi range */
-							psi_e = _wrap_pi(psi_e);
-
-							if (verbose) {
-								printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
-								printf("delta_psi_c %.4f ", (double)delta_psi_c);
-								printf("psi_c %.4f ", (double)psi_c);
-								printf("att.yaw %.4f ", (double)att.yaw);
-								printf("psi_e %.4f ", (double)psi_e);
-							}
-
-							/* calculate roll setpoint, do this artificially around zero */
-							float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
-							float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
-							float psi_rate_c = delta_psi_rate_c + psi_rate_track;
-
-							/* limit turn rate */
-							if(psi_rate_c > p.headingr_lim) {
-								psi_rate_c = p.headingr_lim;
-							} else if(psi_rate_c < -p.headingr_lim) {
-								psi_rate_c = -p.headingr_lim;
-							}
-
-							float psi_rate_e = psi_rate_c - att.yawspeed;
-
-							// XXX sanity check: Assume 10 m/s stall speed and no stall condition
-							float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
-
-							if (ground_speed < 10.0f) {
-								ground_speed = 10.0f;
-							}
-
-							float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
-
-							attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
-
-							if (verbose) {
-								printf("psi_rate_c %.4f ", (double)psi_rate_c);
-								printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
-								printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
-							}
-
-							if (verbose && counter % 100 == 0)
-								printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
-						} else {
-							if (verbose && counter % 100 == 0)
-								printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
+						/* calculate roll setpoint, do this artificially around zero */
+						float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
+						float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
+						float psi_rate_c = delta_psi_rate_c + psi_rate_track;
+
+						/* limit turn rate */
+						if (psi_rate_c > p.headingr_lim) {
+							psi_rate_c = p.headingr_lim;
+
+						} else if (psi_rate_c < -p.headingr_lim) {
+							psi_rate_c = -p.headingr_lim;
 						}
 
-						/* Very simple Altitude Control */
-						if(pos_updated)
-						{
+						float psi_rate_e = psi_rate_c - att.yawspeed;
 
-							//TODO: take care of relative vs. ab. altitude
-							attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
+						// XXX sanity check: Assume 10 m/s stall speed and no stall condition
+						float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
 
+						if (ground_speed < 10.0f) {
+							ground_speed = 10.0f;
 						}
 
-						// XXX need speed control
-						attitude_setpoint.thrust = 0.7f;
+						float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
 
-						/* publish the attitude setpoint */
-						orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
+						attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
 
-						/* measure in what intervals the controller runs */
-						perf_count(fw_interval_perf);
+						if (verbose) {
+							printf("psi_rate_c %.4f ", (double)psi_rate_c);
+							printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
+							printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
+						}
 
-						counter++;
+						if (verbose && counter % 100 == 0)
+							printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c);
 
 					} else {
-						// XXX no setpoint, decent default needed (loiter?)
+						if (verbose && counter % 100 == 0)
+							printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
 					}
+
+					/* Very simple Altitude Control */
+					if (pos_updated) {
+
+						//TODO: take care of relative vs. ab. altitude
+						attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
+
+					}
+
+					// XXX need speed control
+					attitude_setpoint.thrust = 0.7f;
+
+					/* publish the attitude setpoint */
+					orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
+
+					/* measure in what intervals the controller runs */
+					perf_count(fw_interval_perf);
+
+					counter++;
+
+				} else {
+					// XXX no setpoint, decent default needed (loiter?)
 				}
 			}
 		}
+	}
 
-		printf("[fixedwing_pos_control] exiting.\n");
-		thread_running = false;
+	printf("[fixedwing_pos_control] exiting.\n");
+	thread_running = false;
 
 
-		close(attitude_setpoint_pub);
+	close(attitude_setpoint_pub);
 
-		fflush(stdout);
-		exit(0);
+	fflush(stdout);
+	exit(0);
 
-		return 0;
+	return 0;
 
 }
 
@@ -421,6 +421,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
 	exit(1);
 }
@@ -465,9 +466,11 @@ int fixedwing_pos_control_main(int argc, char *argv[])
 	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);
 	}