Moved multirotor controllers

1 files changed, 0 insertions, 485 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
deleted file mode 100644
index d94c0a69c..000000000
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ /dev/null
@@ -1,485 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.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 multirotor_att_control_main.c
- *
- * Implementation of multirotor attitude control main loop.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include <getopt.h>
-#include <time.h>
-#include <math.h>
-#include <poll.h>
-#include <sys/prctl.h>
-#include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <drivers/drv_gyro.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/offboard_control_setpoint.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/parameter_update.h>
-
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
-
-#include "multirotor_attitude_control.h"
-#include "multirotor_rate_control.h"
-
-PARAM_DEFINE_FLOAT(MC_RCLOSS_THR, 0.0f); // This defines the throttle when the RC signal is lost.
-
-__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
-
-static bool thread_should_exit;
-static int mc_task;
-static bool motor_test_mode = false;
-
-static orb_advert_t actuator_pub;
-
-static struct vehicle_status_s state;
-
-static int
-mc_thread_main(int argc, char *argv[])
-{
-	/* declare and safely initialize all structs */
-	memset(&state, 0, sizeof(state));
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct vehicle_attitude_setpoint_s att_sp;
-	memset(&att_sp, 0, sizeof(att_sp));
-	struct manual_control_setpoint_s manual;
-	memset(&manual, 0, sizeof(manual));
-	struct sensor_combined_s raw;
-	memset(&raw, 0, sizeof(raw));
-	struct offboard_control_setpoint_s offboard_sp;
-	memset(&offboard_sp, 0, sizeof(offboard_sp));
-	struct vehicle_rates_setpoint_s rates_sp;
-	memset(&rates_sp, 0, sizeof(rates_sp));
-
-	struct actuator_controls_s actuators;
-	memset(&actuators, 0, sizeof(actuators));
-
-	/* subscribe to attitude, motor setpoints and system state */
-	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int param_sub = orb_subscribe(ORB_ID(parameter_update));
-	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
-	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
-	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-
-	/*
-	 * Do not rate-limit the loop to prevent aliasing
-	 * if rate-limiting would be desired later, the line below would
-	 * enable it.
-	 *
-	 * rate-limit the attitude subscription to 200Hz to pace our loop
-	 * orb_set_interval(att_sub, 5);
-	 */
-	struct pollfd fds[2] = {
-		{ .fd = att_sub, .events = POLLIN },
-		{ .fd = param_sub, .events = POLLIN }
-	};
-
-	/* publish actuator controls */
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
-		actuators.control[i] = 0.0f;
-	}
-
-	actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
-	orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
-	orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-	int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
-
-	/* register the perf counter */
-	perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control_runtime");
-	perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval");
-	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err");
-
-	/* welcome user */
-	printf("[multirotor_att_control] starting\n");
-
-	/* store last control mode to detect mode switches */
-	bool flag_control_manual_enabled = false;
-	bool flag_control_attitude_enabled = false;
-	bool flag_system_armed = false;
-
-	/* store if yaw position or yaw speed has been changed */
-	bool control_yaw_position = true;
-
-	/* store if we stopped a yaw movement */
-	bool first_time_after_yaw_speed_control = true;
-
-	/* prepare the handle for the failsafe throttle */
-	param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR");
-	float failsafe_throttle = 0.0f;
-
-
-	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(mc_err_perf);
-
-		} else if (ret == 0) {
-			/* no return value, ignore */
-		} else {
-
-			/* only update parameters if they changed */
-			if (fds[1].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 */
-				// XXX no params here yet
-			}
-
-			/* only run controller if attitude changed */
-			if (fds[0].revents & POLLIN) {
-
-				perf_begin(mc_loop_perf);
-
-				/* get a local copy of system state */
-				bool updated;
-				orb_check(state_sub, &updated);
-
-				if (updated) {
-					orb_copy(ORB_ID(vehicle_status), state_sub, &state);
-				}
-
-				/* get a local copy of manual setpoint */
-				orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
-				/* get a local copy of attitude */
-				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-				/* get a local copy of attitude setpoint */
-				orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
-				/* get a local copy of rates setpoint */
-				orb_check(setpoint_sub, &updated);
-
-				if (updated) {
-					orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
-				}
-
-				/* get a local copy of the current sensor values */
-				orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
-
-
-				/** STEP 1: Define which input is the dominating control input */
-				if (state.flag_control_offboard_enabled) {
-					/* offboard inputs */
-					if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
-						rates_sp.roll = offboard_sp.p1;
-						rates_sp.pitch = offboard_sp.p2;
-						rates_sp.yaw = offboard_sp.p3;
-						rates_sp.thrust = offboard_sp.p4;
-//						printf("thrust_rate=%8.4f\n",offboard_sp.p4);
-						rates_sp.timestamp = hrt_absolute_time();
-						orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
-
-					} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
-						att_sp.roll_body = offboard_sp.p1;
-						att_sp.pitch_body = offboard_sp.p2;
-						att_sp.yaw_body = offboard_sp.p3;
-						att_sp.thrust = offboard_sp.p4;
-//						printf("thrust_att=%8.4f\n",offboard_sp.p4);
-						att_sp.timestamp = hrt_absolute_time();
-						/* STEP 2: publish the result to the vehicle actuators */
-						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-					}
-
-
-				} else if (state.flag_control_manual_enabled) {
-
-					if (state.flag_control_attitude_enabled) {
-
-						/* initialize to current yaw if switching to manual or att control */
-						if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
-						    state.flag_control_manual_enabled != flag_control_manual_enabled ||
-						    state.flag_system_armed != flag_system_armed) {
-							att_sp.yaw_body = att.yaw;
-						}
-
-						static bool rc_loss_first_time = true;
-
-						/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-						if (state.rc_signal_lost) {
-							/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
-							param_get(failsafe_throttle_handle, &failsafe_throttle);
-							att_sp.roll_body = 0.0f;
-							att_sp.pitch_body = 0.0f;
-
-							/*
-							 * Only go to failsafe throttle if last known throttle was
-							 * high enough to create some lift to make hovering state likely.
-							 *
-							 * This is to prevent that someone landing, but not disarming his
-							 * multicopter (throttle = 0) does not make it jump up in the air
-							 * if shutting down his remote.
-							 */
-							if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
-								att_sp.thrust = failsafe_throttle;
-
-							} else {
-								att_sp.thrust = 0.0f;
-							}
-
-							/* keep current yaw, do not attempt to go to north orientation,
-							 * since if the pilot regains RC control, he will be lost regarding
-							 * the current orientation.
-							 */
-							if (rc_loss_first_time)
-								att_sp.yaw_body = att.yaw;
-
-							rc_loss_first_time = false;
-
-						} else {
-							rc_loss_first_time = true;
-
-							att_sp.roll_body = manual.roll;
-							att_sp.pitch_body = manual.pitch;
-
-							/* set attitude if arming */
-							if (!flag_control_attitude_enabled && state.flag_system_armed) {
-								att_sp.yaw_body = att.yaw;
-							}
-
-							/* act if stabilization is active or if the (nonsense) direct pass through mode is set */
-							if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS ||
-							    state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
-
-								if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) {
-									rates_sp.yaw = manual.yaw;
-									control_yaw_position = false;
-
-								} else {
-									/*
-									 * This mode SHOULD be the default mode, which is:
-									 * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS
-									 *
-									 * However, we fall back to this setting for all other (nonsense)
-									 * settings as well.
-									 */
-
-									/* only move setpoint if manual input is != 0 */
-									if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
-										rates_sp.yaw = manual.yaw;
-										control_yaw_position = false;
-										first_time_after_yaw_speed_control = true;
-
-									} else {
-										if (first_time_after_yaw_speed_control) {
-											att_sp.yaw_body = att.yaw;
-											first_time_after_yaw_speed_control = false;
-										}
-
-										control_yaw_position = true;
-									}
-								}
-							}
-
-							att_sp.thrust = manual.throttle;
-							att_sp.timestamp = hrt_absolute_time();
-						}
-
-						/* STEP 2: publish the controller output */
-						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-
-						if (motor_test_mode) {
-							printf("testmode");
-							att_sp.roll_body = 0.0f;
-							att_sp.pitch_body = 0.0f;
-							att_sp.yaw_body = 0.0f;
-							att_sp.thrust = 0.1f;
-							att_sp.timestamp = hrt_absolute_time();
-							/* STEP 2: publish the result to the vehicle actuators */
-							orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-						}
-
-					} else {
-						/* manual rate inputs, from RC control or joystick */
-						if (state.flag_control_rates_enabled &&
-						    state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
-							rates_sp.roll = manual.roll;
-
-							rates_sp.pitch = manual.pitch;
-							rates_sp.yaw = manual.yaw;
-							rates_sp.thrust = manual.throttle;
-							rates_sp.timestamp = hrt_absolute_time();
-						}
-					}
-
-				}
-
-				/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
-				if (state.flag_control_attitude_enabled) {
-					multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position);
-
-					orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
-				}
-
-				/* measure in what intervals the controller runs */
-				perf_count(mc_interval_perf);
-
-				float gyro[3];
-
-				/* get current rate setpoint */
-				bool rates_sp_valid = false;
-				orb_check(rates_sp_sub, &rates_sp_valid);
-
-				if (rates_sp_valid) {
-					orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
-				}
-
-				/* apply controller */
-				gyro[0] = att.rollspeed;
-				gyro[1] = att.pitchspeed;
-				gyro[2] = att.yawspeed;
-
-				multirotor_control_rates(&rates_sp, gyro, &actuators);
-				orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-
-				/* update state */
-				flag_control_attitude_enabled = state.flag_control_attitude_enabled;
-				flag_control_manual_enabled = state.flag_control_manual_enabled;
-				flag_system_armed = state.flag_system_armed;
-
-				perf_end(mc_loop_perf);
-			} /* end of poll call for attitude updates */
-		} /* end of poll return value check */
-	}
-
-	printf("[multirotor att control] stopping, disarming motors.\n");
-
-	/* 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(state_sub);
-	close(manual_sub);
-	close(actuator_pub);
-	close(att_sp_pub);
-
-	perf_print_counter(mc_loop_perf);
-	perf_free(mc_loop_perf);
-
-	fflush(stdout);
-	exit(0);
-}
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: multirotor_att_control [-m <mode>] [-t] {start|status|stop}\n");
-	fprintf(stderr, "    <mode> is 'rates' or 'attitude'\n");
-	fprintf(stderr, "    -t enables motor test mode with 10%% thrust\n");
-	exit(1);
-}
-
-int multirotor_att_control_main(int argc, char *argv[])
-{
-	int	ch;
-	unsigned int optioncount = 0;
-
-	while ((ch = getopt(argc, argv, "tm:")) != EOF) {
-		switch (ch) {
-		case 't':
-			motor_test_mode = true;
-			optioncount += 1;
-			break;
-
-		case ':':
-			usage("missing parameter");
-			break;
-
-		default:
-			fprintf(stderr, "option: -%c\n", ch);
-			usage("unrecognized option");
-			break;
-		}
-	}
-
-	argc -= optioncount;
-	//argv += optioncount;
-
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1 + optioncount], "start")) {
-
-		thread_should_exit = false;
-		mc_task = task_spawn("multirotor_att_control",
-				     SCHED_DEFAULT,
-				     SCHED_PRIORITY_MAX - 15,
-				     2048,
-				     mc_thread_main,
-				     NULL);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1 + optioncount], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}