Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests

1 files changed, 258 insertions, 0 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
new file mode 100644
index 000000000..baee507b2
--- /dev/null
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -0,0 +1,258 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @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.
+ */
+
+#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 <arch/board/up_hrt.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/ardrone_control.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/ardrone_motors_setpoint.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/actuator_controls.h>
+
+#include <systemlib/perf_counter.h>
+
+#include "multirotor_attitude_control.h"
+
+__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
+
+
+static enum {
+	CONTROL_MODE_RATES = 0,
+	CONTROL_MODE_ATTITUDE = 1,
+} control_mode;
+
+
+static bool thread_should_exit;
+static int mc_task;
+
+static int
+mc_thread_main(int argc, char *argv[])
+{
+	bool motor_test_mode = false;
+
+	/* structures */
+	/* declare and safely initialize all structs */
+	struct vehicle_status_s state;
+	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 ardrone_motors_setpoint_s setpoint;
+	memset(&setpoint, 0, sizeof(setpoint));
+	struct actuator_controls_s actuator_controls;
+	memset(&actuator_controls, 0, sizeof(actuator_controls));
+
+	struct actuator_controls_s actuators;
+	struct actuator_armed_s armed;
+
+	/* subscribe to attitude, motor setpoints and system state */
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_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));
+	// int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
+
+	/* rate-limit the attitude subscription to 200Hz to pace our loop */
+	orb_set_interval(att_sub, 5);
+	struct pollfd fds = { .fd = att_sub, .events = POLLIN };
+
+	/* publish actuator controls */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+		actuators.control[i] = 0.0f;
+	int actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
+	armed.armed = true;
+	int armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
+
+	/* register the perf counter */
+	perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control");
+
+	/* welcome user */
+	printf("[multirotor_att_control] starting\n");
+
+	while (!thread_should_exit) {
+
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		poll(&fds, 1, 500);
+
+		perf_begin(mc_loop_perf);
+
+		/* 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);
+
+		att_sp.roll_body = -manual.roll * M_PI_F / 8.0f;
+		att_sp.pitch_body = -manual.pitch * M_PI_F / 8.0f;
+		att_sp.yaw_body = -manual.yaw * M_PI_F;
+		if (motor_test_mode) {
+			att_sp.roll_body = 0.0f;
+			att_sp.pitch_body = 0.0f;
+			att_sp.yaw_body = 0.0f;
+			att_sp.thrust = 0.3f;
+		} else {
+			if (state.state_machine == SYSTEM_STATE_MANUAL ||
+				state.state_machine == SYSTEM_STATE_GROUND_READY ||
+				state.state_machine == SYSTEM_STATE_STABILIZED ||
+				state.state_machine == SYSTEM_STATE_AUTO ||
+				state.state_machine == SYSTEM_STATE_MISSION_ABORT ||
+				state.state_machine == SYSTEM_STATE_EMCY_LANDING) {
+				att_sp.thrust = manual.throttle;
+
+			} else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) {
+				/* immediately cut off motors */
+				att_sp.thrust = 0.0f;
+
+			} else {
+				/* limit motor throttle to zero for an unknown mode */
+				att_sp.thrust = 0.0f;
+			}
+			
+		}
+
+		multirotor_control_attitude(&att_sp, &att, &state, &actuator_controls, motor_test_mode);
+		//ardrone_mixing_and_output(ardrone_write, &actuator_controls, motor_test_mode);
+
+		/* publish the result */
+		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+
+		perf_end(mc_loop_perf);
+	}
+
+	printf("[multirotor att control] stopping.\n");
+
+	/* kill all outputs */
+	armed.armed = false;
+	orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
+	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(armed_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>] {start|stop}\n");
+	fprintf(stderr, "    <mode> is 'rates' or 'attitude'\n");
+	exit(1);
+}
+
+int multirotor_att_control_main(int argc, char *argv[])
+{
+	int	ch;
+
+	control_mode = CONTROL_MODE_RATES;
+	unsigned int optioncount = 0;
+
+	while ((ch = getopt(argc, argv, "m:")) != EOF) {
+		switch (ch) {
+		case 'm':
+			if (!strcmp(optarg, "rates")) {
+				control_mode = CONTROL_MODE_RATES;
+			} else if (!strcmp(optarg, "attitude")) {
+				control_mode = CONTROL_MODE_RATES;
+			} else {
+				usage("unrecognized -m value");
+			}
+			optioncount += 2;
+		default:
+			usage("unrecognized option");
+		}
+	}
+	argc -= optioncount;
+	argv += optioncount;
+
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		thread_should_exit = false;
+		mc_task = task_create("multirotor_att_control", SCHED_PRIORITY_MAX - 15, 2048, mc_thread_main, NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}