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

1 files changed, 136 insertions, 0 deletions

diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/apps/multirotor_pos_control/multirotor_pos_control.c
new file mode 100644
index 000000000..ff32fb460
--- /dev/null
+++ b/apps/multirotor_pos_control/multirotor_pos_control.c
@@ -0,0 +1,136 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 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 Implementation of AR.Drone 1.0 / 2.0 control interface
+ */
+
+#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 <termios.h>
+#include <time.h>
+#include <sys/prctl.h>
+#include <arch/board/up_hrt.h>
+#include "ardrone_control.h"
+#include "attitude_control.h"
+#include "rate_control.h"
+#include "ardrone_motor_control.h"
+#include "position_control.h"
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/manual_control_setpoint.h>
+
+__EXPORT int multirotor_pos_control_main(int argc, char *argv[]);
+
+static bool thread_should_exit;
+static bool thread_running = false;
+static int mpc_task;
+
+static int
+mpc_thread_main(int argc, char *argv[])
+{
+	/* welcome user */
+	printf("[multirotor pos control] Control started, taking over position control\n");
+
+	/* structures */
+	struct vehicle_status_s state;
+	struct vehicle_attitude_s att;
+	//struct vehicle_global_position_setpoint_s global_pos_sp;
+	struct vehicle_local_position_setpoint_s local_pos_sp;
+	struct vehicle_local_position_s local_pos;
+	struct manual_control_setpoint_s manual;
+	struct vehicle_attitude_setpoint_s att_sp;
+
+	/* subscribe to attitude, motor setpoints and system state */
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
+	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
+	//int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+	int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
+
+	/* publish attitude setpoint */
+	int att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
+
+	while (1) {
+		/* get a local copy of the vehicle state */
+		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 local position */
+		orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
+		/* get a local copy of local position setpoint */
+		orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp);
+
+		if (state.state_machine == SYSTEM_STATE_AUTO) {
+			position_control(&state, &manual, &att, &local_pos, &local_pos_sp, &att_sp);
+			/* publish new attitude setpoint */
+			orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+		} else if (state.state_machine == SYSTEM_STATE_STABILIZE) {
+			/* set setpoint to current position */
+			// XXX select pos reset channel on remote
+			/* reset setpoint to current position  (position hold) */
+			// if (1 == 2) {
+			// 	local_pos_sp.x = local_pos.x;
+			// 	local_pos_sp.y = local_pos.y;
+			// 	local_pos_sp.z = local_pos.z;
+			// 	local_pos_sp.yaw = att.yaw;
+			// }
+		}
+
+		/* run at approximately 50 Hz */
+		usleep(20000);
+
+		counter++;
+	}
+
+	/* close uarts */
+	close(ardrone_write);
+	ar_multiplexing_deinit(gpios);
+
+	printf("[multirotor pos control] ending now...\r\n");
+	fflush(stdout);
+	return 0;
+}
+