Merge branch 'pid_fixes' into new_state_machine

4 files changed, 542 insertions, 0 deletions

diff --git a/src/examples/flow_speed_control/flow_speed_control_main.c b/src/examples/flow_speed_control/flow_speed_control_main.c
new file mode 100644
index 000000000..9648728c8
--- /dev/null
+++ b/src/examples/flow_speed_control/flow_speed_control_main.c
@@ -0,0 +1,361 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
+ *   		 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 flow_speed_control.c
+ *
+ * Optical flow speed controller
+ */
+
+#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 <math.h>
+#include <sys/prctl.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_bodyframe_speed_setpoint.h>
+#include <uORB/topics/filtered_bottom_flow.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <poll.h>
+
+#include "flow_speed_control_params.h"
+
+
+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 */
+
+__EXPORT int flow_speed_control_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of position controller.
+ */
+static int flow_speed_control_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\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_spawn().
+ */
+int flow_speed_control_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start"))
+	{
+		if (thread_running)
+		{
+			printf("flow speed control already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("flow_speed_control",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 6,
+					 4096,
+					 flow_speed_control_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop"))
+	{
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status"))
+	{
+		if (thread_running)
+			printf("\tflow speed control app is running\n");
+		else
+			printf("\tflow speed control app not started\n");
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+static int
+flow_speed_control_thread_main(int argc, char *argv[])
+{
+	/* welcome user */
+	thread_running = true;
+	printf("[flow speed control] starting\n");
+
+	uint32_t counter = 0;
+
+	/* structures */
+	struct vehicle_status_s vstatus;
+	struct filtered_bottom_flow_s filtered_flow;
+	struct vehicle_bodyframe_speed_setpoint_s speed_sp;
+
+	struct vehicle_attitude_setpoint_s att_sp;
+
+	/* subscribe to attitude, motor setpoints and system state */
+	int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
+	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+	int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
+	int vehicle_bodyframe_speed_setpoint_sub = orb_subscribe(ORB_ID(vehicle_bodyframe_speed_setpoint));
+
+	orb_advert_t att_sp_pub;
+	bool attitude_setpoint_adverted = false;
+
+	/* parameters init*/
+	struct flow_speed_control_params params;
+	struct flow_speed_control_param_handles param_handles;
+	parameters_init(&param_handles);
+	parameters_update(&param_handles, &params);
+
+	/* register the perf counter */
+	perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "flow_speed_control_runtime");
+	perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "flow_speed_control_interval");
+	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_speed_control_err");
+
+	static bool sensors_ready = false;
+
+	while (!thread_should_exit)
+	{
+		/* wait for first attitude msg to be sure all data are available */
+		if (sensors_ready)
+		{
+			/* polling */
+			struct pollfd fds[2] = {
+				{ .fd = vehicle_bodyframe_speed_setpoint_sub, .events = POLLIN }, // speed setpoint from pos controller
+				{ .fd = parameter_update_sub,   .events = POLLIN }
+			};
+
+			/* wait for a position update, check for exit condition every 5000 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 */
+//				printf("[flow speed control] no bodyframe speed setpoints updates\n");
+			}
+			else
+			{
+				/* parameter update available? */
+				if (fds[1].revents & POLLIN)
+				{
+					/* read from param to clear updated flag */
+					struct parameter_update_s update;
+					orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
+
+					parameters_update(&param_handles, &params);
+					printf("[flow speed control] parameters updated.\n");
+				}
+
+				/* only run controller if position/speed changed */
+				if (fds[0].revents & POLLIN)
+				{
+					perf_begin(mc_loop_perf);
+
+					/* get a local copy of the vehicle state */
+					orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
+					/* get a local copy of filtered bottom flow */
+					orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow);
+					/* get a local copy of bodyframe speed setpoint */
+					orb_copy(ORB_ID(vehicle_bodyframe_speed_setpoint), vehicle_bodyframe_speed_setpoint_sub, &speed_sp);
+
+					if (vstatus.state_machine == SYSTEM_STATE_AUTO)
+					{
+						/* calc new roll/pitch */
+						float pitch_body = -(speed_sp.vx - filtered_flow.vx) * params.speed_p;
+						float roll_body  =  (speed_sp.vy - filtered_flow.vy) * params.speed_p;
+
+						/* limit roll and pitch corrections */
+						if((pitch_body <= params.limit_pitch) && (pitch_body >= -params.limit_pitch))
+						{
+							att_sp.pitch_body = pitch_body;
+						}
+						else
+						{
+							if(pitch_body > params.limit_pitch)
+								att_sp.pitch_body = params.limit_pitch;
+							if(pitch_body < -params.limit_pitch)
+								att_sp.pitch_body = -params.limit_pitch;
+						}
+
+						if((roll_body <= params.limit_roll) && (roll_body >= -params.limit_roll))
+						{
+							att_sp.roll_body = roll_body;
+						}
+						else
+						{
+							if(roll_body > params.limit_roll)
+								att_sp.roll_body = params.limit_roll;
+							if(roll_body < -params.limit_roll)
+								att_sp.roll_body = -params.limit_roll;
+						}
+
+						/* set yaw setpoint forward*/
+						att_sp.yaw_body = speed_sp.yaw_sp;
+
+						/* add trim from parameters */
+						att_sp.roll_body = att_sp.roll_body + params.trim_roll;
+						att_sp.pitch_body = att_sp.pitch_body + params.trim_pitch;
+
+						att_sp.thrust = speed_sp.thrust_sp;
+						att_sp.timestamp = hrt_absolute_time();
+
+						/* publish new attitude setpoint */
+						if(isfinite(att_sp.pitch_body) && isfinite(att_sp.roll_body) && isfinite(att_sp.yaw_body) && isfinite(att_sp.thrust))
+						{
+							if (attitude_setpoint_adverted)
+							{
+								orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+							}
+							else
+							{
+								att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
+								attitude_setpoint_adverted = true;
+							}
+						}
+						else
+						{
+							warnx("NaN in flow speed controller!");
+						}
+					}
+					else
+					{
+						/* reset attitude setpoint */
+						att_sp.roll_body = 0.0f;
+						att_sp.pitch_body = 0.0f;
+						att_sp.thrust = 0.0f;
+						att_sp.yaw_body = 0.0f;
+					}
+
+					/* measure in what intervals the controller runs */
+					perf_count(mc_interval_perf);
+					perf_end(mc_loop_perf);
+				}
+			}
+
+			counter++;
+		}
+		else
+		{
+			/* sensors not ready waiting for first attitude msg */
+
+			/* polling */
+			struct pollfd fds[1] = {
+				{ .fd = vehicle_attitude_sub, .events = POLLIN },
+			};
+
+			/* wait for a flow msg, check for exit condition every 5 s */
+			int ret = poll(fds, 1, 5000);
+
+			if (ret < 0)
+			{
+				/* poll error, count it in perf */
+				perf_count(mc_err_perf);
+			}
+			else if (ret == 0)
+			{
+				/* no return value, ignore */
+				printf("[flow speed control] no attitude received.\n");
+			}
+			else
+			{
+				if (fds[0].revents & POLLIN)
+				{
+					sensors_ready = true;
+					printf("[flow speed control] initialized.\n");
+				}
+			}
+		}
+	}
+
+	printf("[flow speed control] ending now...\n");
+
+	thread_running = false;
+
+	close(parameter_update_sub);
+	close(vehicle_attitude_sub);
+	close(vehicle_bodyframe_speed_setpoint_sub);
+	close(filtered_bottom_flow_sub);
+	close(vehicle_status_sub);
+	close(att_sp_pub);
+
+	perf_print_counter(mc_loop_perf);
+	perf_free(mc_loop_perf);
+
+	fflush(stdout);
+	return 0;
+}
diff --git a/src/examples/flow_speed_control/flow_speed_control_params.c b/src/examples/flow_speed_control/flow_speed_control_params.c
new file mode 100644
index 000000000..8dfe54173
--- /dev/null
+++ b/src/examples/flow_speed_control/flow_speed_control_params.c
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
+ *   		 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 flow_speed_control_params.c
+ * 
+ */
+
+#include "flow_speed_control_params.h"
+
+/* controller parameters */
+PARAM_DEFINE_FLOAT(FSC_S_P, 0.1f);
+PARAM_DEFINE_FLOAT(FSC_L_PITCH, 0.4f);
+PARAM_DEFINE_FLOAT(FSC_L_ROLL, 0.4f);
+
+int parameters_init(struct flow_speed_control_param_handles *h)
+{
+	/* PID parameters */
+	h->speed_p	 			=	param_find("FSC_S_P");
+	h->limit_pitch 			=	param_find("FSC_L_PITCH");
+	h->limit_roll 			=	param_find("FSC_L_ROLL");
+	h->trim_roll 			=	param_find("TRIM_ROLL");
+	h->trim_pitch 			=	param_find("TRIM_PITCH");
+
+
+	return OK;
+}
+
+int parameters_update(const struct flow_speed_control_param_handles *h, struct flow_speed_control_params *p)
+{
+	param_get(h->speed_p, &(p->speed_p));
+	param_get(h->limit_pitch, &(p->limit_pitch));
+	param_get(h->limit_roll, &(p->limit_roll));
+	param_get(h->trim_roll, &(p->trim_roll));
+	param_get(h->trim_pitch, &(p->trim_pitch));
+
+	return OK;
+}
diff --git a/src/examples/flow_speed_control/flow_speed_control_params.h b/src/examples/flow_speed_control/flow_speed_control_params.h
new file mode 100644
index 000000000..eec27a2bf
--- /dev/null
+++ b/src/examples/flow_speed_control/flow_speed_control_params.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
+ *   		 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 flow_speed_control_params.h
+ * 
+ * Parameters for speed controller
+ */
+
+#include <systemlib/param/param.h>
+
+struct flow_speed_control_params {
+	float speed_p;
+	float limit_pitch;
+	float limit_roll;
+	float trim_roll;
+	float trim_pitch;
+};
+
+struct flow_speed_control_param_handles {
+	param_t speed_p;
+	param_t limit_pitch;
+	param_t limit_roll;
+	param_t trim_roll;
+	param_t trim_pitch;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+int parameters_init(struct flow_speed_control_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct flow_speed_control_param_handles *h, struct flow_speed_control_params *p);
diff --git a/src/examples/flow_speed_control/module.mk b/src/examples/flow_speed_control/module.mk
new file mode 100644
index 000000000..5a4182146
--- /dev/null
+++ b/src/examples/flow_speed_control/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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.
+#
+############################################################################
+
+#
+# Build flow speed control
+#
+
+MODULE_COMMAND	= flow_speed_control
+
+SRCS		= flow_speed_control_main.c \
+		  flow_speed_control_params.c