Update UAVCAN version, delete outdated example

4 files changed, 0 insertions, 568 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
deleted file mode 100644
index feed0d23c..000000000
--- a/src/examples/flow_speed_control/flow_speed_control_main.c
+++ /dev/null
@@ -1,387 +0,0 @@
-/****************************************************************************
- *
- *   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/actuator_armed.h>
-#include <uORB/topics/vehicle_control_mode.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 <mavlink/mavlink_log.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_cmd().
- */
-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_cmd("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;
-	static int mavlink_fd;
-	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-	mavlink_log_info(mavlink_fd,"[fsc] started");
-
-	uint32_t counter = 0;
-
-	/* structures */
-	struct actuator_armed_s armed;
-	memset(&armed, 0, sizeof(armed));
-	struct vehicle_control_mode_s control_mode;
-	memset(&control_mode, 0, sizeof(control_mode));
-	struct filtered_bottom_flow_s filtered_flow;
-	memset(&filtered_flow, 0, sizeof(filtered_flow));
-	struct vehicle_bodyframe_speed_setpoint_s speed_sp;
-	memset(&speed_sp, 0, sizeof(speed_sp));
-	struct vehicle_attitude_setpoint_s att_sp;
-	memset(&att_sp, 0, sizeof(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 armed_sub = orb_subscribe(ORB_ID(actuator_armed));
-	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	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;
-	static bool status_changed = 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);
-					mavlink_log_info(mavlink_fd,"[fsp] parameters updated.");
-				}
-
-				/* only run controller if position/speed changed */
-				if (fds[0].revents & POLLIN)
-				{
-					perf_begin(mc_loop_perf);
-
-					/* get a local copy of the armed topic */
-					orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
-					/* get a local copy of the control mode */
-					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
-					/* 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);
-					/* get a local copy of control mode */
-					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
-
-					if (control_mode.flag_control_velocity_enabled)
-					{
-						/* 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;
-
-						if(status_changed == false)
-							mavlink_log_info(mavlink_fd,"[fsc] flow SPEED control engaged");
-
-						status_changed = true;
-
-						/* 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
-					{
-						if(status_changed == true)
-							mavlink_log_info(mavlink_fd,"[fsc] flow SPEED controller disengaged.");
-
-						status_changed = false;
-
-						/* 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 */
-				mavlink_log_info(mavlink_fd,"[fsc] no attitude received.");
-			}
-			else
-			{
-				if (fds[0].revents & POLLIN)
-				{
-					sensors_ready = true;
-					mavlink_log_info(mavlink_fd,"[fsp] initialized.");
-				}
-			}
-		}
-	}
-
-	mavlink_log_info(mavlink_fd,"[fsc] ending now...");
-
-	thread_running = false;
-
-	close(parameter_update_sub);
-	close(vehicle_attitude_sub);
-	close(vehicle_bodyframe_speed_setpoint_sub);
-	close(filtered_bottom_flow_sub);
-	close(armed_sub);
-	close(control_mode_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
deleted file mode 100644
index 8dfe54173..000000000
--- a/src/examples/flow_speed_control/flow_speed_control_params.c
+++ /dev/null
@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   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
deleted file mode 100644
index eec27a2bf..000000000
--- a/src/examples/flow_speed_control/flow_speed_control_params.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   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
deleted file mode 100644
index 5a4182146..000000000
--- a/src/examples/flow_speed_control/module.mk
+++ /dev/null
@@ -1,41 +0,0 @@
-############################################################################
-#
-#   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