Added new estimator framework, actual estimation code not yet present

1 files changed, 456 insertions, 0 deletions

diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
new file mode 100644
index 000000000..459c5c2f7
--- /dev/null
+++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -0,0 +1,456 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fw_att_pos_estimator_main.cpp
+ * Implementation of the attitude and position estimator.
+ *
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_mag.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/airspeed.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/mission.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <geo/geo.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <mathlib/mathlib.h>
+
+/**
+ * estimator app start / stop handling function
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int fw_att_pos_estimator_main(int argc, char *argv[]);
+
+class FixedwingEstimator
+{
+public:
+	/**
+	 * Constructor
+	 */
+	FixedwingEstimator();
+
+	/**
+	 * Destructor, also kills the sensors task.
+	 */
+	~FixedwingEstimator();
+
+	/**
+	 * Start the sensors task.
+	 *
+	 * @return		OK on success.
+	 */
+	int		start();
+
+private:
+
+	bool		_task_should_exit;		/**< if true, sensor task should exit */
+	int		_estimator_task;			/**< task handle for sensor task */
+
+	int		_global_pos_sub;
+	int		_gyro_sub;			/**< gyro sensor subscription */
+	int		_accel_sub;			/**< accel sensor subscription */
+	int		_mag_sub;			/**< mag sensor subscription */
+	int		_attitude_sub;			/**< raw rc channels data subscription */
+	int		_airspeed_sub;			/**< airspeed subscription */
+	int		_vstatus_sub;			/**< vehicle status subscription */
+	int 		_params_sub;			/**< notification of parameter updates */
+	int 		_manual_control_sub;		/**< notification of manual control updates */
+	int		_mission_sub;
+
+	orb_advert_t	_att_pub;			/**< position setpoint */
+
+	struct vehicle_attitude_s			_att;			/**< vehicle attitude */
+	struct vehicle_attitude_setpoint_s		_att_sp;		/**< vehicle attitude setpoint */
+	struct manual_control_setpoint_s		_manual;		/**< r/c channel data */
+	struct gyro_report				_gyro;
+	struct accel_report				_accel;
+	struct mag_report				_mag;
+	struct airspeed_s				_airspeed;		/**< airspeed */
+	struct vehicle_status_s				_vstatus;		/**< vehicle status */
+	struct vehicle_global_position_s		_global_pos;		/**< global vehicle position */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	unsigned	_mission_items_maxcount;				/**< maximum number of mission items supported */
+	struct	mission_item_s 				* _mission_items;	/**< storage for mission items */
+	bool		_mission_valid;						/**< flag if mission is valid */
+
+	/** manual control states */
+	float		_seatbelt_hold_heading;		/**< heading the system should hold in seatbelt mode */
+	float		_loiter_hold_lat;
+	float		_loiter_hold_lon;
+	float		_loiter_hold_alt;
+	bool		_loiter_hold;
+
+	struct {
+		float throttle_cruise;
+	}		_parameters;			/**< local copies of interesting parameters */
+
+	struct {
+		param_t throttle_cruise;
+
+	}		_parameter_handles;		/**< handles for interesting parameters */
+
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int		parameters_update();
+
+	/**
+	 * Update control outputs
+	 *
+	 */
+	void		control_update();
+
+	/**
+	 * Check for changes in vehicle status.
+	 */
+	void		vehicle_status_poll();
+
+	/**
+	 * Shim for calling task_main from task_create.
+	 */
+	static void	task_main_trampoline(int argc, char *argv[]);
+
+	/**
+	 * Main sensor collection task.
+	 */
+	void		task_main() __attribute__((noreturn));
+};
+
+namespace estimator
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+FixedwingEstimator	*g_estimator;
+}
+
+FixedwingEstimator::FixedwingEstimator() :
+
+	_task_should_exit(false),
+	_estimator_task(-1),
+
+/* subscriptions */
+	_global_pos_sub(-1),
+	_gyro_sub(-1),
+	_accel_sub(-1),
+	_mag_sub(-1),
+	_airspeed_sub(-1),
+	_vstatus_sub(-1),
+	_params_sub(-1),
+	_manual_control_sub(-1),
+
+/* publications */
+	_att_pub(-1),
+
+/* performance counters */
+	_loop_perf(perf_alloc(PC_ELAPSED, "fw_att_pos_estimator")),
+/* states */
+	_mission_items_maxcount(20),
+	_mission_valid(false),
+	_loiter_hold(false)
+{
+
+	_parameter_handles.throttle_cruise = param_find("NAV_DUMMY");
+
+	/* fetch initial parameter values */
+	parameters_update();
+}
+
+FixedwingEstimator::~FixedwingEstimator()
+{
+	if (_estimator_task != -1) {
+
+		/* task wakes up every 100ms or so at the longest */
+		_task_should_exit = true;
+
+		/* wait for a second for the task to quit at our request */
+		unsigned i = 0;
+
+		do {
+			/* wait 20ms */
+			usleep(20000);
+
+			/* if we have given up, kill it */
+			if (++i > 50) {
+				task_delete(_estimator_task);
+				break;
+			}
+		} while (_estimator_task != -1);
+	}
+
+	estimator::g_estimator = nullptr;
+}
+
+int
+FixedwingEstimator::parameters_update()
+{
+
+	//param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
+
+	return OK;
+}
+
+void
+FixedwingEstimator::vehicle_status_poll()
+{
+	bool vstatus_updated;
+
+	/* Check HIL state if vehicle status has changed */
+	orb_check(_vstatus_sub, &vstatus_updated);
+
+	if (vstatus_updated) {
+
+		orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
+	}
+}
+
+void
+FixedwingEstimator::task_main_trampoline(int argc, char *argv[])
+{
+	estimator::g_estimator->task_main();
+}
+
+void
+FixedwingEstimator::task_main()
+{
+
+	/* inform about start */
+	warnx("Initializing..");
+	fflush(stdout);
+
+	/*
+	 * do subscriptions
+	 */
+	_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
+	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
+	_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
+	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+	_params_sub = orb_subscribe(ORB_ID(parameter_update));
+	_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+
+	/* rate limit vehicle status updates to 5Hz */
+	orb_set_interval(_vstatus_sub, 200);
+	/* rate limit position updates to 50 Hz */
+	orb_set_interval(_global_pos_sub, 20);
+
+	parameters_update();
+
+	/* wakeup source(s) */
+	struct pollfd fds[2];
+
+	/* Setup of loop */
+	fds[0].fd = _params_sub;
+	fds[0].events = POLLIN;
+	fds[1].fd = _gyro_sub;
+	fds[1].events = POLLIN;
+
+	while (!_task_should_exit) {
+
+		/* wait for up to 500ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+
+		/* timed out - periodic check for _task_should_exit, etc. */
+		if (pret == 0)
+			continue;
+
+		/* this is undesirable but not much we can do - might want to flag unhappy status */
+		if (pret < 0) {
+			warn("poll error %d, %d", pret, errno);
+			continue;
+		}
+
+		perf_begin(_loop_perf);
+
+		/* check vehicle status for changes to publication state */
+		vehicle_status_poll();
+
+		/* only update parameters if they changed */
+		if (fds[0].revents & POLLIN) {
+			/* read from param to clear updated flag */
+			struct parameter_update_s update;
+			orb_copy(ORB_ID(parameter_update), _params_sub, &update);
+
+			/* update parameters from storage */
+			parameters_update();
+		}
+
+		/* only run estimator if gyro updated */
+		if (fds[1].revents & POLLIN) {
+
+			static uint64_t last_run = 0;
+			float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+			last_run = hrt_absolute_time();
+
+			/* guard against too large deltaT's */
+			if (deltaT > 1.0f)
+				deltaT = 0.01f;
+
+			/* load local copies */
+			orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
+
+			bool updated;
+
+			orb_check(_accel_sub, &updated);
+			if (updated)
+				orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+
+			orb_check(_mag_sub, &updated);
+			if (updated)
+				orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag);
+
+			orb_check(_airspeed_sub, &updated);
+			if (updated)
+				orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
+
+			/* lazily publish the attitude only once available */
+			if (_att_pub > 0) {
+				/* publish the attitude setpoint */
+				orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att);
+
+			} else {
+				/* advertise and publish */
+				_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att);
+			}
+
+		}
+
+		perf_end(_loop_perf);
+	}
+
+	warnx("exiting.\n");
+
+	_estimator_task = -1;
+	_exit(0);
+}
+
+int
+FixedwingEstimator::start()
+{
+	ASSERT(_estimator_task == -1);
+
+	/* start the task */
+	_estimator_task = task_spawn_cmd("fw_att_pos_estimator",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2048,
+				       (main_t)&FixedwingEstimator::task_main_trampoline,
+				       nullptr);
+
+	if (_estimator_task < 0) {
+		warn("task start failed");
+		return -errno;
+	}
+
+	return OK;
+}
+
+int fw_att_pos_estimator_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		errx(1, "usage: fw_att_pos_estimator {start|stop|status}");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (estimator::g_estimator != nullptr)
+			errx(1, "already running");
+
+		estimator::g_estimator = new FixedwingEstimator;
+
+		if (estimator::g_estimator == nullptr)
+			errx(1, "alloc failed");
+
+		if (OK != estimator::g_estimator->start()) {
+			delete estimator::g_estimator;
+			estimator::g_estimator = nullptr;
+			err(1, "start failed");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		if (estimator::g_estimator == nullptr)
+			errx(1, "not running");
+
+		delete estimator::g_estimator;
+		estimator::g_estimator = nullptr;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (estimator::g_estimator) {
+			errx(0, "running");
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	warnx("unrecognized command");
+	return 1;
+}