multirotor_pos_control cleanup

2 files changed, 0 insertions, 285 deletions

diff --git a/src/modules/multirotor_pos_control/position_control.c b/src/modules/multirotor_pos_control/position_control.c
deleted file mode 100644
index 9c53a5bf6..000000000
--- a/src/modules/multirotor_pos_control/position_control.c
+++ /dev/null
@@ -1,235 +0,0 @@
-// /****************************************************************************
-//  *
-//  *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
-//  *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
-//  *           @author Laurens Mackay <mackayl@student.ethz.ch>
-//  *           @author Tobias Naegeli <naegelit@student.ethz.ch>
-//  *           @author Martin Rutschmann <rutmarti@student.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_position_control.c
-//  * Implementation of the position control for a multirotor VTOL
-//  */
-
-// #include <stdio.h>
-// #include <stdlib.h>
-// #include <stdio.h>
-// #include <stdint.h>
-// #include <math.h>
-// #include <stdbool.h>
-// #include <float.h>
-// #include <systemlib/pid/pid.h>
-
-// #include "multirotor_position_control.h"
-
-// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
-//  const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
-//  const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp)
-// {
-// 	static PID_t distance_controller;
-
-// 	static int read_ret;
-// 	static global_data_position_t position_estimated;
-
-// 	static uint16_t counter;
-
-// 	static bool initialized;
-// 	static uint16_t pm_counter;
-
-// 	static float lat_next;
-// 	static float lon_next;
-
-// 	static float pitch_current;
-
-// 	static float thrust_total;
-
-
-// 	if (initialized == false) {
-
-// 		pid_init(&distance_controller,
-// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
-// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
-// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
-// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
-// 			 PID_MODE_DERIVATIV_CALC, 150);//150
-
-// //		pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
-// //		pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
-
-// 		thrust_total = 0.0f;
-
-// 		/* Position initialization */
-// 		/* Wait for new position estimate */
-// 		do {
-// 			read_ret = read_lock_position(&position_estimated);
-// 		} while (read_ret != 0);
-
-// 		lat_next = position_estimated.lat;
-// 		lon_next = position_estimated.lon;
-
-// 		/* attitude initialization */
-// 		global_data_lock(&global_data_attitude->access_conf);
-// 		pitch_current = global_data_attitude->pitch;
-// 		global_data_unlock(&global_data_attitude->access_conf);
-
-// 		initialized = true;
-// 	}
-
-// 	/* load new parameters with 10Hz */
-// 	if (counter % 50 == 0) {
-// 		if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
-// 			/* check whether new parameters are available */
-// 			if (global_data_parameter_storage->counter > pm_counter) {
-// 				pid_set_parameters(&distance_controller,
-// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
-// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
-// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
-// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);
-
-// //
-// //				pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
-// //				pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
-
-// 				pm_counter = global_data_parameter_storage->counter;
-// 				printf("Position controller changed pid parameters\n");
-// 			}
-// 		}
-
-// 		global_data_unlock(&global_data_parameter_storage->access_conf);
-// 	}
-
-
-// 	/* Wait for new position estimate */
-// 	do {
-// 		read_ret = read_lock_position(&position_estimated);
-// 	} while (read_ret != 0);
-
-// 	/* Get next waypoint */ //TODO: add local copy
-
-// 	if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
-// 		lat_next = global_data_position_setpoint->x;
-// 		lon_next = global_data_position_setpoint->y;
-// 		global_data_unlock(&global_data_position_setpoint->access_conf);
-// 	}
-
-// 	/* Get distance to waypoint */
-// 	float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
-// //	if(counter % 5 == 0)
-// //		printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
-
-// 	/* Get bearing to waypoint (direction on earth surface to next waypoint) */
-// 	float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);
-
-// 	if (counter % 5 == 0)
-// 		printf("bearing: %.4f\n", bearing);
-
-// 	/* Calculate speed in direction of bearing (needed for controller) */
-// 	float speed_norm = sqrtf(position_estimated.vx  * position_estimated.vx + position_estimated.vy * position_estimated.vy);
-// //	if(counter % 5 == 0)
-// //		printf("speed_norm: %.4f\n", speed_norm);
-// 	float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
-
-// 	/* Control Thrust in bearing direction  */
-// 	float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
-// 				  CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
-
-// //	if(counter % 5 == 0)
-// //		printf("horizontal thrust: %.4f\n", horizontal_thrust);
-
-// 	/* Get total thrust (from remote for now) */
-// 	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-// 		thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; 												//TODO: how should we use the RC_CHANNELS_FUNCTION enum?
-// 		global_data_unlock(&global_data_rc_channels->access_conf);
-// 	}
-
-// 	const float max_gas = 500.0f;
-// 	thrust_total *= max_gas / 20000.0f; //TODO: check this
-// 	thrust_total += max_gas / 2.0f;
-
-
-// 	if (horizontal_thrust > thrust_total) {
-// 		horizontal_thrust = thrust_total;
-
-// 	} else if (horizontal_thrust < -thrust_total) {
-// 		horizontal_thrust = -thrust_total;
-// 	}
-
-
-
-// 	//TODO: maybe we want to add a speed controller later...
-
-// 	/* Calclulate thrust in east and north direction */
-// 	float thrust_north = cosf(bearing) * horizontal_thrust;
-// 	float thrust_east = sinf(bearing) * horizontal_thrust;
-
-// 	if (counter % 10 == 0) {
-// 		printf("thrust north: %.4f\n", thrust_north);
-// 		printf("thrust east: %.4f\n", thrust_east);
-// 		fflush(stdout);
-// 	}
-
-// 	/* Get current attitude */
-// 	if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
-// 		pitch_current = global_data_attitude->pitch;
-// 		global_data_unlock(&global_data_attitude->access_conf);
-// 	}
-
-// 	/* Get desired pitch & roll */
-// 	float pitch_desired = 0.0f;
-// 	float roll_desired = 0.0f;
-
-// 	if (thrust_total != 0) {
-// 		float pitch_fraction = -thrust_north / thrust_total;
-// 		float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);
-
-// 		if (roll_fraction < -1) {
-// 			roll_fraction = -1;
-
-// 		} else if (roll_fraction > 1) {
-// 			roll_fraction = 1;
-// 		}
-
-// //		if(counter % 5 == 0)
-// //		{
-// //			printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
-// //			fflush(stdout);
-// //		}
-
-// 		pitch_desired = asinf(pitch_fraction);
-// 		roll_desired = asinf(roll_fraction);
-// 	}
-
-// 	att_sp.roll = roll_desired;
-// 	att_sp.pitch = pitch_desired;
-
-// 	counter++;
-// }
diff --git a/src/modules/multirotor_pos_control/position_control.h b/src/modules/multirotor_pos_control/position_control.h
deleted file mode 100644
index 2144ebc34..000000000
--- a/src/modules/multirotor_pos_control/position_control.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Laurens Mackay <mackayl@student.ethz.ch>
- *           @author Tobias Naegeli <naegelit@student.ethz.ch>
- *           @author Martin Rutschmann <rutmarti@student.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_position_control.h
- * Definition of the position control for a multirotor VTOL
- */
-
-// #ifndef POSITION_CONTROL_H_
-// #define POSITION_CONTROL_H_
-
-// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
-//  const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
-//  const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp);
-
-// #endif /* POSITION_CONTROL_H_ */