Working on segway controller, restructure of fixedwing.

5 files changed, 361 insertions, 0 deletions

diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
new file mode 100644
index 000000000..b7a0bbbcc
--- /dev/null
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -0,0 +1,56 @@
+#include "BlockSegwayController.hpp"
+
+void BlockSegwayController::update() {
+	// wait for a sensor update, check for exit condition every 100 ms
+	if (poll(&_attPoll, 1, 100) < 0) return; // poll error
+
+	uint64_t newTimeStamp = hrt_absolute_time();
+	float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
+	_timeStamp = newTimeStamp;
+
+	// check for sane values of dt
+	// to prevent large control responses
+	if (dt > 1.0f || dt < 0) return;
+
+	// set dt for all child blocks
+	setDt(dt);
+
+	// check for new updates
+	if (_param_update.updated()) updateParams();
+
+	// get new information from subscriptions
+	updateSubscriptions();
+
+	// default all output to zero unless handled by mode
+	for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++)
+		_actuators.control[i] = 0.0f;
+
+	// only update guidance in auto mode
+	if (_status.state_machine == SYSTEM_STATE_AUTO) {
+		// update guidance
+	}
+
+	// XXX handle STABILIZED (loiter on spot) as well
+	// once the system switches from manual or auto to stabilized
+	// the setpoint should update to loitering around this position
+
+	// handle autopilot modes
+	if (_status.state_machine == SYSTEM_STATE_AUTO ||
+	    _status.state_machine == SYSTEM_STATE_STABILIZED) {
+
+		float spdCmd = phi2spd.update(_att.phi);
+
+		// output
+		_actuators.control[0] = spdCmd;
+		_actuators.control[1] = spdCmd;
+
+	} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
+		_actuators.control[0] = _manual.roll;
+		_actuators.control[1] = _manual.roll;
+	}
+
+	// update all publications
+	updatePublications();
+
+}
+
diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp
new file mode 100644
index 000000000..b16d38338
--- /dev/null
+++ b/src/modules/segway/BlockSegwayController.hpp
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <controllib/uorb/blocks.hpp>
+
+using namespace control;
+
+class BlockSegwayController : public control::BlockUorbEnabledAutopilot {
+public:
+	BlockSegwayController() :
+		BlockUorbEnabledAutopilot(NULL,"SEG"),
+		phi2spd(this, "PHI2SPD")
+	{
+	}
+	void update();
+private:
+	BlockP phi2spd;
+};
+
diff --git a/src/modules/segway/module.mk b/src/modules/segway/module.mk
new file mode 100644
index 000000000..d5da85601
--- /dev/null
+++ b/src/modules/segway/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# segway controller
+#
+
+MODULE_COMMAND	= segway
+
+SRCS		= segway_main.cpp \
+		  BlockSegwayController.cpp \
+		  params.c
diff --git a/src/modules/segway/params.c b/src/modules/segway/params.c
new file mode 100644
index 000000000..db30af416
--- /dev/null
+++ b/src/modules/segway/params.c
@@ -0,0 +1,72 @@
+#include <systemlib/param/param.h>
+
+// currently tuned for easystar from arkhangar in HIL
+//https://github.com/arktools/arkhangar
+
+// 16 is max name length
+
+// gyro low pass filter
+PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq
+
+// yaw washout
+PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
+
+// stabilization mode
+PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron
+PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
+PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
+
+//  psi -> phi -> p
+PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f);      // heading 2 roll
+PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f);        // roll to roll rate
+PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f);  // roll limit, 28 deg
+
+// velocity -> theta
+PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f);      // velocity to pitch angle PID, prop gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);      // integral gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);      // derivative gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);   // derivative low-pass
+PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);  // integrator wind up guard
+PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f);     // the max commanded pitch angle
+PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);      // the min commanded pitch angle
+
+
+// theta -> q
+PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);      // pitch angle to pitch-rate PID
+PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
+
+//  h -> thr
+PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f);     // altitude to throttle PID
+PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
+
+// crosstrack
+PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f);  // cross-track to yaw angle limit 90 deg
+PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f);     // cross-track to yaw angle gain
+
+// speed command
+PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f);       // minimum commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f);       // commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f);       // maximum commanded velocity
+
+// rate of climb
+// this is what rate of climb is commanded (in m/s) 
+// when the pitch stick is fully defelcted in simple mode
+PARAM_DEFINE_FLOAT(FWB_CR_MAX, 1.0f);
+
+//  climb rate -> thr
+PARAM_DEFINE_FLOAT(FWB_CR2THR_P, 0.01f);   // rate of climb to throttle PID
+PARAM_DEFINE_FLOAT(FWB_CR2THR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_CR2THR_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_CR2THR_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_CR2THR_I_MAX, 0.0f);
+
+PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f);    // trim throttle (0,1)
+PARAM_DEFINE_FLOAT(FWB_TRIM_V, 12.0f);     // trim velocity, m/s
diff --git a/src/modules/segway/segway_main.cpp b/src/modules/segway/segway_main.cpp
new file mode 100644
index 000000000..8be1cc7aa
--- /dev/null
+++ b/src/modules/segway/segway_main.cpp
@@ -0,0 +1,173 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: James Goppert
+ *
+ * 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 segway_main.cpp
+ * @author James Goppert
+ *
+ * Segway controller using control library
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <math.h>
+
+#include "BlockSegwayController.hpp"
+
+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 */
+
+/**
+ * Deamon management function.
+ */
+extern "C" __EXPORT int segway_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int control_demo_thread_main(int argc, char *argv[]);
+
+/**
+ * Test function
+ */
+void test();
+
+/**
+ * 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: segway {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_create().
+ */
+int segway_main(int argc, char *argv[])
+{
+
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			warnx("already running");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+
+		deamon_task = task_spawn_cmd("segway",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 10,
+					 5120,
+					 control_demo_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "test")) {
+		test();
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("is running");
+
+		} else {
+			warnx("not started");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int control_demo_thread_main(int argc, char *argv[])
+{
+
+	warnx("starting");
+
+	using namespace control;
+
+	BlockSegwayController autopilot;
+
+	thread_running = true;
+
+	while (!thread_should_exit) {
+		autopilot.update();
+	}
+
+	warnx("exiting.");
+
+	thread_running = false;
+
+	return 0;
+}
+
+void test()
+{
+	warnx("beginning control lib test");
+	control::basicBlocksTest();
+}