Segway stabilized.

4 files changed, 28 insertions, 98 deletions

diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
index b7a0bbbcc..682758a14 100644
--- a/src/modules/segway/BlockSegwayController.cpp
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -30,23 +30,24 @@ void BlockSegwayController::update() {
 		// 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
+	// compute speed command
+	float spdCmd = -theta2spd.update(_att.pitch) - q2spd.update(_att.pitchspeed);
 
 	// 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;
+		if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+			_actuators.control[CH_LEFT] = _manual.throttle;
+			_actuators.control[CH_RIGHT] = _manual.pitch;
+
+		} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
+			_actuators.control[0] = spdCmd;
+			_actuators.control[1] = spdCmd;
+		}
 	}
 
 	// update all publications
diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp
index b16d38338..e2faa4916 100644
--- a/src/modules/segway/BlockSegwayController.hpp
+++ b/src/modules/segway/BlockSegwayController.hpp
@@ -8,11 +8,20 @@ class BlockSegwayController : public control::BlockUorbEnabledAutopilot {
 public:
 	BlockSegwayController() :
 		BlockUorbEnabledAutopilot(NULL,"SEG"),
-		phi2spd(this, "PHI2SPD")
+		theta2spd(this, "THETA2SPD"),
+		q2spd(this, "Q2SPD"),
+		_attPoll(),
+		_timeStamp(0)
 	{
+		_attPoll.fd = _att.getHandle();
+		_attPoll.events = POLLIN;
 	}
 	void update();
 private:
-	BlockP phi2spd;
+	enum {CH_LEFT, CH_RIGHT};
+	BlockPI theta2spd;
+	BlockP q2spd;
+	struct pollfd _attPoll;
+	uint64_t _timeStamp;
 };
 
diff --git a/src/modules/segway/params.c b/src/modules/segway/params.c
index db30af416..1669785d3 100644
--- a/src/modules/segway/params.c
+++ b/src/modules/segway/params.c
@@ -1,72 +1,8 @@
 #include <systemlib/param/param.h>
 
-// currently tuned for easystar from arkhangar in HIL
-//https://github.com/arktools/arkhangar
-
 // 16 is max name length
+PARAM_DEFINE_FLOAT(SEG_THETA2SPD_P, 10.0f); // pitch to speed
+PARAM_DEFINE_FLOAT(SEG_THETA2SPD_I, 0.0f); // pitch integral to speed 
+PARAM_DEFINE_FLOAT(SEG_THETA2SPD_I_MAX, 0.0f); // integral limiter
+PARAM_DEFINE_FLOAT(SEG_Q2SPD, 1.0f); // pitch rate to speed
 
-// 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
index 8be1cc7aa..061fbf9b9 100644
--- a/src/modules/segway/segway_main.cpp
+++ b/src/modules/segway/segway_main.cpp
@@ -64,12 +64,7 @@ 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();
+int segway_thread_main(int argc, char *argv[]);
 
 /**
  * Print the correct usage.
@@ -114,16 +109,11 @@ int segway_main(int argc, char *argv[])
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,
-					 control_demo_thread_main,
+					 segway_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);
@@ -144,7 +134,7 @@ int segway_main(int argc, char *argv[])
 	exit(1);
 }
 
-int control_demo_thread_main(int argc, char *argv[])
+int segway_thread_main(int argc, char *argv[])
 {
 
 	warnx("starting");
@@ -165,9 +155,3 @@ int control_demo_thread_main(int argc, char *argv[])
 
 	return 0;
 }
-
-void test()
-{
-	warnx("beginning control lib test");
-	control::basicBlocksTest();
-}