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Diffstat (limited to 'apps/ardrone_control/ardrone_control.c')
-rw-r--r-- | apps/ardrone_control/ardrone_control.c | 272 |
1 files changed, 272 insertions, 0 deletions
diff --git a/apps/ardrone_control/ardrone_control.c b/apps/ardrone_control/ardrone_control.c new file mode 100644 index 000000000..e49a0ae29 --- /dev/null +++ b/apps/ardrone_control/ardrone_control.c @@ -0,0 +1,272 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: 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 Implementation of AR.Drone 1.0 / 2.0 control interface + */ + +#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 <sys/prctl.h> +#include <arch/board/up_hrt.h> +#include "ardrone_control.h" +#include "attitude_control.h" +#include "rate_control.h" +#include "ardrone_motor_control.h" +#include "position_control.h" +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/ardrone_control.h> +#include <uORB/topics/rc_channels.h> +#include <uORB/topics/ardrone_motors_setpoint.h> +#include <uORB/topics/sensor_combined.h> + +#include "ardrone_control_helper.h" + +__EXPORT int ardrone_control_main(int argc, char *argv[]); + +/**************************************************************************** + * Internal Definitions + ****************************************************************************/ + + +enum { + CONTROL_MODE_RATES = 0, + CONTROL_MODE_ATTITUDE = 1, +} control_mode; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/*File descriptors */ +int ardrone_write; +int gpios; + +bool position_control_thread_started; + +/**************************************************************************** + * pthread loops + ****************************************************************************/ +static void *position_control_loop(void *arg) +{ + struct vehicle_status_s *state = (struct vehicle_status_s *)arg; + // Set thread name + prctl(PR_SET_NAME, "ardrone pos ctrl", getpid()); + + while (1) { + if (state->state_machine == SYSTEM_STATE_AUTO) { +// control_position(); //FIXME TODO XXX + /* temporary 50 Hz execution */ + usleep(20000); + + } else { + position_control_thread_started = false; + break; + } + } + + return NULL; +} + +/**************************************************************************** + * main + ****************************************************************************/ + +int ardrone_control_main(int argc, char *argv[]) +{ + /* welcome user */ + printf("[ardrone_control] Control started, taking over motors\n"); + + /* default values for arguments */ + char *ardrone_uart_name = "/dev/ttyS1"; + control_mode = CONTROL_MODE_RATES; + + char *commandline_usage = "\tusage: ardrone_control -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n"; + + /* read commandline arguments */ + int i; + + for (i = 1; i < argc; i++) { + if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set + if (argc > i + 1) { + ardrone_uart_name = argv[i + 1]; + + } else { + printf(commandline_usage); + return 0; + } + + } else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) { + if (argc > i + 1) { + if (strcmp(argv[i + 1], "rates") == 0) { + control_mode = CONTROL_MODE_RATES; + + } else if (strcmp(argv[i + 1], "attitude") == 0) { + control_mode = CONTROL_MODE_ATTITUDE; + + } else { + printf(commandline_usage); + return 0; + } + + } else { + printf(commandline_usage); + return 0; + } + } + } + + /* open uarts */ + printf("[ardrone_control] AR.Drone UART is %s\n", ardrone_uart_name); + ardrone_write = open(ardrone_uart_name, O_RDWR | O_NOCTTY | O_NDELAY); + + /* initialize motors */ + ar_init_motors(ardrone_write, &gpios); + int counter = 0; + + /* pthread for position control */ + pthread_t position_control_thread; + position_control_thread_started = false; + + /* structures */ + struct vehicle_status_s state; + struct vehicle_attitude_s att; + struct ardrone_control_s ar_control; + struct rc_channels_s rc; + struct sensor_combined_s raw; + struct ardrone_motors_setpoint_s setpoint; + + /* subscribe to attitude, motor setpoints and system state */ + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + int rc_sub = orb_subscribe(ORB_ID(rc_channels)); + int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint)); + + /* publish AR.Drone motor control state */ + int ardrone_pub = orb_advertise(ORB_ID(ardrone_control), &ar_control); + + while (1) { + /* get a local copy of the vehicle state */ + orb_copy(ORB_ID(vehicle_status), state_sub, &state); + /* get a local copy of rc */ + orb_copy(ORB_ID(rc_channels), rc_sub, &rc); + /* get a local copy of attitude */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + + if (state.state_machine == SYSTEM_STATE_AUTO) { + if (false == position_control_thread_started) { + pthread_attr_t position_control_thread_attr; + pthread_attr_init(&position_control_thread_attr); + pthread_attr_setstacksize(&position_control_thread_attr, 2048); + pthread_create(&position_control_thread, &position_control_thread_attr, position_control_loop, &state); + position_control_thread_started = true; + } + + control_attitude(&rc, &att, &state, ardrone_pub, &ar_control); + + //No check for remote sticks to disarm in auto mode, land/disarm with ground station + + } else if (state.state_machine == SYSTEM_STATE_MANUAL) { + if (control_mode == CONTROL_MODE_RATES) { + orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); + orb_copy(ORB_ID(ardrone_motors_setpoint), setpoint_sub, &setpoint); + control_rates(&raw, &setpoint); + + } else if (control_mode == CONTROL_MODE_ATTITUDE) { + control_attitude(&rc, &att, &state, ardrone_pub, &ar_control); + } + + } else { + + } + + //fancy led animation... + static int blubb = 0; + + if (counter % 20 == 0) { + if (blubb == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0); + + if (blubb == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0); + + if (blubb == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0); + + if (blubb == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0); + + if (blubb == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0); + + if (blubb == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0); + + if (blubb == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0); + + if (blubb == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0); + + if (blubb == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0); + + if (blubb == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1); + + if (blubb == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1); + + if (blubb == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0); + + blubb++; + + if (blubb == 12) blubb = 0; + } + + /* run at approximately 200 Hz */ + usleep(5000); + counter++; + } + + /* close uarts */ + close(ardrone_write); + ar_multiplexing_deinit(gpios); + + printf("[ardrone_control] ending now...\r\n"); + fflush(stdout); + return 0; +} + |