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Diffstat (limited to 'apps/multirotor_control/multirotor_control.c')
-rw-r--r-- | apps/multirotor_control/multirotor_control.c | 206 |
1 files changed, 206 insertions, 0 deletions
diff --git a/apps/multirotor_control/multirotor_control.c b/apps/multirotor_control/multirotor_control.c new file mode 100644 index 000000000..9297e97d6 --- /dev/null +++ b/apps/multirotor_control/multirotor_control.c @@ -0,0 +1,206 @@ +/**************************************************************************** + * + * 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 multirotor_control.c + * Implementation of multirotor controllers + */ + +#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 "multirotor_control.h" +#include "multirotor_attitude_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/sensor_combined.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 */ + + 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 rc_channels_s rc; + struct sensor_combined_s raw; + + /* 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)); + + /* 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); + + multirotor_control_attitude(&rc, &att, &state); + + /* 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; +} + |