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Diffstat (limited to 'apps/multirotor_pos_control/multirotor_pos_control.c')
| -rw-r--r-- | apps/multirotor_pos_control/multirotor_pos_control.c | 238 |
1 files changed, 0 insertions, 238 deletions
diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/apps/multirotor_pos_control/multirotor_pos_control.c deleted file mode 100644 index 7b8d83aa8..000000000 --- a/apps/multirotor_pos_control/multirotor_pos_control.c +++ /dev/null @@ -1,238 +0,0 @@ -/**************************************************************************** - * - * 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_pos_control.c - * - * Skeleton for multirotor position controller - */ - -#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 <drivers/drv_hrt.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_status.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/vehicle_local_position_setpoint.h> -#include <uORB/topics/vehicle_vicon_position.h> -#include <systemlib/systemlib.h> - -#include "multirotor_pos_control_params.h" - - -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 */ - -__EXPORT int multirotor_pos_control_main(int argc, char *argv[]); - -/** - * Mainloop of position controller. - */ -static int multirotor_pos_control_thread_main(int argc, char *argv[]); - -/** - * 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: deamon {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_spawn(). - */ -int multirotor_pos_control_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("multirotor pos control already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("multirotor pos control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 60, - 4096, - multirotor_pos_control_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tmultirotor pos control app is running\n"); - } else { - printf("\tmultirotor pos control app not started\n"); - } - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -static int -multirotor_pos_control_thread_main(int argc, char *argv[]) -{ - /* welcome user */ - printf("[multirotor pos control] Control started, taking over position control\n"); - - /* structures */ - struct vehicle_status_s state; - struct vehicle_attitude_s att; - //struct vehicle_global_position_setpoint_s global_pos_sp; - struct vehicle_local_position_setpoint_s local_pos_sp; - struct vehicle_vicon_position_s local_pos; - struct manual_control_setpoint_s manual; - struct vehicle_attitude_setpoint_s att_sp; - - /* 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 manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int local_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - //int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); - - /* publish attitude setpoint */ - orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); - - thread_running = true; - - int loopcounter = 0; - - struct multirotor_position_control_params p; - struct multirotor_position_control_param_handles h; - parameters_init(&h); - parameters_update(&h, &p); - - - while (1) { - /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(vehicle_status), state_sub, &state); - /* get a local copy of manual setpoint */ - orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); - /* get a local copy of attitude */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - /* get a local copy of local position */ - orb_copy(ORB_ID(vehicle_vicon_position), local_pos_sub, &local_pos); - /* get a local copy of local position setpoint */ - orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp); - - if (loopcounter == 500) { - parameters_update(&h, &p); - loopcounter = 0; - } - - // if (state.state_machine == SYSTEM_STATE_AUTO) { - - // XXX IMPLEMENT POSITION CONTROL HERE - - float dT = 1.0f / 50.0f; - - float x_setpoint = 0.0f; - - // XXX enable switching between Vicon and local position estimate - /* local pos is the Vicon position */ - - // XXX just an example, lacks rotation around world-body transformation - att_sp.pitch_body = (local_pos.x - x_setpoint) * p.p; - att_sp.roll_body = 0.0f; - att_sp.yaw_body = 0.0f; - att_sp.thrust = 0.3f; - att_sp.timestamp = hrt_absolute_time(); - - /* publish new attitude setpoint */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - // } else if (state.state_machine == SYSTEM_STATE_STABILIZED) { - /* set setpoint to current position */ - // XXX select pos reset channel on remote - /* reset setpoint to current position (position hold) */ - // if (1 == 2) { - // local_pos_sp.x = local_pos.x; - // local_pos_sp.y = local_pos.y; - // local_pos_sp.z = local_pos.z; - // local_pos_sp.yaw = att.yaw; - // } - // } - - /* run at approximately 50 Hz */ - usleep(20000); - loopcounter++; - - } - - printf("[multirotor pos control] ending now...\n"); - - thread_running = false; - - fflush(stdout); - return 0; -} - |