diff options
Diffstat (limited to 'src/examples/flow_speed_control/flow_speed_control_main.c')
-rw-r--r-- | src/examples/flow_speed_control/flow_speed_control_main.c | 361 |
1 files changed, 361 insertions, 0 deletions
diff --git a/src/examples/flow_speed_control/flow_speed_control_main.c b/src/examples/flow_speed_control/flow_speed_control_main.c new file mode 100644 index 000000000..9648728c8 --- /dev/null +++ b/src/examples/flow_speed_control/flow_speed_control_main.c @@ -0,0 +1,361 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Samuel Zihlmann <samuezih@ee.ethz.ch> + * 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 flow_speed_control.c + * + * Optical flow speed 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 <math.h> +#include <sys/prctl.h> +#include <drivers/drv_hrt.h> +#include <uORB/uORB.h> +#include <uORB/topics/parameter_update.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/vehicle_bodyframe_speed_setpoint.h> +#include <uORB/topics/filtered_bottom_flow.h> +#include <systemlib/systemlib.h> +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> +#include <poll.h> + +#include "flow_speed_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 flow_speed_control_main(int argc, char *argv[]); + +/** + * Mainloop of position controller. + */ +static int flow_speed_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 flow_speed_control_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) + { + if (thread_running) + { + printf("flow speed control already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("flow_speed_control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 6, + 4096, + flow_speed_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("\tflow speed control app is running\n"); + else + printf("\tflow speed control app not started\n"); + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +static int +flow_speed_control_thread_main(int argc, char *argv[]) +{ + /* welcome user */ + thread_running = true; + printf("[flow speed control] starting\n"); + + uint32_t counter = 0; + + /* structures */ + struct vehicle_status_s vstatus; + struct filtered_bottom_flow_s filtered_flow; + struct vehicle_bodyframe_speed_setpoint_s speed_sp; + + struct vehicle_attitude_setpoint_s att_sp; + + /* subscribe to attitude, motor setpoints and system state */ + int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); + int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow)); + int vehicle_bodyframe_speed_setpoint_sub = orb_subscribe(ORB_ID(vehicle_bodyframe_speed_setpoint)); + + orb_advert_t att_sp_pub; + bool attitude_setpoint_adverted = false; + + /* parameters init*/ + struct flow_speed_control_params params; + struct flow_speed_control_param_handles param_handles; + parameters_init(¶m_handles); + parameters_update(¶m_handles, ¶ms); + + /* register the perf counter */ + perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "flow_speed_control_runtime"); + perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "flow_speed_control_interval"); + perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_speed_control_err"); + + static bool sensors_ready = false; + + while (!thread_should_exit) + { + /* wait for first attitude msg to be sure all data are available */ + if (sensors_ready) + { + /* polling */ + struct pollfd fds[2] = { + { .fd = vehicle_bodyframe_speed_setpoint_sub, .events = POLLIN }, // speed setpoint from pos controller + { .fd = parameter_update_sub, .events = POLLIN } + }; + + /* wait for a position update, check for exit condition every 5000 ms */ + int ret = poll(fds, 2, 500); + + if (ret < 0) + { + /* poll error, count it in perf */ + perf_count(mc_err_perf); + } + else if (ret == 0) + { + /* no return value, ignore */ +// printf("[flow speed control] no bodyframe speed setpoints updates\n"); + } + else + { + /* parameter update available? */ + if (fds[1].revents & POLLIN) + { + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update); + + parameters_update(¶m_handles, ¶ms); + printf("[flow speed control] parameters updated.\n"); + } + + /* only run controller if position/speed changed */ + if (fds[0].revents & POLLIN) + { + perf_begin(mc_loop_perf); + + /* get a local copy of the vehicle state */ + orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); + /* get a local copy of filtered bottom flow */ + orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow); + /* get a local copy of bodyframe speed setpoint */ + orb_copy(ORB_ID(vehicle_bodyframe_speed_setpoint), vehicle_bodyframe_speed_setpoint_sub, &speed_sp); + + if (vstatus.state_machine == SYSTEM_STATE_AUTO) + { + /* calc new roll/pitch */ + float pitch_body = -(speed_sp.vx - filtered_flow.vx) * params.speed_p; + float roll_body = (speed_sp.vy - filtered_flow.vy) * params.speed_p; + + /* limit roll and pitch corrections */ + if((pitch_body <= params.limit_pitch) && (pitch_body >= -params.limit_pitch)) + { + att_sp.pitch_body = pitch_body; + } + else + { + if(pitch_body > params.limit_pitch) + att_sp.pitch_body = params.limit_pitch; + if(pitch_body < -params.limit_pitch) + att_sp.pitch_body = -params.limit_pitch; + } + + if((roll_body <= params.limit_roll) && (roll_body >= -params.limit_roll)) + { + att_sp.roll_body = roll_body; + } + else + { + if(roll_body > params.limit_roll) + att_sp.roll_body = params.limit_roll; + if(roll_body < -params.limit_roll) + att_sp.roll_body = -params.limit_roll; + } + + /* set yaw setpoint forward*/ + att_sp.yaw_body = speed_sp.yaw_sp; + + /* add trim from parameters */ + att_sp.roll_body = att_sp.roll_body + params.trim_roll; + att_sp.pitch_body = att_sp.pitch_body + params.trim_pitch; + + att_sp.thrust = speed_sp.thrust_sp; + att_sp.timestamp = hrt_absolute_time(); + + /* publish new attitude setpoint */ + if(isfinite(att_sp.pitch_body) && isfinite(att_sp.roll_body) && isfinite(att_sp.yaw_body) && isfinite(att_sp.thrust)) + { + if (attitude_setpoint_adverted) + { + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } + else + { + att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); + attitude_setpoint_adverted = true; + } + } + else + { + warnx("NaN in flow speed controller!"); + } + } + else + { + /* reset attitude setpoint */ + att_sp.roll_body = 0.0f; + att_sp.pitch_body = 0.0f; + att_sp.thrust = 0.0f; + att_sp.yaw_body = 0.0f; + } + + /* measure in what intervals the controller runs */ + perf_count(mc_interval_perf); + perf_end(mc_loop_perf); + } + } + + counter++; + } + else + { + /* sensors not ready waiting for first attitude msg */ + + /* polling */ + struct pollfd fds[1] = { + { .fd = vehicle_attitude_sub, .events = POLLIN }, + }; + + /* wait for a flow msg, check for exit condition every 5 s */ + int ret = poll(fds, 1, 5000); + + if (ret < 0) + { + /* poll error, count it in perf */ + perf_count(mc_err_perf); + } + else if (ret == 0) + { + /* no return value, ignore */ + printf("[flow speed control] no attitude received.\n"); + } + else + { + if (fds[0].revents & POLLIN) + { + sensors_ready = true; + printf("[flow speed control] initialized.\n"); + } + } + } + } + + printf("[flow speed control] ending now...\n"); + + thread_running = false; + + close(parameter_update_sub); + close(vehicle_attitude_sub); + close(vehicle_bodyframe_speed_setpoint_sub); + close(filtered_bottom_flow_sub); + close(vehicle_status_sub); + close(att_sp_pub); + + perf_print_counter(mc_loop_perf); + perf_free(mc_loop_perf); + + fflush(stdout); + return 0; +} |