diff options
Diffstat (limited to 'src/examples')
4 files changed, 52 insertions, 30 deletions
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c index 27888523b..ae33a3702 100644 --- a/src/examples/fixedwing_control/main.c +++ b/src/examples/fixedwing_control/main.c @@ -380,9 +380,10 @@ int fixedwing_control_thread_main(int argc, char *argv[]) /* control */ - /* if in auto mode, fly global position setpoint */ - if (vstatus.state_machine == SYSTEM_STATE_AUTO || - vstatus.state_machine == SYSTEM_STATE_STABILIZED) { +#warning fix this +#if 0 + if (vstatus.navigation_state == NAVIGATION_STATE_AUTO_ || + vstatus.navigation_state == NAVIGATION_STATE_STABILIZED) { /* simple heading control */ control_heading(&global_pos, &global_sp, &att, &att_sp); @@ -400,6 +401,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) /* set flaps to zero */ actuators.control[4] = 0.0f; + } else if (vstatus.navigation_state == NAVIGATION_STATE_MANUAL) { /* if in manual mode, decide between attitude stabilization (SAS) and full manual pass-through */ } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { @@ -465,6 +467,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) } } } +#endif /* publish rates */ orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); diff --git a/src/examples/flow_position_control/flow_position_control_main.c b/src/examples/flow_position_control/flow_position_control_main.c index c177c8fd2..ecc133f63 100644 --- a/src/examples/flow_position_control/flow_position_control_main.c +++ b/src/examples/flow_position_control/flow_position_control_main.c @@ -55,7 +55,8 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/vehicle_local_position.h> @@ -158,7 +159,8 @@ flow_position_control_thread_main(int argc, char *argv[]) const float time_scale = powf(10.0f,-6.0f); /* structures */ - struct vehicle_status_s vstatus; + struct actuator_safety_s safety; + struct vehicle_control_mode_s control_mode; struct vehicle_attitude_s att; struct manual_control_setpoint_s manual; struct filtered_bottom_flow_s filtered_flow; @@ -169,7 +171,8 @@ flow_position_control_thread_main(int argc, char *argv[]) /* 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 safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow)); int vehicle_local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); @@ -258,7 +261,7 @@ flow_position_control_thread_main(int argc, char *argv[]) perf_begin(mc_loop_perf); /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); + orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); /* get a local copy of manual setpoint */ orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual); /* get a local copy of attitude */ @@ -268,7 +271,7 @@ flow_position_control_thread_main(int argc, char *argv[]) /* get a local copy of local position */ orb_copy(ORB_ID(vehicle_local_position), vehicle_local_position_sub, &local_pos); - if (vstatus.state_machine == SYSTEM_STATE_AUTO) + if (control_mode.flag_control_velocity_enabled) { float manual_pitch = manual.pitch / params.rc_scale_pitch; // 0 to 1 float manual_roll = manual.roll / params.rc_scale_roll; // 0 to 1 @@ -490,7 +493,7 @@ flow_position_control_thread_main(int argc, char *argv[]) /* store actual height for speed estimation */ last_local_pos_z = local_pos.z; - speed_sp.thrust_sp = thrust_control; + speed_sp.thrust_sp = thrust_control; //manual.throttle; speed_sp.timestamp = hrt_absolute_time(); /* publish new speed setpoint */ @@ -527,7 +530,6 @@ flow_position_control_thread_main(int argc, char *argv[]) if(isfinite(manual.throttle)) speed_sp.thrust_sp = manual.throttle; } - /* measure in what intervals the controller runs */ perf_count(mc_interval_perf); perf_end(mc_loop_perf); @@ -576,7 +578,8 @@ flow_position_control_thread_main(int argc, char *argv[]) close(parameter_update_sub); close(vehicle_attitude_sub); close(vehicle_local_position_sub); - close(vehicle_status_sub); + close(safety_sub); + close(control_mode_sub); close(manual_control_setpoint_sub); close(speed_sp_pub); diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c index c0b16d2e7..8f84307a7 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_main.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c @@ -56,7 +56,8 @@ #include <math.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_local_position.h> @@ -143,8 +144,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) printf("[flow position estimator] starting\n"); /* rotation matrix for transformation of optical flow speed vectors */ - static const int8_t rotM_flow_sensor[3][3] = {{ 0, 1, 0 }, - { -1, 0, 0 }, + static const int8_t rotM_flow_sensor[3][3] = {{ 0, -1, 0 }, + { 1, 0, 0 }, { 0, 0, 1 }}; // 90deg rotated const float time_scale = powf(10.0f,-6.0f); static float speed[3] = {0.0f, 0.0f, 0.0f}; @@ -158,8 +159,10 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) static float sonar_lp = 0.0f; /* subscribe to vehicle status, attitude, sensors and flow*/ - struct vehicle_status_s vstatus; - memset(&vstatus, 0, sizeof(vstatus)); + struct actuator_safety_s safety; + memset(&safety, 0, sizeof(safety)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); struct vehicle_attitude_setpoint_s att_sp; @@ -170,8 +173,11 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) /* subscribe to parameter changes */ int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); - /* subscribe to vehicle status */ - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + /* subscribe to safety topic */ + int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + + /* subscribe to safety topic */ + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); /* subscribe to attitude */ int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); @@ -218,6 +224,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) while (!thread_should_exit) { + if (sensors_ready) { /*This runs at the rate of the sensors */ @@ -263,7 +270,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) /* got flow, updating attitude and status as well */ orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp); - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); + orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); /* vehicle state estimation */ float sonar_new = flow.ground_distance_m; @@ -273,14 +281,15 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) * -> accept sonar measurements after reaching calibration distance (values between 0.3m and 1.0m for some time) * -> minimum sonar value 0.3m */ + if (!vehicle_liftoff) { - if (vstatus.flag_system_armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f) + if (safety.armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f) vehicle_liftoff = true; } else { - if (!vstatus.flag_system_armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f)) + if (!safety.armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f)) vehicle_liftoff = false; } @@ -347,7 +356,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) } /* filtering ground distance */ - if (!vehicle_liftoff || !vstatus.flag_system_armed) + if (!vehicle_liftoff || !safety.armed) { /* not possible to fly */ sonar_valid = false; @@ -444,7 +453,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) close(vehicle_attitude_setpoint_sub); close(vehicle_attitude_sub); - close(vehicle_status_sub); + close(safety_sub); + close(control_mode_sub); close(parameter_update_sub); close(optical_flow_sub); diff --git a/src/examples/flow_speed_control/flow_speed_control_main.c b/src/examples/flow_speed_control/flow_speed_control_main.c index 9648728c8..4f60e34f2 100644 --- a/src/examples/flow_speed_control/flow_speed_control_main.c +++ b/src/examples/flow_speed_control/flow_speed_control_main.c @@ -55,7 +55,8 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_bodyframe_speed_setpoint.h> @@ -155,7 +156,8 @@ flow_speed_control_thread_main(int argc, char *argv[]) uint32_t counter = 0; /* structures */ - struct vehicle_status_s vstatus; + struct actuator_safety_s safety; + struct vehicle_control_mode_s control_mode; struct filtered_bottom_flow_s filtered_flow; struct vehicle_bodyframe_speed_setpoint_s speed_sp; @@ -164,7 +166,8 @@ flow_speed_control_thread_main(int argc, char *argv[]) /* 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 safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); 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)); @@ -226,14 +229,16 @@ flow_speed_control_thread_main(int argc, char *argv[]) { 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 the safety topic */ + orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + /* get a local copy of the control mode */ + orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); /* 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) + if (control_mode.flag_control_velocity_enabled) { /* calc new roll/pitch */ float pitch_body = -(speed_sp.vx - filtered_flow.vx) * params.speed_p; @@ -350,7 +355,8 @@ flow_speed_control_thread_main(int argc, char *argv[]) close(vehicle_attitude_sub); close(vehicle_bodyframe_speed_setpoint_sub); close(filtered_bottom_flow_sub); - close(vehicle_status_sub); + close(safety_sub); + close(control_mode_sub); close(att_sp_pub); perf_print_counter(mc_loop_perf); 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