1 files changed, 370 insertions, 0 deletions
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
new file mode 100644
index 000000000..58477632b
--- /dev/null
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
@@ -0,0 +1,370 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *   			@author Doug Weibel <douglas.weibel@colorado.edu>
+ *
+ * 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 fixedwing_att_control.c
+ * Implementation of a fixed wing attitude controller.
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <drivers/drv_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/debug_key_value.h>
+#include <systemlib/param/param.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+
+#include "fixedwing_att_control_rate.h"
+#include "fixedwing_att_control_att.h"
+
+/* Prototypes */
+/**
+ * Deamon management function.
+ */
+__EXPORT int fixedwing_att_control_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int fixedwing_att_control_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+/* Variables */
+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 */
+
+/* Main Thread */
+int fixedwing_att_control_thread_main(int argc, char *argv[])
+{
+	/* read arguments */
+	bool verbose = false;
+
+	for (int i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+			verbose = true;
+		}
+	}
+
+	/* welcome user */
+	printf("[fixedwing att control] started\n");
+
+	/* declare and safely initialize all structs */
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	struct vehicle_attitude_setpoint_s att_sp;
+	memset(&att_sp, 0, sizeof(att_sp));
+	struct vehicle_rates_setpoint_s rates_sp;
+	memset(&rates_sp, 0, sizeof(rates_sp));
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	struct manual_control_setpoint_s manual_sp;
+	memset(&manual_sp, 0, sizeof(manual_sp));
+	struct vehicle_status_s vstatus;
+	memset(&vstatus, 0, sizeof(vstatus));
+
+	/* output structs */
+	struct actuator_controls_s actuators;
+	memset(&actuators, 0, sizeof(actuators));
+
+
+	/* publish actuator controls */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
+		actuators.control[i] = 0.0f;
+	}
+
+	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
+	orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
+
+	/* subscribe */
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+
+	/* Setup of loop */
+	float gyro[3] = {0.0f, 0.0f, 0.0f};
+	float speed_body[3] = {0.0f, 0.0f, 0.0f};
+	struct pollfd fds = { .fd = att_sub, .events = POLLIN };
+
+	while (!thread_should_exit) {
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		poll(&fds, 1, 500);
+
+		/* Check if there is a new position measurement or  attitude setpoint */
+		bool pos_updated;
+		orb_check(global_pos_sub, &pos_updated);
+		bool att_sp_updated;
+		orb_check(att_sp_sub, &att_sp_updated);
+
+		/* get a local copy of attitude */
+		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+
+		if (att_sp_updated)
+			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
+
+		if (pos_updated) {
+			orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
+
+			if (att.R_valid) {
+				speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
+				speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
+				speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
+
+			} else {
+				speed_body[0] = 0;
+				speed_body[1] = 0;
+				speed_body[2] = 0;
+
+				printf("FW ATT CONTROL: Did not get a valid R\n");
+			}
+		}
+
+		orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
+		orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
+
+		gyro[0] = att.rollspeed;
+		gyro[1] = att.pitchspeed;
+		gyro[2] = att.yawspeed;
+
+		/* control */
+
+		if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
+		    vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
+			/* attitude control */
+			fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
+
+			/* angular rate control */
+			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
+
+			/* pass through throttle */
+			actuators.control[3] = att_sp.thrust;
+
+			/* set flaps to zero */
+			actuators.control[4] = 0.0f;
+
+		} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
+			if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
+
+				/* if the RC signal is lost, try to stay level and go slowly back down to ground */
+				if (vstatus.rc_signal_lost) {
+
+					/* put plane into loiter */
+					att_sp.roll_body = 0.3f;
+					att_sp.pitch_body = 0.0f;
+
+					/* limit throttle to 60 % of last value if sane */
+					if (isfinite(manual_sp.throttle) &&
+					    (manual_sp.throttle >= 0.0f) &&
+					    (manual_sp.throttle <= 1.0f)) {
+						att_sp.thrust = 0.6f * manual_sp.throttle;
+
+					} else {
+						att_sp.thrust = 0.0f;
+					}
+
+					att_sp.yaw_body = 0;
+
+					// XXX disable yaw control, loiter
+
+				} else {
+
+					att_sp.roll_body = manual_sp.roll;
+					att_sp.pitch_body = manual_sp.pitch;
+					att_sp.yaw_body = 0;
+					att_sp.thrust = manual_sp.throttle;
+				}
+
+				att_sp.timestamp = hrt_absolute_time();
+
+				/* attitude control */
+				fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
+
+				/* angular rate control */
+				fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
+
+				/* pass through throttle */
+				actuators.control[3] = att_sp.thrust;
+
+				/* pass through flaps */
+				if (isfinite(manual_sp.flaps)) {
+					actuators.control[4] = manual_sp.flaps;
+
+				} else {
+					actuators.control[4] = 0.0f;
+				}
+
+			} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+				/* directly pass through values */
+				actuators.control[0] = manual_sp.roll;
+				/* positive pitch means negative actuator -> pull up */
+				actuators.control[1] = manual_sp.pitch;
+				actuators.control[2] = manual_sp.yaw;
+				actuators.control[3] = manual_sp.throttle;
+
+				if (isfinite(manual_sp.flaps)) {
+					actuators.control[4] = manual_sp.flaps;
+
+				} else {
+					actuators.control[4] = 0.0f;
+				}
+			}
+		}
+
+		/* publish rates */
+		orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
+
+		/* sanity check and publish actuator outputs */
+		if (isfinite(actuators.control[0]) &&
+		    isfinite(actuators.control[1]) &&
+		    isfinite(actuators.control[2]) &&
+		    isfinite(actuators.control[3])) {
+			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+		}
+	}
+
+	printf("[fixedwing_att_control] exiting, stopping all motors.\n");
+	thread_running = false;
+
+	/* kill all outputs */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+		actuators.control[i] = 0.0f;
+
+	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+
+
+
+	close(att_sub);
+	close(actuator_pub);
+	close(rates_pub);
+
+	fflush(stdout);
+	exit(0);
+
+	return 0;
+
+}
+
+/* Startup Functions */
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\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_create().
+ */
+int fixedwing_att_control_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("fixedwing_att_control already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("fixedwing_att_control",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 20,
+					 2048,
+					 fixedwing_att_control_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		thread_running = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tfixedwing_att_control is running\n");
+
+		} else {
+			printf("\tfixedwing_att_control not started\n");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+
+