diff options
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c | 238 |
1 files changed, 238 insertions, 0 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c new file mode 100644 index 000000000..7b8d83aa8 --- /dev/null +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -0,0 +1,238 @@ +/**************************************************************************** + * + * 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; +} + |