diff options
Diffstat (limited to 'src/modules/segway')
-rw-r--r-- | src/modules/segway/BlockSegwayController.cpp | 57 | ||||
-rw-r--r-- | src/modules/segway/BlockSegwayController.hpp | 27 | ||||
-rw-r--r-- | src/modules/segway/module.mk | 42 | ||||
-rw-r--r-- | src/modules/segway/params.c | 8 | ||||
-rw-r--r-- | src/modules/segway/segway_main.cpp | 157 |
5 files changed, 291 insertions, 0 deletions
diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp new file mode 100644 index 000000000..b1dc39445 --- /dev/null +++ b/src/modules/segway/BlockSegwayController.cpp @@ -0,0 +1,57 @@ +#include "BlockSegwayController.hpp" + +void BlockSegwayController::update() { + // wait for a sensor update, check for exit condition every 100 ms + if (poll(&_attPoll, 1, 100) < 0) return; // poll error + + uint64_t newTimeStamp = hrt_absolute_time(); + float dt = (newTimeStamp - _timeStamp) / 1.0e6f; + _timeStamp = newTimeStamp; + + // check for sane values of dt + // to prevent large control responses + if (dt > 1.0f || dt < 0) return; + + // set dt for all child blocks + setDt(dt); + + // check for new updates + if (_param_update.updated()) updateParams(); + + // get new information from subscriptions + updateSubscriptions(); + + // default all output to zero unless handled by mode + for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++) + _actuators.control[i] = 0.0f; + + // only update guidance in auto mode + if (_status.state_machine == SYSTEM_STATE_AUTO) { + // update guidance + } + + // compute speed command + float spdCmd = -th2v.update(_att.pitch) - q2v.update(_att.pitchspeed); + + // handle autopilot modes + if (_status.state_machine == SYSTEM_STATE_AUTO || + _status.state_machine == SYSTEM_STATE_STABILIZED) { + _actuators.control[0] = spdCmd; + _actuators.control[1] = spdCmd; + + } else if (_status.state_machine == SYSTEM_STATE_MANUAL) { + if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { + _actuators.control[CH_LEFT] = _manual.throttle; + _actuators.control[CH_RIGHT] = _manual.pitch; + + } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { + _actuators.control[0] = spdCmd; + _actuators.control[1] = spdCmd; + } + } + + // update all publications + updatePublications(); + +} + diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp new file mode 100644 index 000000000..4a01f785c --- /dev/null +++ b/src/modules/segway/BlockSegwayController.hpp @@ -0,0 +1,27 @@ +#pragma once + +#include <controllib/uorb/blocks.hpp> + +using namespace control; + +class BlockSegwayController : public control::BlockUorbEnabledAutopilot { +public: + BlockSegwayController() : + BlockUorbEnabledAutopilot(NULL,"SEG"), + th2v(this, "TH2V"), + q2v(this, "Q2V"), + _attPoll(), + _timeStamp(0) + { + _attPoll.fd = _att.getHandle(); + _attPoll.events = POLLIN; + } + void update(); +private: + enum {CH_LEFT, CH_RIGHT}; + BlockPI th2v; + BlockP q2v; + struct pollfd _attPoll; + uint64_t _timeStamp; +}; + diff --git a/src/modules/segway/module.mk b/src/modules/segway/module.mk new file mode 100644 index 000000000..d5da85601 --- /dev/null +++ b/src/modules/segway/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# 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. +# +############################################################################ + +# +# segway controller +# + +MODULE_COMMAND = segway + +SRCS = segway_main.cpp \ + BlockSegwayController.cpp \ + params.c diff --git a/src/modules/segway/params.c b/src/modules/segway/params.c new file mode 100644 index 000000000..d72923717 --- /dev/null +++ b/src/modules/segway/params.c @@ -0,0 +1,8 @@ +#include <systemlib/param/param.h> + +// 16 is max name length +PARAM_DEFINE_FLOAT(SEG_TH2V_P, 10.0f); // pitch to voltage +PARAM_DEFINE_FLOAT(SEG_TH2V_I, 0.0f); // pitch integral to voltage +PARAM_DEFINE_FLOAT(SEG_TH2V_I_MAX, 0.0f); // integral limiter +PARAM_DEFINE_FLOAT(SEG_Q2V, 1.0f); // pitch rate to voltage + diff --git a/src/modules/segway/segway_main.cpp b/src/modules/segway/segway_main.cpp new file mode 100644 index 000000000..061fbf9b9 --- /dev/null +++ b/src/modules/segway/segway_main.cpp @@ -0,0 +1,157 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: James Goppert + * + * 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 segway_main.cpp + * @author James Goppert + * + * Segway controller using control library + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <systemlib/systemlib.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> +#include <math.h> + +#include "BlockSegwayController.hpp" + +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 */ + +/** + * Deamon management function. + */ +extern "C" __EXPORT int segway_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int segway_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: segway {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_create(). + */ +int segway_main(int argc, char *argv[]) +{ + + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + warnx("already running"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + + deamon_task = task_spawn_cmd("segway", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 10, + 5120, + segway_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) { + warnx("is running"); + + } else { + warnx("not started"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int segway_thread_main(int argc, char *argv[]) +{ + + warnx("starting"); + + using namespace control; + + BlockSegwayController autopilot; + + thread_running = true; + + while (!thread_should_exit) { + autopilot.update(); + } + + warnx("exiting."); + + thread_running = false; + + return 0; +} |