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-rw-r--r--src/modules/segway/BlockSegwayController.cpp57
-rw-r--r--src/modules/segway/BlockSegwayController.hpp27
-rw-r--r--src/modules/segway/module.mk42
-rw-r--r--src/modules/segway/params.c8
-rw-r--r--src/modules/segway/segway_main.cpp157
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;
+}
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