From dae0b922f166b1c6af79ecce85b3eb00dde22654 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 19 Aug 2012 15:52:59 +0200 Subject: Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests --- .../multirotor_pos_control.c | 136 +++++++++++++++++++++ 1 file changed, 136 insertions(+) create mode 100644 apps/multirotor_pos_control/multirotor_pos_control.c (limited to 'apps/multirotor_pos_control/multirotor_pos_control.c') diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/apps/multirotor_pos_control/multirotor_pos_control.c new file mode 100644 index 000000000..ff32fb460 --- /dev/null +++ b/apps/multirotor_pos_control/multirotor_pos_control.c @@ -0,0 +1,136 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * 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 Implementation of AR.Drone 1.0 / 2.0 control interface + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "ardrone_control.h" +#include "attitude_control.h" +#include "rate_control.h" +#include "ardrone_motor_control.h" +#include "position_control.h" +#include +#include +#include +#include + +__EXPORT int multirotor_pos_control_main(int argc, char *argv[]); + +static bool thread_should_exit; +static bool thread_running = false; +static int mpc_task; + +static int +mpc_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_local_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_local_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 */ + int att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); + + 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_local_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 (state.state_machine == SYSTEM_STATE_AUTO) { + position_control(&state, &manual, &att, &local_pos, &local_pos_sp, &att_sp); + /* publish new attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } else if (state.state_machine == SYSTEM_STATE_STABILIZE) { + /* 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); + + counter++; + } + + /* close uarts */ + close(ardrone_write); + ar_multiplexing_deinit(gpios); + + printf("[multirotor pos control] ending now...\r\n"); + fflush(stdout); + return 0; +} + -- cgit v1.2.3