From cb57fdb28c35f6c472a6b21bc66e96cbf5d45c82 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 12 Sep 2012 10:34:49 +0200 Subject: Added ground estimator, fixed RC calibration --- apps/px4/ground_estimator/Makefile | 42 +++++++++ apps/px4/ground_estimator/ground_estimator.c | 129 +++++++++++++++++++++++++++ 2 files changed, 171 insertions(+) create mode 100644 apps/px4/ground_estimator/Makefile create mode 100644 apps/px4/ground_estimator/ground_estimator.c (limited to 'apps/px4') diff --git a/apps/px4/ground_estimator/Makefile b/apps/px4/ground_estimator/Makefile new file mode 100644 index 000000000..b44d871c6 --- /dev/null +++ b/apps/px4/ground_estimator/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 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. +# +############################################################################ + +# +# Basic example application +# + +APPNAME = ground_estimator +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/px4/ground_estimator/ground_estimator.c b/apps/px4/ground_estimator/ground_estimator.c new file mode 100644 index 000000000..0bd8f09f1 --- /dev/null +++ b/apps/px4/ground_estimator/ground_estimator.c @@ -0,0 +1,129 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Example User + * + * 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 ground_estimator.c + * ground_estimator application example for PX4 autopilot + */ + +#include +#include +#include + +static bool thread_should_exit = false; /**< ground_estimator exit flag */ +static bool thread_running = false; /**< ground_estimator status flag */ +static int ground_estimator_task; /**< Handle of ground_estimator task / thread */ + +/** + * ground_estimator management function. + */ +__EXPORT int ground_estimator_app_main(int argc, char *argv[]); + +/** + * Mainloop of ground_estimator. + */ +int ground_estimator_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +int ground_estimator_thread_main(int argc, char *argv[]) { + + printf("[ground_estimator] starting\n"); + + while (!thread_should_exit) { + printf("Hello ground_estimator!\n"); + sleep(10); + } + + printf("[ground_estimator] exiting.\n"); + + return 0; +} + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: ground_estimator {start|stop|status} [-p ]\n\n"); + exit(1); +} + +/** + * The ground_estimator 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 ground_estimator_app_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("ground_estimator already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + ground_estimator_task = task_create("ground_estimator", SCHED_PRIORITY_DEFAULT, 4096, ground_estimator_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("\tground_estimator is running\n"); + } else { + printf("\tground_estimator not started\n"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} -- cgit v1.2.3