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/****************************************************************************
*
* 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_control.c
* Implementation of multirotor controllers
*/
#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 <arch/board/up_hrt.h>
#include "multirotor_control.h"
#include "multirotor_attitude_control.h"
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/ardrone_control.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/sensor_combined.h>
__EXPORT int ardrone_control_main(int argc, char *argv[]);
/****************************************************************************
* Internal Definitions
****************************************************************************/
enum {
CONTROL_MODE_RATES = 0,
CONTROL_MODE_ATTITUDE = 1,
} control_mode;
/****************************************************************************
* Private Data
****************************************************************************/
/*File descriptors */
int ardrone_write;
int gpios;
bool position_control_thread_started;
/****************************************************************************
* pthread loops
****************************************************************************/
// static void *position_control_loop(void *arg)
// {
// struct vehicle_status_s *state = (struct vehicle_status_s *)arg;
// // Set thread name
// prctl(PR_SET_NAME, "ardrone pos ctrl", getpid());
// while (1) {
// if (state->state_machine == SYSTEM_STATE_AUTO) {
// // control_position(); //FIXME TODO XXX
// /* temporary 50 Hz execution */
// usleep(20000);
// } else {
// position_control_thread_started = false;
// break;
// }
// }
// return NULL;
// }
/****************************************************************************
* main
****************************************************************************/
int ardrone_control_main(int argc, char *argv[])
{
/* welcome user */
printf("[ardrone_control] Control started, taking over motors\n");
/* default values for arguments */
char *ardrone_uart_name = "/dev/ttyS1";
control_mode = CONTROL_MODE_RATES;
char *commandline_usage = "\tusage: ardrone_control -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n";
/* read commandline arguments */
int i;
for (i = 1; i < argc; i++) {
if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set
if (argc > i + 1) {
ardrone_uart_name = argv[i + 1];
} else {
printf(commandline_usage);
return 0;
}
} else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
if (argc > i + 1) {
if (strcmp(argv[i + 1], "rates") == 0) {
control_mode = CONTROL_MODE_RATES;
} else if (strcmp(argv[i + 1], "attitude") == 0) {
control_mode = CONTROL_MODE_ATTITUDE;
} else {
printf(commandline_usage);
return 0;
}
} else {
printf(commandline_usage);
return 0;
}
}
}
/* open uarts */
printf("[ardrone_control] AR.Drone UART is %s\n", ardrone_uart_name);
ardrone_write = open(ardrone_uart_name, O_RDWR | O_NOCTTY | O_NDELAY);
/* initialize motors */
int counter = 0;
/* pthread for position control */
// pthread_t position_control_thread;
// position_control_thread_started = false;
/* structures */
struct vehicle_status_s state;
struct vehicle_attitude_s att;
struct rc_channels_s rc;
struct sensor_combined_s raw;
/* 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 rc_sub = orb_subscribe(ORB_ID(rc_channels));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
/* publish AR.Drone motor control state */
// int ardrone_pub = orb_advertise(ORB_ID(ardrone_control), &ar_control);
while (1) {
/* get a local copy of the vehicle state */
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
/* get a local copy of rc */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
multirotor_control_attitude(&rc, &att, &state);
/* run at approximately 200 Hz */
usleep(5000);
counter++;
}
/* close uarts */
close(ardrone_write);
ar_multiplexing_deinit(gpios);
printf("[ardrone_control] ending now...\r\n");
fflush(stdout);
return 0;
}
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