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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 Implementation of AR.Drone 1.0 / 2.0 control interface
*/
#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 "ardrone_control.h"
#include "attitude_control.h"
#include "rate_control.h"
#include "ardrone_motor_control.h"
#include "position_control.h"
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/manual_control_setpoint.h>
__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;
}
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