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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Example User <mail@example.com>
*
* 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 <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#include <stdlib.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/debug_key_value.h>
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_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");
/* subscribe to raw data */
int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
/* advertise debug value */
struct debug_key_value_s dbg = { .key = "posx", .value = 0.0f };
orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
float position[3] = {};
float velocity[3] = {};
uint64_t last_time = 0;
struct pollfd fds[] = {
{ .fd = sub_raw, .events = POLLIN },
};
while (!thread_should_exit) {
/* wait for sensor update */
int ret = poll(fds, 1, 1000);
if (ret < 0) {
/* XXX this is seriously bad - should be an emergency */
} else if (ret == 0) {
/* XXX this means no sensor data - should be critical or emergency */
printf("[ground estimator bm] WARNING: Not getting sensor data - sensor app running?\n");
} else {
struct sensor_combined_s s;
orb_copy(ORB_ID(sensor_combined), sub_raw, &s);
float dt = ((float)(s.timestamp - last_time)) / 1000000.0f;
/* Integration */
position[0] += velocity[0] * dt;
position[1] += velocity[1] * dt;
position[2] += velocity[2] * dt;
velocity[0] += velocity[0] * 0.01f + 0.99f * s.accelerometer_m_s2[0] * dt;
velocity[1] += velocity[1] * 0.01f + 0.99f * s.accelerometer_m_s2[1] * dt;
velocity[2] += velocity[2] * 0.01f + 0.99f * s.accelerometer_m_s2[2] * dt;
dbg.value = position[0];
orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
}
}
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 <additional params>]\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_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);
}
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