Adapted flow estimator, position and velocity control to new state machine

src/examples/flow_position_control/flow_position_control_main.c

@@ -55,7 +55,8 @@
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_local_position.h>
@@ -158,7 +159,8 @@ flow_position_control_thread_main(int argc, char *argv[])
 	const float time_scale = powf(10.0f,-6.0f);
 
 	/* structures */
-	struct vehicle_status_s vstatus;
+	struct actuator_safety_s safety;
+	struct vehicle_control_mode_s control_mode;
 	struct vehicle_attitude_s att;
 	struct manual_control_setpoint_s manual;
 	struct filtered_bottom_flow_s filtered_flow;
@@ -169,7 +171,8 @@ flow_position_control_thread_main(int argc, char *argv[])
 	/* subscribe to attitude, motor setpoints and system state */
 	int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
 	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+	int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
+	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
 	int vehicle_local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
@@ -258,7 +261,7 @@ flow_position_control_thread_main(int argc, char *argv[])
 					perf_begin(mc_loop_perf);
 
 					/* get a local copy of the vehicle state */
-					orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
+					orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
 					/* get a local copy of manual setpoint */
 					orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual);
 					/* get a local copy of attitude */
@@ -268,9 +271,7 @@ flow_position_control_thread_main(int argc, char *argv[])
 					/* get a local copy of local position */
 					orb_copy(ORB_ID(vehicle_local_position), vehicle_local_position_sub, &local_pos);
 
-// XXX fix this
-#if 0
-					if (vstatus.state_machine == SYSTEM_STATE_AUTO)
+					if (control_mode.flag_control_velocity_enabled)
 					{
 						float manual_pitch = manual.pitch / params.rc_scale_pitch; // 0 to 1
 						float manual_roll = manual.roll / params.rc_scale_roll; // 0 to 1
@@ -492,7 +493,7 @@ flow_position_control_thread_main(int argc, char *argv[])
 						/* store actual height for speed estimation */
 						last_local_pos_z = local_pos.z;
 
-						speed_sp.thrust_sp = thrust_control;
+						speed_sp.thrust_sp =  thrust_control; //manual.throttle;
 						speed_sp.timestamp = hrt_absolute_time();
 
 						/* publish new speed setpoint */
@@ -529,7 +530,6 @@ flow_position_control_thread_main(int argc, char *argv[])
 						if(isfinite(manual.throttle))
 							speed_sp.thrust_sp = manual.throttle;
 					}
-#endif
 					/* measure in what intervals the controller runs */
 					perf_count(mc_interval_perf);
 					perf_end(mc_loop_perf);
@@ -578,7 +578,8 @@ flow_position_control_thread_main(int argc, char *argv[])
 	close(parameter_update_sub);
 	close(vehicle_attitude_sub);
 	close(vehicle_local_position_sub);
-	close(vehicle_status_sub);
+	close(safety_sub);
+	close(control_mode_sub);
 	close(manual_control_setpoint_sub);
 	close(speed_sp_pub);
 

src/examples/flow_position_estimator/flow_position_estimator_main.c

@@ -56,7 +56,8 @@
 #include <math.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_local_position.h>
@@ -143,8 +144,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 	printf("[flow position estimator] starting\n");
 
 	/* rotation matrix for transformation of optical flow speed vectors */
-	static const int8_t rotM_flow_sensor[3][3] =   {{  0, 1, 0 },
-													{ -1, 0, 0 },
+	static const int8_t rotM_flow_sensor[3][3] =   {{  0, -1, 0 },
+													{ 1, 0, 0 },
 													{  0, 0, 1 }}; // 90deg rotated
 	const float time_scale = powf(10.0f,-6.0f);
 	static float speed[3] = {0.0f, 0.0f, 0.0f};
@@ -158,8 +159,10 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 	static float sonar_lp = 0.0f;
 
 	/* subscribe to vehicle status, attitude, sensors and flow*/
-	struct vehicle_status_s vstatus;
-	memset(&vstatus, 0, sizeof(vstatus));
+	struct actuator_safety_s safety;
+	memset(&safety, 0, sizeof(safety));
+	struct vehicle_control_mode_s control_mode;
+	memset(&control_mode, 0, sizeof(control_mode));
 	struct vehicle_attitude_s att;
 	memset(&att, 0, sizeof(att));
 	struct vehicle_attitude_setpoint_s att_sp;
@@ -170,8 +173,11 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 	/* subscribe to parameter changes */
 	int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
 
-	/* subscribe to vehicle status */
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+	/* subscribe to safety topic */
+	int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
+
+	/* subscribe to safety topic */
+	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 
 	/* subscribe to attitude */
 	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -218,8 +224,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 
 	while (!thread_should_exit)
 	{
-// XXX fix this
-#if 0
+
 		if (sensors_ready)
 		{
 			/*This runs at the rate of the sensors */
@@ -265,7 +270,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 					/* got flow, updating attitude and status as well */
 					orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
 					orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp);
-					orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
+					orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
+					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
 
 					/* vehicle state estimation */
 					float sonar_new = flow.ground_distance_m;
@@ -278,12 +284,12 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 
 					if (!vehicle_liftoff)
 					{
-						if (vstatus.flag_system_armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f)
+						if (safety.armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f)
 							vehicle_liftoff = true;
 					}
 					else
 					{
-						if (!vstatus.flag_system_armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f))
+						if (!safety.armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f))
 							vehicle_liftoff = false;
 					}
 
@@ -350,7 +356,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 					}
 
 					/* filtering ground distance */
-					if (!vehicle_liftoff || !vstatus.flag_system_armed)
+					if (!vehicle_liftoff || !safety.armed)
 					{
 						/* not possible to fly */
 						sonar_valid = false;
@@ -440,7 +446,6 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 		}
 
 		counter++;
-		#endif
 	}
 
 	printf("[flow position estimator] exiting.\n");
@@ -448,7 +453,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 
 	close(vehicle_attitude_setpoint_sub);
 	close(vehicle_attitude_sub);
-	close(vehicle_status_sub);
+	close(safety_sub);
+	close(control_mode_sub);
 	close(parameter_update_sub);
 	close(optical_flow_sub);
 

src/examples/flow_speed_control/flow_speed_control_main.c

@@ -55,7 +55,8 @@
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_bodyframe_speed_setpoint.h>
@@ -155,7 +156,8 @@ flow_speed_control_thread_main(int argc, char *argv[])
 	uint32_t counter = 0;
 
 	/* structures */
-	struct vehicle_status_s vstatus;
+	struct actuator_safety_s safety;
+	struct vehicle_control_mode_s control_mode;
 	struct filtered_bottom_flow_s filtered_flow;
 	struct vehicle_bodyframe_speed_setpoint_s speed_sp;
 
@@ -164,7 +166,8 @@ flow_speed_control_thread_main(int argc, char *argv[])
 	/* subscribe to attitude, motor setpoints and system state */
 	int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
 	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+	int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
+	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
 	int vehicle_bodyframe_speed_setpoint_sub = orb_subscribe(ORB_ID(vehicle_bodyframe_speed_setpoint));
 
@@ -186,7 +189,6 @@ flow_speed_control_thread_main(int argc, char *argv[])
 
 	while (!thread_should_exit)
 	{
-#if 0
 		/* wait for first attitude msg to be sure all data are available */
 		if (sensors_ready)
 		{
@@ -227,14 +229,16 @@ flow_speed_control_thread_main(int argc, char *argv[])
 				{
 					perf_begin(mc_loop_perf);
 
-					/* get a local copy of the vehicle state */
-					orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
+					/* get a local copy of the safety topic */
+					orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
+					/* get a local copy of the control mode */
+					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
 					/* get a local copy of filtered bottom flow */
 					orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow);
 					/* get a local copy of bodyframe speed setpoint */
 					orb_copy(ORB_ID(vehicle_bodyframe_speed_setpoint), vehicle_bodyframe_speed_setpoint_sub, &speed_sp);
 
-					if (vstatus.state_machine == SYSTEM_STATE_AUTO)
+					if (control_mode.flag_control_velocity_enabled)
 					{
 						/* calc new roll/pitch */
 						float pitch_body = -(speed_sp.vx - filtered_flow.vx) * params.speed_p;
@@ -341,7 +345,6 @@ flow_speed_control_thread_main(int argc, char *argv[])
 				}
 			}
 		}
-#endif
 	}
 
 	printf("[flow speed control] ending now...\n");
@@ -352,7 +355,8 @@ flow_speed_control_thread_main(int argc, char *argv[])
 	close(vehicle_attitude_sub);
 	close(vehicle_bodyframe_speed_setpoint_sub);
 	close(filtered_bottom_flow_sub);
-	close(vehicle_status_sub);
+	close(safety_sub);
+	close(control_mode_sub);
 	close(att_sp_pub);
 
 	perf_print_counter(mc_loop_perf);

src/modules/multirotor_att_control/multirotor_att_control_main.c

@@ -331,7 +331,7 @@ mc_thread_main(int argc, char *argv[])
 //									 */
 //
 									/* only move setpoint if manual input is != 0 */
-									if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
+									if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.1f) {
 										rates_sp.yaw = manual.yaw;
 										control_yaw_position = false;
 										first_time_after_yaw_speed_control = true;

src/modules/multirotor_att_control/multirotor_attitude_control.c

@@ -156,8 +156,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		parameters_init(&h);
 		parameters_update(&h, &p);
 
-		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f, PID_MODE_DERIVATIV_SET);
-		pid_init(&roll_controller,  p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f, PID_MODE_DERIVATIV_SET);
+		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f, PID_MODE_DERIVATIV_SET);
+		pid_init(&roll_controller,  p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f, PID_MODE_DERIVATIV_SET);
 
 		initialized = true;
 	}
@@ -168,8 +168,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		parameters_update(&h, &p);
 
 		/* apply parameters */
-		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f);
-		pid_set_parameters(&roll_controller,  p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f);
+		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f);
+		pid_set_parameters(&roll_controller,  p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f);
 	}
 
 	/* reset integral if on ground */