Merge pull request #169 from PX4/home_position

Home position

apps/commander/commander.c

@@ -72,8 +72,10 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/offboard_control_setpoint.h>
+#include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/subsystem_info.h>
 #include <uORB/topics/actuator_controls.h>
@@ -1251,6 +1253,7 @@ int commander_thread_main(int argc, char *argv[])
 {
 	/* not yet initialized */
 	commander_initialized = false;
+	bool home_position_set = false;
 
 	/* set parameters */
 	failsafe_lowlevel_timeout_ms = 0;
@@ -1302,6 +1305,11 @@ int commander_thread_main(int argc, char *argv[])
 	/* publish current state machine */
 	state_machine_publish(stat_pub, &current_status, mavlink_fd);
 
+	/* home position */
+	orb_advert_t home_pub = -1;
+	struct home_position_s home;
+	memset(&home, 0, sizeof(home));
+
 	if (stat_pub < 0) {
 		warnx("ERROR: orb_advertise for topic vehicle_status failed.\n");
 		exit(ERROR);
@@ -1332,10 +1340,6 @@ int commander_thread_main(int argc, char *argv[])
 	uint16_t stick_off_counter = 0;
 	uint16_t stick_on_counter = 0;
 
-	float hdop = 65535.0f;
-
-	int gps_quality_good_counter = 0;
-
 	/* Subscribe to manual control data */
 	int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	struct manual_control_setpoint_s sp_man;
@@ -1356,6 +1360,15 @@ int commander_thread_main(int argc, char *argv[])
 	memset(&local_position, 0, sizeof(local_position));
 	uint64_t last_local_position_time = 0;
 
+	/* 
+	 * The home position is set based on GPS only, to prevent a dependency between
+	 * position estimator and commander. RAW GPS is more than good enough for a
+	 * non-flying vehicle.
+	 */
+	int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	struct vehicle_gps_position_s gps_position;
+	memset(&gps_position, 0, sizeof(gps_position));
+
 	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 	struct sensor_combined_s sensors;
 	memset(&sensors, 0, sizeof(sensors));
@@ -1660,65 +1673,57 @@ int commander_thread_main(int argc, char *argv[])
 			state_changed = true;
 		}
 
+		if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) {
 
-		/* Check if last transition deserved an audio event */
-// #warning This code depends on state that is no longer? maintained
-// #if 0
-// 		trigger_audio_alarm(vehicle_mode_previous, vehicle_state_previous, current_status.mode, current_status.state_machine);
-// #endif
+			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
 
-		/* only check gps fix if we are outdoor */
-//		if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
-//
-//			hdop = (float)(gps.eph) / 100.0f;
-//
-//			/* check if gps fix is ok */
-//			if (gps.fix_type == GPS_FIX_TYPE_3D) { //TODO: is 2d-fix ok? //see http://en.wikipedia.org/wiki/Dilution_of_precision_%28GPS%29
-//
-//				if (gotfix_counter >= GPS_GOTFIX_COUNTER_REQUIRED) { //TODO: add also a required time?
-//					update_state_machine_got_position_fix(stat_pub, &current_status);
-//					gotfix_counter = 0;
-//				} else {
-//					gotfix_counter++;
-//				}
-//				nofix_counter = 0;
-//
-//				if (hdop < 5.0f) { //TODO: this should be a parameter
-//					if (gps_quality_good_counter > GPS_QUALITY_GOOD_COUNTER_LIMIT) {
-//						current_status.gps_valid = true;//--> position estimator can use the gps measurements
-//					}
-//
-//					gps_quality_good_counter++;
-//
-//
-////					if(counter%10 == 0)//for testing only
-////						warnx("gps_quality_good_counter = %u\n", gps_quality_good_counter);//for testing only
-//
-//				} else {
-//					gps_quality_good_counter = 0;
-//					current_status.gps_valid = false;//--> position estimator can not use the gps measurements
-//				}
-//
-//			} else {
-//				gps_quality_good_counter = 0;
-//				current_status.gps_valid = false;//--> position estimator can not use the gps measurements
-//
-//				if (nofix_counter > GPS_NOFIX_COUNTER_LIMIT) { //TODO: add also a timer limit?
-//					update_state_machine_no_position_fix(stat_pub, &current_status);
-//					nofix_counter = 0;
-//				} else {
-//					nofix_counter++;
-//				}
-//				gotfix_counter = 0;
-//			}
-//
-//		}
-//
-//
-//		if (flight_env == PX4_FLIGHT_ENVIRONMENT_TESTING) //simulate position fix for quick indoor tests
-		//update_state_machine_got_position_fix(stat_pub, &current_status, mavlink_fd);
-		/* end: check gps */
+			/* check for first, long-term and valid GPS lock -> set home position */
+			float hdop_m = gps_position.eph / 100.0f;
+			float vdop_m = gps_position.epv / 100.0f;
+
+			/* check if gps fix is ok */
+			// XXX magic number
+			float dop_threshold_m = 2.0f;
+
+			/*
+			 * If horizontal dilution of precision (hdop / eph)
+			 * and vertical diluation of precision (vdop / epv)
+			 * are below a certain threshold (e.g. 4 m), AND
+			 * home position is not yet set AND the last GPS
+			 * GPS measurement is not older than two seconds AND
+			 * the system is currently not armed, set home
+			 * position to the current position.
+			 */
+			if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop < dop_threshold_m)
+				&& (vdop_m < dop_threshold_m)
+				&& !home_position_set
+				&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
+				&& !current_status.flag_system_armed) {
+				warnx("setting home position");
+
+				/* copy position data to uORB home message, store it locally as well */
+				home.lat = gps_position.lat;
+				home.lon = gps_position.lon;
+				home.alt = gps_position.alt;
+
+				home.eph = gps_position.eph;
+				home.epv = gps_position.epv;
+
+				home.s_variance = gps_position.s_variance;
+				home.p_variance = gps_position.p_variance;
+
+				/* announce new home position */
+				if (home_pub > 0) {
+					orb_publish(ORB_ID(home_position), home_pub, &home);
+				} else {
+					home_pub = orb_advertise(ORB_ID(home_position), &home);
+				}
 
+				/* mark home position as set */
+				home_position_set = true;
+				tune_confirm();
+			}
+		}
 
 		/* ignore RC signals if in offboard control mode */
 		if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) {
@@ -2041,4 +2046,3 @@ int commander_thread_main(int argc, char *argv[])
 
 	return 0;
 }
-

apps/mavlink/orb_listener.c

@@ -114,6 +114,7 @@ static void	l_vehicle_attitude_controls(struct listener *l);
 static void	l_debug_key_value(struct listener *l);
 static void	l_optical_flow(struct listener *l);
 static void	l_vehicle_rates_setpoint(struct listener *l);
+static void	l_home(struct listener *l);
 
 struct listener listeners[] = {
 	{l_sensor_combined,		&mavlink_subs.sensor_sub,	0},
@@ -137,6 +138,7 @@ struct listener listeners[] = {
 	{l_debug_key_value,		&mavlink_subs.debug_key_value,	0},
 	{l_optical_flow,		&mavlink_subs.optical_flow,	0},
 	{l_vehicle_rates_setpoint,	&mavlink_subs.rates_setpoint_sub,	0},
+	{l_home,			&mavlink_subs.home_sub,		0},
 };
 
 static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
@@ -621,6 +623,16 @@ l_optical_flow(struct listener *l)
 				      flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
 }
 
+void
+l_home(struct listener *l)
+{
+	struct home_position_s home;
+
+	orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home);
+
+	mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, home.lat, home.lon, home.alt);
+}
+
 static void *
 uorb_receive_thread(void *arg)
 {
@@ -688,6 +700,10 @@ uorb_receive_start(void)
 	mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	orb_set_interval(mavlink_subs.gps_sub, 1000);	/* 1Hz updates */
 
+	/* --- HOME POSITION --- */
+	mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position));
+	orb_set_interval(mavlink_subs.home_sub, 1000);	/* 1Hz updates */
+
 	/* --- SYSTEM STATE --- */
 	status_sub = orb_subscribe(ORB_ID(vehicle_status));
 	orb_set_interval(status_sub, 300);		/* max 3.33 Hz updates */

apps/mavlink/orb_topics.h

@@ -45,6 +45,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/offboard_control_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
@@ -81,6 +82,7 @@ struct mavlink_subscriptions {
 	int input_rc_sub;
 	int optical_flow;
 	int rates_setpoint_sub;
+	int home_sub;
 };
 
 extern struct mavlink_subscriptions mavlink_subs;

apps/uORB/objects_common.cpp

@@ -68,6 +68,9 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s);
 #include "topics/vehicle_gps_position.h"
 ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
 
+#include "topics/home_position.h"
+ORB_DEFINE(home_position, struct home_position_s);
+
 #include "topics/vehicle_status.h"
 ORB_DEFINE(vehicle_status, struct vehicle_status_s);
 

apps/uORB/topics/home_position.h

@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 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 home_position.h
+ * Definition of the GPS home position uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef TOPIC_HOME_POSITION_H_
+#define TOPIC_HOME_POSITION_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GPS home position in WGS84 coordinates.
+ */
+struct home_position_s
+{
+	uint64_t timestamp;             /**< Timestamp (microseconds since system boot)   */
+	uint64_t time_gps_usec;         /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module   */
+	
+	int32_t lat;                    /**< Latitude in 1E7 degrees */
+	int32_t lon;                    /**< Longitude in 1E7 degrees */
+	int32_t alt;                    /**< Altitude in 1E3 meters (millimeters) above MSL */
+	uint16_t eph;                   /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
+	uint16_t epv;                   /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
+	float s_variance;               /**< speed accuracy estimate cm/s */
+	float p_variance;               /**< position accuracy estimate cm */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(home_position);
+
+#endif