Lorenz Meier
12 years ago
33 changed files with 887 additions and 760 deletions
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#!nsh |
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# |
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# Flight startup script for PX4FMU+PX4IO |
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# |
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# disable USB and autostart |
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set USB no |
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set MODE custom |
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# |
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# Start the ORB (first app to start) |
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# |
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uorb start |
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# |
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# Load microSD params |
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# |
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echo "[init] loading microSD params" |
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param select /fs/microsd/params |
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if [ -f /fs/microsd/params ] |
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then |
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param load /fs/microsd/params |
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fi |
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|
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# |
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# Load default params for this platform |
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# |
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if param compare SYS_AUTOCONFIG 1 |
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then |
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# Set all params here, then disable autoconfig |
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param set SYS_AUTOCONFIG 0 |
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param save /fs/microsd/params |
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fi |
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|
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# |
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# Force some key parameters to sane values |
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor |
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# see https://pixhawk.ethz.ch/mavlink/ |
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# |
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param set MAV_TYPE 10 |
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# |
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# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) |
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# |
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if [ -f /fs/microsd/px4io.bin ] |
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then |
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echo "PX4IO Firmware found. Checking Upgrade.." |
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if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current |
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then |
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echo "No newer version, skipping upgrade." |
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else |
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echo "Loading /fs/microsd/px4io.bin" |
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if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log |
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then |
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current |
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echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log |
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else |
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echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log |
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echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" |
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fi |
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fi |
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fi |
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|
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# |
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# Start MAVLink (depends on orb) |
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# |
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mavlink start -d /dev/ttyS1 -b 57600 |
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usleep 5000 |
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# |
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# Start the commander (depends on orb, mavlink) |
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# |
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commander start |
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# |
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# Start PX4IO interface (depends on orb, commander) |
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# |
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px4io start |
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# |
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# Allow PX4IO to recover from midair restarts. |
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# this is very unlikely, but quite safe and robust. |
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px4io recovery |
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# |
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# Disable px4io topic limiting |
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# |
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px4io limit 200 |
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# |
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# Start the sensors (depends on orb, px4io) |
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# |
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sh /etc/init.d/rc.sensors |
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# |
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# Start GPS interface (depends on orb) |
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# |
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gps start |
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# |
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# Start the attitude estimator (depends on orb) |
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# |
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attitude_estimator_ekf start |
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# |
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# Load mixer and start controllers (depends on px4io) |
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# |
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md25 start 3 0x58 |
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segway start |
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# |
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# Start logging |
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# |
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sdlog2 start -r 50 -a -b 14 |
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# |
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# Start system state |
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# |
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if blinkm start |
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then |
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blinkm systemstate |
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fi |
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Binary file not shown.
@ -1,586 +0,0 @@
@@ -1,586 +0,0 @@
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% This Matlab Script can be used to import the binary logged values of the |
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% PX4FMU into data that can be plotted and analyzed. |
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|
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%% ************************************************************************ |
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% PX4LOG_PLOTSCRIPT: Main function |
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% ************************************************************************ |
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function PX4Log_Plotscript |
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|
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% Clear everything |
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clc |
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clear all |
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close all |
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|
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% ************************************************************************ |
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% SETTINGS |
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% ************************************************************************ |
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|
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% Set the path to your sysvector.bin file here |
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filePath = 'sysvector.bin'; |
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% Set the minimum and maximum times to plot here [in seconds] |
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mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start] |
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maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end] |
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%Determine which data to plot. Not completely implemented yet. |
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bDisplayGPS=true; |
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|
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%conversion factors |
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fconv_gpsalt=1E-3; %[mm] to [m] |
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fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg] |
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fconv_timestamp=1E-6; % [microseconds] to [seconds] |
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|
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% ************************************************************************ |
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% Import the PX4 logs |
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% ************************************************************************ |
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ImportPX4LogData(); |
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%Translate min and max plot times to indices |
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time=double(sysvector.timestamp) .*fconv_timestamp; |
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mintime_log=time(1); %The minimum time/timestamp found in the log |
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maxtime_log=time(end); %The maximum time/timestamp found in the log |
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CurTime=mintime_log; %The current time at which to draw the aircraft position |
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[imintime,imaxtime]=FindMinMaxTimeIndices(); |
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|
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% ************************************************************************ |
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% PLOT & GUI SETUP |
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% ************************************************************************ |
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NrFigures=5; |
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NrAxes=10; |
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h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively |
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h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively |
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h.pathpoints=[]; % Temporary initiliazation of path points |
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|
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% Setup the GUI to control the plots |
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InitControlGUI(); |
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% Setup the plotting-GUI (figures, axes) itself. |
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InitPlotGUI(); |
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|
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% ************************************************************************ |
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% DRAW EVERYTHING |
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% ************************************************************************ |
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DrawRawData(); |
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DrawCurrentAircraftState(); |
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|
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%% ************************************************************************ |
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% *** END OF MAIN SCRIPT *** |
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% NESTED FUNCTION DEFINTIONS FROM HERE ON |
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% ************************************************************************ |
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%% ************************************************************************ |
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% IMPORTPX4LOGDATA (nested function) |
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% ************************************************************************ |
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% Attention: This is the import routine for firmware from ca. 03/2013. |
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% Other firmware versions might require different import |
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% routines. |
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function ImportPX4LogData() |
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% Work around a Matlab bug (not related to PX4) |
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% where timestamps from 1.1.1970 do not allow to |
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% read the file's size |
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if ismac |
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system('touch -t 201212121212.12 sysvector.bin'); |
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end |
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|
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% ************************************************************************ |
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% RETRIEVE SYSTEM VECTOR |
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% ************************************************************************* |
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% //All measurements in NED frame |
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% |
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% uint64_t timestamp; //[us] |
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% float gyro[3]; //[rad/s] |
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% float accel[3]; //[m/s^2] |
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% float mag[3]; //[gauss] |
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% float baro; //pressure [millibar] |
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% float baro_alt; //altitude above MSL [meter] |
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% float baro_temp; //[degree celcius] |
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% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1] |
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% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) |
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% float vbat; //battery voltage in [volt] |
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% float bat_current - current drawn from battery at this time instant |
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% float bat_discharged - discharged energy in mAh |
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% float adc[4]; //remaining auxiliary ADC ports [volt] |
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% float local_position[3]; //tangent plane mapping into x,y,z [m] |
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% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] |
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% float attitude[3]; //pitch, roll, yaw [rad] |
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% float rotMatrix[9]; //unitvectors |
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% float actuator_control[4]; //unitvector |
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% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1] |
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% float diff_pressure; - pressure difference in millibar |
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% float ind_airspeed; |
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% float true_airspeed; |
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|
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% Definition of the logged values |
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logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); |
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logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le'); |
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logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); |
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% First get length of one line |
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columns = length(logFormat); |
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lineLength = 0; |
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for i=1:columns |
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lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array; |
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end |
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if exist(filePath, 'file') |
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fileInfo = dir(filePath); |
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fileSize = fileInfo.bytes; |
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elements = int64(fileSize./(lineLength)); |
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fid = fopen(filePath, 'r'); |
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offset = 0; |
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for i=1:columns |
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% using fread with a skip speeds up the import drastically, do not |
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% import the values one after the other |
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sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(... |
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fid, ... |
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[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ... |
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lineLength - logFormat{i}.bytes*logFormat{i}.array, ... |
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logFormat{i}.machineformat) ... |
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); |
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offset = offset + logFormat{i}.bytes*logFormat{i}.array; |
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fseek(fid, offset,'bof'); |
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end |
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% shot the flight time |
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time_us = sysvector.timestamp(end) - sysvector.timestamp(1); |
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time_s = time_us*1e-6; |
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time_m = time_s/60; |
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% close the logfile |
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fclose(fid); |
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disp(['end log2matlab conversion' char(10)]); |
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else |
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disp(['file: ' filePath ' does not exist' char(10)]); |
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end |
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end |
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|
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%% ************************************************************************ |
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% INITCONTROLGUI (nested function) |
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% ************************************************************************ |
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%Setup central control GUI components to control current time where data is shown |
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function InitControlGUI() |
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%********************************************************************** |
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% GUI size definitions |
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%********************************************************************** |
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dxy=5; %margins |
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%Panel: Plotctrl |
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dlabels=120; |
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dsliders=200; |
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dedits=80; |
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hslider=20; |
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hpanel1=40; %panel1 |
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hpanel2=220;%panel2 |
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hpanel3=3*hslider+4*dxy+3*dxy;%panel3. |
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width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width |
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height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height |
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%********************************************************************** |
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% Create GUI |
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%********************************************************************** |
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h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI'); |
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h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1)); |
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h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1)); |
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h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1)); |
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|
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%%Control GUI-elements |
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%Slider: Current time |
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h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left'); |
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h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],... |
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'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel); |
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temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); |
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set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); |
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h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),... |
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'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel); |
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|
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%Slider: MaxTime |
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h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left'); |
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h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],... |
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'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel); |
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h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),... |
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'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel); |
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|
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%Slider: MinTime |
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h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left'); |
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h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],... |
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'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel); |
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h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),... |
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'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel); |
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|
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%%Current data/state GUI-elements (Multiline-edit-box) |
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h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',... |
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'HorizontalAlignment','left','parent',h.aircraftstatepanel); |
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h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',... |
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'HorizontalAlignment','left','parent',h.guistatepanel); |
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|
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end |
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|
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%% ************************************************************************ |
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% INITPLOTGUI (nested function) |
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% ************************************************************************ |
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function InitPlotGUI() |
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|
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% Setup handles to lines and text |
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h.markertext=[]; |
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templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array |
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h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively |
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h.markerline(1:NrAxes)=0.0; |
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|
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% Setup all other figures and axes for plotting |
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% PLOT WINDOW 1: GPS POSITION |
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h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position'); |
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h.axes(1)=axes(); |
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set(h.axes(1),'Parent',h.figures(2)); |
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|
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% PLOT WINDOW 2: IMU, baro altitude |
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h.figures(3)=figure('Name', 'IMU / Baro Altitude'); |
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h.axes(2)=subplot(4,1,1); |
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h.axes(3)=subplot(4,1,2); |
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h.axes(4)=subplot(4,1,3); |
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h.axes(5)=subplot(4,1,4); |
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set(h.axes(2:5),'Parent',h.figures(3)); |
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|
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% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,... |
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h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds'); |
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h.axes(6)=subplot(4,1,1); |
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h.axes(7)=subplot(4,1,2); |
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h.axes(8)=subplot(4,1,3); |
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h.axes(9)=subplot(4,1,4); |
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set(h.axes(6:9),'Parent',h.figures(4)); |
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|
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% PLOT WINDOW 4: LOG STATS |
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h.figures(5) = figure('Name', 'Log Statistics'); |
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h.axes(10)=subplot(1,1,1); |
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set(h.axes(10:10),'Parent',h.figures(5)); |
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end |
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|
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%% ************************************************************************ |
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% DRAWRAWDATA (nested function) |
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% ************************************************************************ |
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%Draws the raw data from the sysvector, but does not add any |
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%marker-lines or so |
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function DrawRawData() |
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% ************************************************************************ |
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% PLOT WINDOW 1: GPS POSITION & GUI |
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% ************************************************************************ |
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figure(h.figures(2)); |
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% Only plot GPS data if available |
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if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS) |
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%Draw data |
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plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ... |
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double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ... |
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double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.'); |
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title(h.axes(1),'GPS Position Data(if available)'); |
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xlabel(h.axes(1),'Latitude [deg]'); |
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ylabel(h.axes(1),'Longitude [deg]'); |
||||
zlabel(h.axes(1),'Altitude above MSL [m]'); |
||||
grid on |
||||
|
||||
%Reset path |
||||
h.pathpoints=0; |
||||
end |
||||
|
||||
% ************************************************************************ |
||||
% PLOT WINDOW 2: IMU, baro altitude |
||||
% ************************************************************************ |
||||
figure(h.figures(3)); |
||||
plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:)); |
||||
title(h.axes(2),'Magnetometers [Gauss]'); |
||||
legend(h.axes(2),'x','y','z'); |
||||
plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:)); |
||||
title(h.axes(3),'Accelerometers [m/s²]'); |
||||
legend(h.axes(3),'x','y','z'); |
||||
plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:)); |
||||
title(h.axes(4),'Gyroscopes [rad/s]'); |
||||
legend(h.axes(4),'x','y','z'); |
||||
plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue'); |
||||
if(bDisplayGPS) |
||||
hold on; |
||||
plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red'); |
||||
hold off |
||||
legend('Barometric Altitude [m]','GPS Altitude [m]'); |
||||
else |
||||
legend('Barometric Altitude [m]'); |
||||
end |
||||
title(h.axes(5),'Altitude above MSL [m]'); |
||||
|
||||
% ************************************************************************ |
||||
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,... |
||||
% ************************************************************************ |
||||
figure(h.figures(4)); |
||||
%Attitude Estimate |
||||
plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159); |
||||
title(h.axes(6),'Estimated attitude [deg]'); |
||||
legend(h.axes(6),'roll','pitch','yaw'); |
||||
%Actuator Controls |
||||
plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:)); |
||||
title(h.axes(7),'Actuator control [-]'); |
||||
legend(h.axes(7),'0','1','2','3'); |
||||
%Actuator Controls |
||||
plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8)); |
||||
title(h.axes(8),'Actuator PWM (raw-)outputs [µs]'); |
||||
legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8'); |
||||
set(h.axes(8), 'YLim',[800 2200]); |
||||
%Airspeeds |
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime)); |
||||
hold on |
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime)); |
||||
hold off |
||||
%add GPS total airspeed here |
||||
title(h.axes(9),'Airspeed [m/s]'); |
||||
legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed'); |
||||
%calculate time differences and plot them |
||||
intervals = zeros(0,imaxtime - imintime); |
||||
for k = imintime+1:imaxtime |
||||
intervals(k) = time(k) - time(k-1); |
||||
end |
||||
plot(h.axes(10), time(imintime:imaxtime), intervals); |
||||
|
||||
%Set same timescale for all plots |
||||
for i=2:NrAxes |
||||
set(h.axes(i),'XLim',[mintime maxtime]); |
||||
end |
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]); |
||||
end |
||||
|
||||
%% ************************************************************************ |
||||
% DRAWCURRENTAIRCRAFTSTATE(nested function) |
||||
% ************************************************************************ |
||||
function DrawCurrentAircraftState() |
||||
%find current data index |
||||
i=find(time>=CurTime,1,'first'); |
||||
|
||||
%********************************************************************** |
||||
% Current aircraft state label update |
||||
%********************************************************************** |
||||
acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',... |
||||
'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',... |
||||
'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]']; |
||||
acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),... |
||||
', y=',num2str(sysvector.mag(i,2)),... |
||||
', z=',num2str(sysvector.mag(i,3)),']']; |
||||
acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),... |
||||
', y=',num2str(sysvector.accel(i,2)),... |
||||
', z=',num2str(sysvector.accel(i,3)),']']; |
||||
acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),... |
||||
', y=',num2str(sysvector.gyro(i,2)),... |
||||
', z=',num2str(sysvector.gyro(i,3)),']']; |
||||
acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]']; |
||||
acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),... |
||||
', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),... |
||||
', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']']; |
||||
acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:'); |
||||
for j=1:4 |
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),',']; |
||||
end |
||||
acstate{7,:}=[acstate{7,:},']']; |
||||
acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:'); |
||||
for j=1:8 |
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),',']; |
||||
end |
||||
acstate{8,:}=[acstate{8,:},']']; |
||||
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']']; |
||||
|
||||
set(h.edits.AircraftState,'String',acstate); |
||||
|
||||
%********************************************************************** |
||||
% GPS Plot Update |
||||
%********************************************************************** |
||||
%Plot traveled path, and and time. |
||||
figure(h.figures(2)); |
||||
hold on; |
||||
if(CurTime>mintime+1) %the +1 is only a small bugfix |
||||
h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ... |
||||
double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ... |
||||
double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2); |
||||
end; |
||||
hold off |
||||
%Plot current position |
||||
newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt]; |
||||
if(numel(h.pathpoints)<=3) %empty path |
||||
h.pathpoints(1,1:3)=newpoint; |
||||
else %Not empty, append new point |
||||
h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint; |
||||
end |
||||
axes(h.axes(1)); |
||||
line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20); |
||||
|
||||
|
||||
% Plot current time (small label next to current gps position) |
||||
textdesc=strcat(' t=',num2str(time(i)),'s'); |
||||
if(isvalidhandle(h.markertext)) |
||||
delete(h.markertext); %delete old text |
||||
end |
||||
h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,... |
||||
double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc); |
||||
set(h.edits.CurTime,'String',CurTime); |
||||
|
||||
%********************************************************************** |
||||
% Plot the lines showing the current time in the 2-d plots |
||||
%********************************************************************** |
||||
for i=2:NrAxes |
||||
if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end |
||||
ylims=get(h.axes(i),'YLim'); |
||||
h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black'); |
||||
set(h.markerline(i),'parent',h.axes(i)); |
||||
end |
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]); |
||||
end |
||||
|
||||
%% ************************************************************************ |
||||
% MINMAXTIME CALLBACK (nested function) |
||||
% ************************************************************************ |
||||
function minmaxtime_callback(hObj,event) %#ok<INUSL> |
||||
new_mintime=get(h.sliders.MinTime,'Value'); |
||||
new_maxtime=get(h.sliders.MaxTime,'Value'); |
||||
|
||||
%Safety checks: |
||||
bErr=false; |
||||
%1: mintime must be < maxtime |
||||
if((new_mintime>maxtime) || (new_maxtime<mintime)) |
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red'); |
||||
bErr=true; |
||||
else |
||||
%2: MinTime must be <=CurTime |
||||
if(new_mintime>CurTime) |
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red'); |
||||
mintime=new_mintime; |
||||
CurTime=mintime; |
||||
bErr=true; |
||||
end |
||||
%3: MaxTime must be >CurTime |
||||
if(new_maxtime<CurTime) |
||||
set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red'); |
||||
maxtime=new_maxtime; |
||||
CurTime=maxtime; |
||||
bErr=true; |
||||
end |
||||
end |
||||
|
||||
if(bErr==false) |
||||
maxtime=new_maxtime; |
||||
mintime=new_mintime; |
||||
end |
||||
|
||||
%Needs to be done in case values were reset above |
||||
set(h.sliders.MinTime,'Value',mintime); |
||||
set(h.sliders.MaxTime,'Value',maxtime); |
||||
|
||||
%Update curtime-slider |
||||
set(h.sliders.CurTime,'Value',CurTime); |
||||
set(h.sliders.CurTime,'Max',maxtime); |
||||
set(h.sliders.CurTime,'Min',mintime); |
||||
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); |
||||
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds] |
||||
|
||||
%update edit fields |
||||
set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value')); |
||||
set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value')); |
||||
set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value')); |
||||
|
||||
%Finally, we have to redraw. Update time indices first. |
||||
[imintime,imaxtime]=FindMinMaxTimeIndices(); |
||||
DrawRawData(); %Rawdata only |
||||
DrawCurrentAircraftState(); %path info & markers |
||||
end |
||||
|
||||
|
||||
%% ************************************************************************ |
||||
% CURTIME CALLBACK (nested function) |
||||
% ************************************************************************ |
||||
function curtime_callback(hObj,event) %#ok<INUSL> |
||||
%find current time |
||||
if(hObj==h.sliders.CurTime) |
||||
CurTime=get(h.sliders.CurTime,'Value'); |
||||
elseif (hObj==h.edits.CurTime) |
||||
temp=str2num(get(h.edits.CurTime,'String')); |
||||
if(temp<maxtime && temp>mintime) |
||||
CurTime=temp; |
||||
else |
||||
%Error |
||||
set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red'); |
||||
end |
||||
else |
||||
%Error |
||||
set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red'); |
||||
end |
||||
|
||||
set(h.sliders.CurTime,'Value',CurTime); |
||||
set(h.edits.CurTime,'String',num2str(CurTime)); |
||||
|
||||
%Redraw time markers, but don't have to redraw the whole raw data |
||||
DrawCurrentAircraftState(); |
||||
end |
||||
|
||||
%% ************************************************************************ |
||||
% FINDMINMAXINDICES (nested function) |
||||
% ************************************************************************ |
||||
function [idxmin,idxmax] = FindMinMaxTimeIndices() |
||||
for i=1:size(sysvector.timestamp,1) |
||||
if time(i)>=mintime; idxmin=i; break; end |
||||
end |
||||
for i=1:size(sysvector.timestamp,1) |
||||
if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end |
||||
if time(i)>=maxtime; idxmax=i; break; end |
||||
end |
||||
mintime=time(idxmin); |
||||
maxtime=time(idxmax); |
||||
end |
||||
|
||||
%% ************************************************************************ |
||||
% ISVALIDHANDLE (nested function) |
||||
% ************************************************************************ |
||||
function isvalid = isvalidhandle(handle) |
||||
if(exist(varname(handle))>0 && length(ishandle(handle))>0) |
||||
if(ishandle(handle)>0) |
||||
if(handle>0.0) |
||||
isvalid=true; |
||||
return; |
||||
end |
||||
end |
||||
end |
||||
isvalid=false; |
||||
end |
||||
|
||||
%% ************************************************************************ |
||||
% JUST SOME SMALL HELPER FUNCTIONS (nested function) |
||||
% ************************************************************************ |
||||
function out = varname(var) |
||||
out = inputname(1); |
||||
end |
||||
|
||||
%This is the end of the matlab file / the main function |
||||
end |
||||
@ -0,0 +1,13 @@
@@ -0,0 +1,13 @@
|
||||
====== PX4 LOG CONVERSION ====== |
||||
|
||||
On each log session (commonly started and stopped by arming and disarming the vehicle) a new file logxxx.bin is created. In many cases there will be only one logfile named log001.bin (only one flight). |
||||
|
||||
There are two conversion scripts in this ZIP file: |
||||
|
||||
logconv.m: This is a MATLAB script which will automatically convert and display the flight data with a GUI. If running this script, the second script can be ignored. |
||||
|
||||
sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run: |
||||
|
||||
python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n "" |
||||
|
||||
Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux. |
||||
@ -0,0 +1,8 @@
@@ -0,0 +1,8 @@
|
||||
#include "BlockSysIdent.hpp" |
||||
|
||||
BlockSysIdent::BlockSysIdent() : |
||||
Block(NULL, "SYSID"), |
||||
_freq(this, "FREQ"), |
||||
_ampl(this, "AMPL") |
||||
{ |
||||
} |
||||
@ -0,0 +1,10 @@
@@ -0,0 +1,10 @@
|
||||
#include <controllib/block/Block.hpp> |
||||
#include <controllib/block/BlockParam.hpp> |
||||
|
||||
class BlockSysIdent : public control::Block { |
||||
public: |
||||
BlockSysIdent(); |
||||
private: |
||||
control::BlockParam<float> _freq; |
||||
control::BlockParam<float> _ampl; |
||||
}; |
||||
@ -0,0 +1,101 @@
@@ -0,0 +1,101 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
||||
* |
||||
* 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 uorb_blocks.cpp |
||||
* |
||||
* uorb block library code |
||||
*/ |
||||
|
||||
#include "blocks.hpp" |
||||
|
||||
namespace control |
||||
{ |
||||
|
||||
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) : |
||||
SuperBlock(parent, name), |
||||
_xtYawLimit(this, "XT2YAW"), |
||||
_xt2Yaw(this, "XT2YAW"), |
||||
_psiCmd(0) |
||||
{ |
||||
} |
||||
|
||||
BlockWaypointGuidance::~BlockWaypointGuidance() {}; |
||||
|
||||
void BlockWaypointGuidance::update(vehicle_global_position_s &pos, |
||||
vehicle_attitude_s &att, |
||||
vehicle_global_position_setpoint_s &posCmd, |
||||
vehicle_global_position_setpoint_s &lastPosCmd) |
||||
{ |
||||
|
||||
// heading to waypoint
|
||||
float psiTrack = get_bearing_to_next_waypoint( |
||||
(double)pos.lat / (double)1e7d, |
||||
(double)pos.lon / (double)1e7d, |
||||
(double)posCmd.lat / (double)1e7d, |
||||
(double)posCmd.lon / (double)1e7d); |
||||
|
||||
// cross track
|
||||
struct crosstrack_error_s xtrackError; |
||||
get_distance_to_line(&xtrackError, |
||||
(double)pos.lat / (double)1e7d, |
||||
(double)pos.lon / (double)1e7d, |
||||
(double)lastPosCmd.lat / (double)1e7d, |
||||
(double)lastPosCmd.lon / (double)1e7d, |
||||
(double)posCmd.lat / (double)1e7d, |
||||
(double)posCmd.lon / (double)1e7d); |
||||
|
||||
_psiCmd = _wrap_2pi(psiTrack - |
||||
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance))); |
||||
} |
||||
|
||||
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) : |
||||
SuperBlock(parent, name), |
||||
// subscriptions
|
||||
_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20), |
||||
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20), |
||||
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20), |
||||
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20), |
||||
_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20), |
||||
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20), |
||||
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20), |
||||
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
|
||||
// publications
|
||||
_actuators(&getPublications(), ORB_ID(actuator_controls_0)) |
||||
{ |
||||
} |
||||
|
||||
BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {}; |
||||
|
||||
} // namespace control
|
||||
|
||||
@ -0,0 +1,113 @@
@@ -0,0 +1,113 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
||||
* |
||||
* 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 uorb_blocks.h |
||||
* |
||||
* uorb block library code |
||||
*/ |
||||
|
||||
#pragma once |
||||
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h> |
||||
#include <uORB/topics/vehicle_attitude.h> |
||||
#include <uORB/topics/vehicle_rates_setpoint.h> |
||||
#include <uORB/topics/vehicle_global_position.h> |
||||
#include <uORB/topics/vehicle_global_position_set_triplet.h> |
||||
#include <uORB/topics/manual_control_setpoint.h> |
||||
#include <uORB/topics/vehicle_status.h> |
||||
#include <uORB/topics/actuator_controls.h> |
||||
#include <uORB/topics/parameter_update.h> |
||||
|
||||
#include <stdio.h> |
||||
#include <stdlib.h> |
||||
#include <string.h> |
||||
#include <math.h> |
||||
|
||||
#include <drivers/drv_hrt.h> |
||||
#include <poll.h> |
||||
|
||||
extern "C" { |
||||
#include <systemlib/geo/geo.h> |
||||
} |
||||
|
||||
#include "../blocks.hpp" |
||||
#include "UOrbSubscription.hpp" |
||||
#include "UOrbPublication.hpp" |
||||
|
||||
namespace control |
||||
{ |
||||
|
||||
/**
|
||||
* Waypoint Guidance block |
||||
*/ |
||||
class __EXPORT BlockWaypointGuidance : public SuperBlock |
||||
{ |
||||
private: |
||||
BlockLimitSym _xtYawLimit; |
||||
BlockP _xt2Yaw; |
||||
float _psiCmd; |
||||
public: |
||||
BlockWaypointGuidance(SuperBlock *parent, const char *name); |
||||
virtual ~BlockWaypointGuidance(); |
||||
void update(vehicle_global_position_s &pos, |
||||
vehicle_attitude_s &att, |
||||
vehicle_global_position_setpoint_s &posCmd, |
||||
vehicle_global_position_setpoint_s &lastPosCmd); |
||||
float getPsiCmd() { return _psiCmd; } |
||||
}; |
||||
|
||||
/**
|
||||
* UorbEnabledAutopilot |
||||
*/ |
||||
class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock |
||||
{ |
||||
protected: |
||||
// subscriptions
|
||||
UOrbSubscription<vehicle_attitude_s> _att; |
||||
UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd; |
||||
UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd; |
||||
UOrbSubscription<vehicle_global_position_s> _pos; |
||||
UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd; |
||||
UOrbSubscription<manual_control_setpoint_s> _manual; |
||||
UOrbSubscription<vehicle_status_s> _status; |
||||
UOrbSubscription<parameter_update_s> _param_update; |
||||
// publications
|
||||
UOrbPublication<actuator_controls_s> _actuators; |
||||
public: |
||||
BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name); |
||||
virtual ~BlockUorbEnabledAutopilot(); |
||||
}; |
||||
|
||||
} // namespace control
|
||||
|
||||
@ -0,0 +1,57 @@
@@ -0,0 +1,57 @@
|
||||
#include "BlockSegwayController.hpp" |
||||
|
||||
void BlockSegwayController::update() { |
||||
// wait for a sensor update, check for exit condition every 100 ms
|
||||
if (poll(&_attPoll, 1, 100) < 0) return; // poll error
|
||||
|
||||
uint64_t newTimeStamp = hrt_absolute_time(); |
||||
float dt = (newTimeStamp - _timeStamp) / 1.0e6f; |
||||
_timeStamp = newTimeStamp; |
||||
|
||||
// check for sane values of dt
|
||||
// to prevent large control responses
|
||||
if (dt > 1.0f || dt < 0) return; |
||||
|
||||
// set dt for all child blocks
|
||||
setDt(dt); |
||||
|
||||
// check for new updates
|
||||
if (_param_update.updated()) updateParams(); |
||||
|
||||
// get new information from subscriptions
|
||||
updateSubscriptions(); |
||||
|
||||
// default all output to zero unless handled by mode
|
||||
for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++) |
||||
_actuators.control[i] = 0.0f; |
||||
|
||||
// only update guidance in auto mode
|
||||
if (_status.state_machine == SYSTEM_STATE_AUTO) { |
||||
// update guidance
|
||||
} |
||||
|
||||
// compute speed command
|
||||
float spdCmd = -th2v.update(_att.pitch) - q2v.update(_att.pitchspeed); |
||||
|
||||
// handle autopilot modes
|
||||
if (_status.state_machine == SYSTEM_STATE_AUTO || |
||||
_status.state_machine == SYSTEM_STATE_STABILIZED) { |
||||
_actuators.control[0] = spdCmd; |
||||
_actuators.control[1] = spdCmd; |
||||
|
||||
} else if (_status.state_machine == SYSTEM_STATE_MANUAL) { |
||||
if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { |
||||
_actuators.control[CH_LEFT] = _manual.throttle; |
||||
_actuators.control[CH_RIGHT] = _manual.pitch; |
||||
|
||||
} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { |
||||
_actuators.control[0] = spdCmd; |
||||
_actuators.control[1] = spdCmd; |
||||
} |
||||
} |
||||
|
||||
// update all publications
|
||||
updatePublications(); |
||||
|
||||
} |
||||
|
||||
@ -0,0 +1,27 @@
@@ -0,0 +1,27 @@
|
||||
#pragma once |
||||
|
||||
#include <controllib/uorb/blocks.hpp> |
||||
|
||||
using namespace control; |
||||
|
||||
class BlockSegwayController : public control::BlockUorbEnabledAutopilot { |
||||
public: |
||||
BlockSegwayController() : |
||||
BlockUorbEnabledAutopilot(NULL,"SEG"), |
||||
th2v(this, "TH2V"), |
||||
q2v(this, "Q2V"), |
||||
_attPoll(), |
||||
_timeStamp(0) |
||||
{ |
||||
_attPoll.fd = _att.getHandle(); |
||||
_attPoll.events = POLLIN; |
||||
} |
||||
void update(); |
||||
private: |
||||
enum {CH_LEFT, CH_RIGHT}; |
||||
BlockPI th2v; |
||||
BlockP q2v; |
||||
struct pollfd _attPoll; |
||||
uint64_t _timeStamp; |
||||
}; |
||||
|
||||
@ -0,0 +1,42 @@
@@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# segway controller
|
||||
#
|
||||
|
||||
MODULE_COMMAND = segway
|
||||
|
||||
SRCS = segway_main.cpp \
|
||||
BlockSegwayController.cpp \
|
||||
params.c
|
||||
@ -0,0 +1,8 @@
@@ -0,0 +1,8 @@
|
||||
#include <systemlib/param/param.h> |
||||
|
||||
// 16 is max name length
|
||||
PARAM_DEFINE_FLOAT(SEG_TH2V_P, 10.0f); // pitch to voltage
|
||||
PARAM_DEFINE_FLOAT(SEG_TH2V_I, 0.0f); // pitch integral to voltage
|
||||
PARAM_DEFINE_FLOAT(SEG_TH2V_I_MAX, 0.0f); // integral limiter
|
||||
PARAM_DEFINE_FLOAT(SEG_Q2V, 1.0f); // pitch rate to voltage
|
||||
|
||||
@ -0,0 +1,157 @@
@@ -0,0 +1,157 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. |
||||
* Author: James Goppert |
||||
* |
||||
* 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 segway_main.cpp |
||||
* @author James Goppert |
||||
* |
||||
* Segway controller using control library |
||||
*/ |
||||
|
||||
#include <nuttx/config.h> |
||||
#include <unistd.h> |
||||
#include <stdio.h> |
||||
#include <stdlib.h> |
||||
#include <string.h> |
||||
#include <systemlib/systemlib.h> |
||||
#include <systemlib/param/param.h> |
||||
#include <systemlib/err.h> |
||||
#include <drivers/drv_hrt.h> |
||||
#include <math.h> |
||||
|
||||
#include "BlockSegwayController.hpp" |
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */ |
||||
static bool thread_running = false; /**< Deamon status flag */ |
||||
static int deamon_task; /**< Handle of deamon task / thread */ |
||||
|
||||
/**
|
||||
* Deamon management function. |
||||
*/ |
||||
extern "C" __EXPORT int segway_main(int argc, char *argv[]); |
||||
|
||||
/**
|
||||
* Mainloop of deamon. |
||||
*/ |
||||
int segway_thread_main(int argc, char *argv[]); |
||||
|
||||
/**
|
||||
* Print the correct usage. |
||||
*/ |
||||
static void usage(const char *reason); |
||||
|
||||
static void |
||||
usage(const char *reason) |
||||
{ |
||||
if (reason) |
||||
fprintf(stderr, "%s\n", reason); |
||||
|
||||
fprintf(stderr, "usage: segway {start|stop|status} [-p <additional params>]\n\n"); |
||||
exit(1); |
||||
} |
||||
|
||||
/**
|
||||
* The deamon 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 segway_main(int argc, char *argv[]) |
||||
{ |
||||
|
||||
if (argc < 1) |
||||
usage("missing command"); |
||||
|
||||
if (!strcmp(argv[1], "start")) { |
||||
|
||||
if (thread_running) { |
||||
warnx("already running"); |
||||
/* this is not an error */ |
||||
exit(0); |
||||
} |
||||
|
||||
thread_should_exit = false; |
||||
|
||||
deamon_task = task_spawn_cmd("segway", |
||||
SCHED_DEFAULT, |
||||
SCHED_PRIORITY_MAX - 10, |
||||
5120, |
||||
segway_thread_main, |
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL); |
||||
exit(0); |
||||
} |
||||
|
||||
if (!strcmp(argv[1], "stop")) { |
||||
thread_should_exit = true; |
||||
exit(0); |
||||
} |
||||
|
||||
if (!strcmp(argv[1], "status")) { |
||||
if (thread_running) { |
||||
warnx("is running"); |
||||
|
||||
} else { |
||||
warnx("not started"); |
||||
} |
||||
|
||||
exit(0); |
||||
} |
||||
|
||||
usage("unrecognized command"); |
||||
exit(1); |
||||
} |
||||
|
||||
int segway_thread_main(int argc, char *argv[]) |
||||
{ |
||||
|
||||
warnx("starting"); |
||||
|
||||
using namespace control; |
||||
|
||||
BlockSegwayController autopilot; |
||||
|
||||
thread_running = true; |
||||
|
||||
while (!thread_should_exit) { |
||||
autopilot.update(); |
||||
} |
||||
|
||||
warnx("exiting."); |
||||
|
||||
thread_running = false; |
||||
|
||||
return 0; |
||||
} |
||||
Loading…
Reference in new issue