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281 lines
8.9 KiB
281 lines
8.9 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. |
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* Author: Lorenz Meier <lm@inf.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/* |
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* @file Implementation of AR.Drone 1.0 / 2.0 control interface |
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*/ |
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#include <nuttx/config.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <string.h> |
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#include <stdbool.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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#include <errno.h> |
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#include <debug.h> |
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#include <termios.h> |
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#include <time.h> |
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#include <sys/prctl.h> |
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#include <arch/board/up_hrt.h> |
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#include "ardrone_control.h" |
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#include "attitude_control.h" |
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#include "rate_control.h" |
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#include "ardrone_motor_control.h" |
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#include "position_control.h" |
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#include <uORB/uORB.h> |
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#include <uORB/topics/vehicle_status.h> |
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#include <uORB/topics/vehicle_attitude.h> |
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#include <uORB/topics/ardrone_control.h> |
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#include <uORB/topics/manual_control_setpoint.h> |
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#include <uORB/topics/ardrone_motors_setpoint.h> |
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#include <uORB/topics/sensor_combined.h> |
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#include "ardrone_control_helper.h" |
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__EXPORT int ardrone_control_main(int argc, char *argv[]); |
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/**************************************************************************** |
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* Internal Definitions |
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****************************************************************************/ |
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enum { |
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CONTROL_MODE_RATES = 0, |
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CONTROL_MODE_ATTITUDE = 1, |
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} control_mode; |
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/**************************************************************************** |
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* Private Data |
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****************************************************************************/ |
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/*File descriptors */ |
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int ardrone_write; |
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int gpios; |
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bool position_control_thread_started; |
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/**************************************************************************** |
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* pthread loops |
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****************************************************************************/ |
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static void *position_control_loop(void *arg) |
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{ |
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struct vehicle_status_s *state = (struct vehicle_status_s *)arg; |
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// Set thread name |
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prctl(PR_SET_NAME, "ardrone pos ctrl", getpid()); |
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while (1) { |
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if (state->state_machine == SYSTEM_STATE_AUTO) { |
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// control_position(); //FIXME TODO XXX |
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/* temporary 50 Hz execution */ |
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usleep(20000); |
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} else { |
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position_control_thread_started = false; |
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break; |
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} |
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} |
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return NULL; |
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} |
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/**************************************************************************** |
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* main |
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****************************************************************************/ |
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int ardrone_control_main(int argc, char *argv[]) |
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{ |
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/* welcome user */ |
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printf("[ardrone_control] Control started, taking over motors\n"); |
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/* default values for arguments */ |
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char *ardrone_uart_name = "/dev/ttyS1"; |
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control_mode = CONTROL_MODE_RATES; |
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char *commandline_usage = "\tusage: ardrone_control -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n"; |
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/* read commandline arguments */ |
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int i; |
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for (i = 1; i < argc; i++) { |
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if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set |
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if (argc > i + 1) { |
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ardrone_uart_name = argv[i + 1]; |
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} else { |
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printf(commandline_usage); |
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return 0; |
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} |
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} else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) { |
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if (argc > i + 1) { |
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if (strcmp(argv[i + 1], "rates") == 0) { |
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control_mode = CONTROL_MODE_RATES; |
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} else if (strcmp(argv[i + 1], "attitude") == 0) { |
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control_mode = CONTROL_MODE_ATTITUDE; |
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} else { |
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printf(commandline_usage); |
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return 0; |
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} |
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} else { |
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printf(commandline_usage); |
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return 0; |
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} |
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} |
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} |
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/* open uarts */ |
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printf("[ardrone_control] AR.Drone UART is %s\n", ardrone_uart_name); |
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ardrone_write = open(ardrone_uart_name, O_RDWR | O_NOCTTY | O_NDELAY); |
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/* initialize motors */ |
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ar_init_motors(ardrone_write, &gpios); |
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int counter = 0; |
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/* Led animation */ |
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int led_counter = 0; |
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/* pthread for position control */ |
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pthread_t position_control_thread; |
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position_control_thread_started = false; |
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/* structures */ |
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struct vehicle_status_s state; |
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struct vehicle_attitude_s att; |
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struct ardrone_control_s ar_control; |
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struct manual_control_setpoint_s manual; |
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struct sensor_combined_s raw; |
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struct ardrone_motors_setpoint_s setpoint; |
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/* subscribe to attitude, motor setpoints and system state */ |
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); |
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int state_sub = orb_subscribe(ORB_ID(vehicle_status)); |
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int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); |
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int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); |
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int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint)); |
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/* publish AR.Drone motor control state */ |
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int ardrone_pub = orb_advertise(ORB_ID(ardrone_control), &ar_control); |
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while (1) { |
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/* get a local copy of the vehicle state */ |
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orb_copy(ORB_ID(vehicle_status), state_sub, &state); |
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/* get a local copy of manual setpoint */ |
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orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); |
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/* get a local copy of attitude */ |
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); |
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if (state.state_machine == SYSTEM_STATE_AUTO) { |
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if (false == position_control_thread_started) { |
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pthread_attr_t position_control_thread_attr; |
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pthread_attr_init(&position_control_thread_attr); |
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pthread_attr_setstacksize(&position_control_thread_attr, 2048); |
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pthread_create(&position_control_thread, &position_control_thread_attr, position_control_loop, &state); |
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position_control_thread_started = true; |
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} |
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control_attitude(0, 0, 0, 0, &att, &state, ardrone_pub, &ar_control); |
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//No check for remote sticks to disarm in auto mode, land/disarm with ground station |
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} else if (state.state_machine == SYSTEM_STATE_MANUAL) { |
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if (control_mode == CONTROL_MODE_RATES) { |
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orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); |
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orb_copy(ORB_ID(ardrone_motors_setpoint), setpoint_sub, &setpoint); |
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control_rates(&raw, &setpoint); |
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} else if (control_mode == CONTROL_MODE_ATTITUDE) { |
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control_attitude(manual.roll, manual.pitch, manual.yaw, |
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manual.throttle, &att, &state, ardrone_pub, &ar_control); |
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} |
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} else { |
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} |
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if (counter % 30 == 0) { |
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if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0); |
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if (led_counter == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0); |
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if (led_counter == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0); |
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if (led_counter == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0); |
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if (led_counter == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0); |
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if (led_counter == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0); |
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if (led_counter == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0); |
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if (led_counter == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0); |
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if (led_counter == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0); |
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if (led_counter == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1); |
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if (led_counter == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1); |
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if (led_counter == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0); |
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led_counter++; |
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if (led_counter == 12) led_counter = 0; |
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} |
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/* run at approximately 200 Hz */ |
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usleep(5000); |
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// This is a hardcore debug code piece to validate |
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// the motor interface |
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// uint8_t motorSpeedBuf[5] = {1, 2, 3, 4, 5}; |
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// ar_get_motor_packet(motorSpeedBuf, 20, 20, 20, 20); |
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// write(ardrone_write, motorSpeedBuf, 5); |
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// usleep(15000); |
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counter++; |
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} |
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/* close uarts */ |
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close(ardrone_write); |
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ar_multiplexing_deinit(gpios); |
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printf("[ardrone_control] ending now...\r\n"); |
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fflush(stdout); |
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return 0; |
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} |
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