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321 lines
11 KiB
321 lines
11 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 <math.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 <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/vehicle_attitude_setpoint.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 <uORB/topics/actuator_controls.h> |
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__EXPORT int ardrone_control_main(int argc, char *argv[]); |
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// static void turn_xy_plane(const float_vect3 *vector, float yaw, |
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// float_vect3 *result); |
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// static void navi2body_xy_plane(const float_vect3 *vector, const float yaw, |
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// float_vect3 *result); |
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// static void turn_xy_plane(const float_vect3 *vector, float yaw, |
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// float_vect3 *result) |
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// { |
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// //turn clockwise |
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// static uint16_t counter; |
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// result->x = (cosf(yaw) * vector->x + sinf(yaw) * vector->y); |
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// result->y = (-sinf(yaw) * vector->x + cosf(yaw) * vector->y); |
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// result->z = vector->z; //leave direction normal to xy-plane untouched |
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// counter++; |
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// } |
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// static void navi2body_xy_plane(const float_vect3 *vector, const float yaw, |
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// float_vect3 *result) |
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// { |
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// turn_xy_plane(vector, yaw, result); |
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// // result->x = vector->x; |
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// // result->y = vector->y; |
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// // result->z = vector->z; |
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// // result->x = cos(yaw) * vector->x + sin(yaw) * vector->y; |
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// // result->y = -sin(yaw) * vector->x + cos(yaw) * vector->y; |
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// // result->z = vector->z; //leave direction normal to xy-plane untouched |
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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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/* File descriptors */ |
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int ardrone_write; |
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int gpios; |
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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 = CONTROL_MODE_ATTITUDE; |
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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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bool motor_test_mode = false; |
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/* read commandline arguments */ |
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for (int 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 ERROR; |
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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 ERROR; |
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} |
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} else { |
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printf(commandline_usage); |
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return ERROR; |
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} |
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} else if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) { |
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motor_test_mode = true; |
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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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if (ardrone_write < 0) { |
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fprintf(stderr, "[ardrone_control] Failed opening AR.Drone UART, exiting.\n"); |
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exit(ERROR); |
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} |
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/* initialize motors */ |
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if (OK != ar_init_motors(ardrone_write, &gpios)) { |
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close(ardrone_write); |
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fprintf(stderr, "[ardrone_control] Failed initializing AR.Drone motors, exiting.\n"); |
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exit(ERROR); |
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} |
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/* Led animation */ |
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int counter = 0; |
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int led_counter = 0; |
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/* declare and safely initialize all structs */ |
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struct vehicle_status_s state; |
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memset(&state, 0, sizeof(state)); |
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struct vehicle_attitude_s att; |
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memset(&att, 0, sizeof(att)); |
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struct vehicle_attitude_setpoint_s att_sp; |
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memset(&att_sp, 0, sizeof(att_sp)); |
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struct manual_control_setpoint_s manual; |
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memset(&manual, 0, sizeof(manual)); |
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struct sensor_combined_s raw; |
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memset(&raw, 0, sizeof(raw)); |
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struct ardrone_motors_setpoint_s setpoint; |
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memset(&setpoint, 0, sizeof(setpoint)); |
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struct actuator_controls_s actuator_controls; |
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memset(&actuator_controls, 0, sizeof(actuator_controls)); |
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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 att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); |
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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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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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if (state.state_machine == SYSTEM_STATE_MANUAL || |
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state.state_machine == SYSTEM_STATE_GROUND_READY || |
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state.state_machine == SYSTEM_STATE_STABILIZED || |
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state.state_machine == SYSTEM_STATE_AUTO || |
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state.state_machine == SYSTEM_STATE_MISSION_ABORT || |
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state.state_machine == SYSTEM_STATE_EMCY_LANDING || |
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motor_test_mode) { |
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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(ardrone_write, &raw, &setpoint); |
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} else if (control_mode == CONTROL_MODE_ATTITUDE) { |
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// XXX Add failsafe logic for RC loss situations |
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/* hardcore, last-resort safety checking */ |
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//if (status->rc_signal_lost) { |
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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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/* get a local copy of attitude setpoint */ |
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orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp); |
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att_sp.roll_body = -manual.roll * M_PI_F / 8.0f; |
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att_sp.pitch_body = -manual.pitch * M_PI_F / 8.0f; |
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att_sp.yaw_body = -manual.yaw * M_PI_F; |
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if (motor_test_mode) { |
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att_sp.roll_body = 0.0f; |
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att_sp.pitch_body = 0.0f; |
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att_sp.yaw_body = 0.0f; |
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att_sp.thrust = 0.3f; |
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} else { |
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if (state.state_machine == SYSTEM_STATE_MANUAL || |
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state.state_machine == SYSTEM_STATE_GROUND_READY || |
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state.state_machine == SYSTEM_STATE_STABILIZED || |
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state.state_machine == SYSTEM_STATE_AUTO || |
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state.state_machine == SYSTEM_STATE_MISSION_ABORT || |
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state.state_machine == SYSTEM_STATE_EMCY_LANDING) { |
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att_sp.thrust = manual.throttle; |
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} else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) { |
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/* immediately cut off motors */ |
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att_sp.thrust = 0.0f; |
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} else { |
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/* limit motor throttle to zero for an unknown mode */ |
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att_sp.thrust = 0.0f; |
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} |
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} |
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float roll_control, pitch_control, yaw_control, thrust_control; |
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multirotor_control_attitude(&att_sp, &att, &state, &actuator_controls, motor_test_mode); |
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ardrone_mixing_and_output(ardrone_write, &actuator_controls, motor_test_mode); |
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} else { |
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/* invalid mode, complain */ |
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if (counter % 200 == 0) printf("[multirotor control] INVALID CONTROL MODE, locking down propulsion\n"); |
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ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0); |
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} |
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} else { |
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/* Silently lock down motor speeds to zero */ |
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ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0); |
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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...\n"); |
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fflush(stdout); |
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return OK; |
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} |
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