void _main(int argc, char *argv[])
{
(void)argc;
(void)argv;
syslog(LOG_INFO, "initializing core");
/* init SCL subsystem: */
syslog(LOG_INFO, "initializing signaling and communication link (SCL)");
if (scl_init("core") != 0)
{
syslog(LOG_CRIT, "could not init scl module");
exit(EXIT_FAILURE);
}
/* init params subsystem: */
syslog(LOG_INFO, "initializing opcd interface");
opcd_params_init("core.", 1);
/* initialize logger: */
syslog(LOG_INFO, "opening logger");
if (logger_open() != 0)
{
syslog(LOG_CRIT, "could not open logger");
exit(EXIT_FAILURE);
}
syslog(LOG_CRIT, "logger opened");
sleep(1); /* give scl some time to establish
a link between publisher and subscriber */
LOG(LL_INFO, "+------------------+");
LOG(LL_INFO, "| core startup |");
LOG(LL_INFO, "+------------------+");
LOG(LL_INFO, "initializing system");
/* set-up real-time scheduling: */
struct sched_param sp;
sp.sched_priority = sched_get_priority_max(SCHED_FIFO);
sched_setscheduler(getpid(), SCHED_FIFO, &sp);
if (mlockall(MCL_CURRENT | MCL_FUTURE))
{
LOG(LL_ERROR, "mlockall() failed");
exit(EXIT_FAILURE);
}
/* initialize hardware/drivers: */
omap_i2c_bus_init();
baro_altimeter_init();
ultra_altimeter_init();
ahrs_init();
motors_init();
voltage_reader_start();
//gps_init();
LOG(LL_INFO, "initializing model/controller");
model_init();
ctrl_init();
/* initialize command interface */
LOG(LL_INFO, "initializing cmd interface");
cmd_init();
/* prepare main loop: */
for (int i = 0; i < NUM_AVG; i++)
{
output_avg[i] = sliding_avg_create(OUTPUT_RATIO, 0.0f);
}
LOG(LL_INFO, "system up and running");
struct timespec ts_curr;
struct timespec ts_prev;
struct timespec ts_diff;
clock_gettime(CLOCK_REALTIME, &ts_curr);
/* run model and controller: */
while (1)
{
/* calculate dt: */
ts_prev = ts_curr;
clock_gettime(CLOCK_REALTIME, &ts_curr);
TIMESPEC_SUB(ts_diff, ts_curr, ts_prev);
float dt = (float)ts_diff.tv_sec + (float)ts_diff.tv_nsec / (float)NSEC_PER_SEC;
/* read sensor values into model input structure: */
model_input_t model_input;
model_input.dt = dt;
ahrs_read(&model_input.ahrs_data);
gps_read(&model_input.gps_data);
model_input.ultra_z = ultra_altimeter_read();
model_input.baro_z = baro_altimeter_read();
/* execute model step: */
model_state_t model_state;
model_step(&model_state, &model_input);
/* execute controller step: */
mixer_in_t mixer_in;
ctrl_step(&mixer_in, dt, &model_state);
/* set up mixer input: */
mixer_in.pitch = sliding_avg_calc(output_avg[AVG_PITCH], mixer_in.pitch);
mixer_in.roll = sliding_avg_calc(output_avg[AVG_ROLL], mixer_in.roll);
mixer_in.yaw = sliding_avg_calc(output_avg[AVG_YAW], mixer_in.yaw);
mixer_in.gas = sliding_avg_calc(output_avg[AVG_GAS], mixer_in.gas);
/* write data to motor mixer: */
EVERY_N_TIMES(OUTPUT_RATIO, motors_write(&mixer_in));
}
}
void main_step(const float dt,
const marg_data_t *marg_data,
const gps_data_t *gps_data,
const float ultra,
const float baro,
const float voltage,
const float current,
const float channels[MAX_CHANNELS],
const uint16_t sensor_status,
const bool override_hw)
{
vec2_t ne_pos_err, ne_speed_sp, ne_spd_err;
vec2_init(&ne_pos_err);
vec2_init(&ne_speed_sp);
vec2_init(&ne_spd_err);
vec3_t mag_normal;
vec3_init(&mag_normal);
float u_pos_err = 0.0f;
float u_spd_err = 0.0f;
int bb_rate;
if (calibrate)
{
ONCE(LOG(LL_INFO, "publishing calibration data; actuators disabled"));
bb_rate = 20;
goto out;
}
else
bb_rate = 1;
pos_in.dt = dt;
pos_in.ultra_u = ultra;
pos_in.baro_u = baro;
if (!(sensor_status & MARG_VALID))
{
marg_err += 1;
if (marg_err > 500)
{
/* we are in serious trouble */
memset(setpoints, 0, sizeof(float) * platform.n_motors);
platform_write_motors(setpoints);
die();
}
goto out;
}
marg_err = 0;
float cal_channels[MAX_CHANNELS];
memcpy(cal_channels, channels, sizeof(cal_channels));
if (sensor_status & RC_VALID)
{
/* apply calibration if remote control input is valid: */
float cal_data[3] = {channels[CH_PITCH], channels[CH_ROLL], channels[CH_YAW]};
cal_sample_apply(&rc_cal, cal_data);
cal_channels[CH_PITCH] = cal_data[0];
cal_channels[CH_ROLL] = cal_data[1];
cal_channels[CH_YAW] = cal_data[2];
}
/* perform gyro calibration: */
marg_data_t cal_marg_data;
marg_data_init(&cal_marg_data);
marg_data_copy(&cal_marg_data, marg_data);
if (cal_sample_apply(&gyro_cal, cal_marg_data.gyro.ve) == 0 && gyro_moved(&marg_data->gyro))
{
if (interval_measure(&gyro_move_interval) > 1.0)
LOG(LL_ERROR, "gyro moved during calibration, retrying");
cal_reset(&gyro_cal);
}
/* update relative gps position, if we have a fix: */
float mag_decl;
if (sensor_status & GPS_VALID)
{
gps_util_update(&gps_rel_data, gps_data);
pos_in.pos_n = gps_rel_data.dn;
pos_in.pos_e = gps_rel_data.de;
pos_in.speed_n = gps_rel_data.speed_n;
pos_in.speed_e = gps_rel_data.speed_e;
ONCE(gps_start_set(gps_data));
mag_decl = mag_decl_get();
}
else
{
pos_in.pos_n = 0.0f;
pos_in.pos_e = 0.0f;
pos_in.speed_n = 0.0f;
pos_in.speed_e = 0.0f;
mag_decl = 0.0f;
}
/* apply acc/mag calibration: */
acc_mag_cal_apply(&cal_marg_data.acc, &cal_marg_data.mag);
vec_copy(&mag_normal, &cal_marg_data.mag);
/* apply current magnetometer compensation: */
cmc_apply(&cal_marg_data.mag, current);
//printf("%f %f %f %f\n", current, cal_marg_data.mag.x, cal_marg_data.mag.y, cal_marg_data.mag.z);
/* determine flight state: */
bool flying = flight_state_update(&cal_marg_data.acc.ve[0]);
if (!flying && pos_in.ultra_u == 7.0)
pos_in.ultra_u = 0.2;
/* compute orientation estimate: */
euler_t euler;
int ahrs_state = cal_ahrs_update(&euler, &cal_marg_data, mag_decl, dt);
if (ahrs_state < 0 || !cal_complete(&gyro_cal))
goto out;
ONCE(init = 1; LOG(LL_DEBUG, "system initialized; orientation = yaw: %f pitch: %f roll: %f", euler.yaw, euler.pitch, euler.roll));
/* rotate local ACC measurements into global NEU reference frame: */
vec3_t world_acc;
vec3_init(&world_acc);
body_to_neu(&world_acc, &euler, &cal_marg_data.acc);
/* center global ACC readings: */
filter1_run(&lp_filter, &world_acc.ve[0], &acc_vec[0]);
FOR_N(i, 3)
pos_in.acc.ve[i] = world_acc.ve[i] - acc_vec[i];
/* compute next 3d position estimate using Kalman filters: */
pos_t pos_est;
vec2_init(&pos_est.ne_pos);
vec2_init(&pos_est.ne_speed);
pos_update(&pos_est, &pos_in);
/* execute flight logic (sets cm_x parameters used below): */
bool hard_off = false;
bool motors_enabled = flight_logic_run(&hard_off, sensor_status, flying, cal_channels, euler.yaw, &pos_est.ne_pos, pos_est.baro_u.pos, pos_est.ultra_u.pos, platform.max_thrust_n, platform.mass_kg, dt);
/* execute up position/speed controller(s): */
float a_u = 0.0f;
if (cm_u_is_pos())
{
if (cm_u_is_baro_pos())
a_u = u_ctrl_step(&u_pos_err, cm_u_sp(), pos_est.baro_u.pos, pos_est.baro_u.speed, dt);
else /* ultra pos */
a_u = u_ctrl_step(&u_pos_err, cm_u_sp(), pos_est.ultra_u.pos, pos_est.ultra_u.speed, dt);
}
else if (cm_u_is_spd())
a_u = u_speed_step(&u_spd_err, cm_u_sp(), pos_est.baro_u.speed, dt);
else
a_u = cm_u_sp();
/* execute north/east navigation and/or read speed vector input: */
if (cm_att_is_gps_pos())
{
vec2_t pos_sp;
vec2_init(&pos_sp);
cm_att_sp(&pos_sp);
navi_run(&ne_speed_sp, &ne_pos_err, &pos_sp, &pos_est.ne_pos, dt);
}
else if (cm_att_is_gps_spd())
cm_att_sp(&ne_speed_sp);
/* execute north/east speed controller: */
vec2_t a_ne;
vec2_init(&a_ne);
ne_speed_ctrl_run(&a_ne, &ne_spd_err, &ne_speed_sp, dt, &pos_est.ne_speed);
vec3_t a_neu;
vec3_set(&a_neu, a_ne.x, a_ne.y, a_u);
vec3_t f_neu;
vec3_init(&f_neu);
vec_scalar_mul(&f_neu, &a_neu, platform.mass_kg); /* f[i] = a[i] * m, makes ctrl device-independent */
float hover_force = platform.mass_kg * 9.81f;
f_neu.z += hover_force;
/* execute NEU forces optimizer: */
float thrust;
vec2_t pr_pos_sp;
vec2_init(&pr_pos_sp);
att_thrust_calc(&pr_pos_sp, &thrust, &f_neu, euler.yaw, platform.max_thrust_n, 0);
/* execute direct attitude angle control, if requested: */
if (cm_att_is_angles())
cm_att_sp(&pr_pos_sp);
/* execute attitude angles controller: */
vec2_t att_err;
vec2_init(&att_err);
vec2_t pr_spd;
vec2_set(&pr_spd, -cal_marg_data.gyro.y, cal_marg_data.gyro.x);
vec2_t pr_pos, pr_pos_ctrl;
vec2_set(&pr_pos, -euler.pitch, euler.roll);
vec2_init(&pr_pos_ctrl);
att_ctrl_step(&pr_pos_ctrl, &att_err, dt, &pr_pos, &pr_spd, &pr_pos_sp);
float piid_sp[3] = {0.0f, 0.0f, 0.0f};
piid_sp[PIID_PITCH] = pr_pos_ctrl.ve[0];
piid_sp[PIID_ROLL] = pr_pos_ctrl.ve[1];
/* execute direct attitude rate control, if requested:*/
if (cm_att_is_rates())
{
vec2_t rates_sp;
vec2_init(&rates_sp);
cm_att_sp(&rates_sp);
piid_sp[PIID_PITCH] = rates_sp.ve[0];
piid_sp[PIID_ROLL] = rates_sp.ve[1];
}
/* execute yaw position controller: */
float yaw_speed_sp, yaw_err;
if (cm_yaw_is_pos())
yaw_speed_sp = yaw_ctrl_step(&yaw_err, cm_yaw_sp(), euler.yaw, cal_marg_data.gyro.z, dt);
else
yaw_speed_sp = cm_yaw_sp(); /* direct yaw speed control */
//yaw_speed_sp = yaw_ctrl_step(&yaw_err, 0.0, euler.yaw, cal_marg_data.gyro.z, dt);
piid_sp[PIID_YAW] = yaw_speed_sp;
/* execute stabilizing PIID controller: */
f_local_t f_local = {{thrust, 0.0f, 0.0f, 0.0f}};
float piid_gyros[3] = {cal_marg_data.gyro.x, -cal_marg_data.gyro.y, cal_marg_data.gyro.z};
piid_run(&f_local.ve[1], piid_gyros, piid_sp, dt);
/* computate rpm ^ 2 out of the desired forces: */
inv_coupling_calc(rpm_square, f_local.ve);
/* compute motor setpoints out of rpm ^ 2: */
piid_int_enable(platform_ac_calc(setpoints, motors_spinning(), voltage, rpm_square));
/* enables motors, if flight logic requests it: */
motors_state_update(flying, dt, motors_enabled);
/* reset controllers, if motors are not controllable: */
if (!motors_controllable())
{
navi_reset();
ne_speed_ctrl_reset();
u_ctrl_reset();
att_ctrl_reset();
piid_reset();
}
/* handle special cases for motor setpoints: */
if (motors_starting())
FOR_N(i, platform.n_motors) setpoints[i] = platform.ac.min;
if (hard_off || motors_stopping())
FOR_N(i, platform.n_motors) setpoints[i] = platform.ac.off_val;
printf("%f %f %f\n", rad2deg(euler.pitch), rad2deg(euler.roll), rad2deg(euler.yaw));
/* write motors: */
if (!override_hw)
{
//platform_write_motors(setpoints);
}
/* set monitoring data: */
mon_data_set(ne_pos_err.x, ne_pos_err.y, u_pos_err, yaw_err);
out:
EVERY_N_TIMES(bb_rate, blackbox_record(dt, marg_data, gps_data, ultra, baro, voltage, current, channels, sensor_status, /* sensor inputs */
&ne_pos_err, u_pos_err, /* position errors */
&ne_spd_err, u_spd_err /* speed errors */,
&mag_normal));
}
