void acc_mag_cal_init(void)
{
ASSERT_ONCE();
/* load calibration: */
opcd_param_t params[] =
{
/* acc bias: */
{"acc_bias_x", &acc_bias[0]},
{"acc_bias_y", &acc_bias[1]},
{"acc_bias_z", &acc_bias[2]},
/* acc scale: */
{"acc_scale_x", &acc_scale[0]},
{"acc_scale_y", &acc_scale[1]},
{"acc_scale_z", &acc_scale[2]},
/* mag bias: */
{"mag_bias_x", &mag_bias[0]},
{"mag_bias_y", &mag_bias[1]},
{"mag_bias_z", &mag_bias[2]},
/* mag scale: */
{"mag_scale_x", &mag_scale[0]},
{"mag_scale_y", &mag_scale[1]},
{"mag_scale_z", &mag_scale[2]},
OPCD_PARAMS_END
};
opcd_params_apply("cal.", params);
}
void att_ctrl_init(void)
{
ASSERT_ONCE();
/* load parameters: */
opcd_param_t params[] =
{
{"p", &angle_p.value},
{"i", &angle_i.value},
{"i_max", &angle_i_max.value},
{"d", &angle_d.value},
{"filt_fg", &filt_fg},
{"pitch_bias", &biases[0]},
{"roll_bias", &biases[1]},
OPCD_PARAMS_END
};
opcd_params_apply("controllers.attitude.", params);
/* initialize filter: */
filter1_lp_init(&filter, tsfloat_get(&filt_fg), 0.0033333, 2);
/* initialize controllers: */
FOR_EACH(i, controllers)
{
pid_init(&controllers[i], &angle_p, &angle_i, &angle_d, &angle_i_max);
}
void pos_init(void)
{
ASSERT_ONCE();
/* read configuration and initialize scl gates: */
opcd_param_t params[] =
{
{"process_noise", &process_noise},
{"ultra_noise", &ultra_noise},
{"baro_noise", &baro_noise},
{"gps_noise", &gps_noise},
{"use_gps_speed", &use_gps_speed},
OPCD_PARAMS_END
};
opcd_params_apply("kalman_pos.", params);
LOG(LL_DEBUG, "process noise: %f, ultra noise: %f, baro noise: %f, gps noise: %f",
tsfloat_get(&process_noise),
tsfloat_get(&ultra_noise),
tsfloat_get(&baro_noise),
tsfloat_get(&gps_noise));
/* set-up kalman filters: */
kalman_init(&e_kalman, &process_noise, &gps_noise, 0, 0, tsint_get(&use_gps_speed));
kalman_init(&n_kalman, &process_noise, &gps_noise, 0, 0, tsint_get(&use_gps_speed));
kalman_init(&baro_u_kalman, &process_noise, &baro_noise, 0, 0, false);
kalman_init(&ultra_u_kalman, &process_noise, &ultra_noise, 0, 0, false);
}
int fc_init(void)
{
if (!is_initialized)
{
is_initialized = 1;
char *serial_port;
opcd_param_t params[] =
{
{"serial_port", &serial_port},
{"setting", &setting},
OPCD_PARAMS_END
};
opcd_params_apply("actuators.mk_fc.", params);
int ret;
/* perform initialization once here: */
if ((ret = serial_open(&port, serial_port, 57600, ICRNL, ICANON, 0)) != 0)
{
return ret;
}
else
{
const struct timespec dreq_period = {0, DREQ_THREAD_TIMEOUT_MS * NSEC_PER_MSEC};
frame_t frame;
char data = 1;
LOG(LL_INFO, "setting up mikrokopter interface");
build_frame(frame, OUT_NC_REDIRECT_UART, (const plchar_t *)&data, 0);
serial_write_line(&port, frame);
rpm = malloc(sizeof(float) * platform_motors());
for (int i = 0; i < platform_motors(); i++)
{
rpm[i] = 0.0f;
}
periodic_thread_start(&dreq_thread, dreq_thread_func, DREQ_THREAD_NAME,
DREQ_THREAD_PRIORITY, dreq_period, NULL);
simple_thread_start(&sread_thread, sread_thread_func, SREAD_THREAD_NAME,
SREAD_THREAD_PRIORITY, NULL);
LOG(LL_INFO, "mikrokopter interface up and running");
}
}
else
{
LOG(LL_DEBUG, "mikrokopter interface already running");
}
return 0;
}
void cmc_init(void)
{
ASSERT_ONCE();
opcd_param_t params[] =
{
{"scale_x", &scale[0]},
{"scale_y", &scale[1]},
{"scale_z", &scale[2]},
{"bias", &bias},
OPCD_PARAMS_END
};
opcd_params_apply("cmc.", params);
}
void u_speed_init(void)
{
ASSERT_ONCE();
opcd_param_t params[] =
{
{"p", &speed_p},
{"i", &speed_i},
{"imax", &speed_imax},
OPCD_PARAMS_END
};
opcd_params_apply("controllers.u_speed.", params);
pid_init(&ctrl, &speed_p, &speed_i, NULL, &speed_imax);
}
void u_ctrl_init(const float dt)
{
ASSERT_ONCE();
opcd_param_t params[] =
{
{"p", &pos_p},
{"d", &pos_d},
{"i", &pos_i},
{"imax", &pos_imax},
{"lpfg", &lpfg},
OPCD_PARAMS_END
};
opcd_params_apply("controllers.u_pos.", params);
pid_init(&ctrl, &pos_p, &pos_i, &pos_d, &pos_imax);
filter1_lp_init(&filter, tsfloat_get(&lpfg), dt, 1);
}
int channels_init(void)
{
ASSERT_ONCE();
opcd_param_t params[] =
{
{"pitch.index", &pitch_index},
{"pitch.max", &pitch_max},
{"pitch.min", &pitch_min},
{"roll.index", &roll_index},
{"roll.max", &roll_max},
{"roll.min", &roll_min},
{"yaw.index", &yaw_index},
{"yaw.max", &yaw_max},
{"yaw.min", &yaw_min},
{"gas.index", &gas_index},
{"gas.max", &gas_max},
{"gas.min", &gas_min},
{"two_state.index", &two_state_index},
{"two_state.max", &two_state_max},
{"two_state.min", &two_state_min},
{"three_state.index", &three_state_index},
{"three_state.max", &three_state_max},
{"three_state.min", &three_state_min},
OPCD_PARAMS_END
};
opcd_params_apply(".", params);
/* check if channels are configured: */
if (tsint_get(&pitch_index) == -1)
{
LOG(LL_INFO, "channels not configured; use pp_rc_cal and start the service again");
return -1;
}
linfunc_init_points(&pitch_linfunc, tsfloat_get(&pitch_min), -1.0f, tsfloat_get(&pitch_max), 1.0f);
linfunc_init_points(&roll_linfunc, tsfloat_get(&roll_min), -1.0f, tsfloat_get(&roll_max), 1.0f);
linfunc_init_points(&yaw_linfunc, tsfloat_get(&yaw_min), -1.0f, tsfloat_get(&yaw_max), 1.0f);
linfunc_init_points(&gas_linfunc, tsfloat_get(&gas_min), -1.0f, tsfloat_get(&gas_max), 1.0f);
linfunc_init_points(&two_state_linfunc, tsfloat_get(&two_state_min), 0.0f, tsfloat_get(&two_state_max), 1.0f);
linfunc_init_points(&three_state_linfunc, tsfloat_get(&three_state_min), 0.0f, tsfloat_get(&three_state_max), 1.0f);
return 0;
}
void att_ctrl_init(void)
{
ASSERT_ONCE();
/* load parameters: */
opcd_param_t params[] =
{
{"p", &angle_p.value},
{"i", &angle_i.value},
{"i_max", &angle_i_max.value},
{"d", &angle_d.value},
{"pitch_bias", &biases[0]},
{"roll_bias", &biases[1]},
{"angles_max", &angles_max},
OPCD_PARAMS_END
};
opcd_params_apply("controllers.attitude.", params);
/* initialize controllers: */
FOR_EACH(i, controllers)
pid_init(&controllers[i], &angle_p, &angle_i, &angle_d, &angle_i_max);
}
void yaw_ctrl_init(void)
{
ASSERT_ONCE();
opcd_param_t params[] =
{
{"speed_min", &speed_min},
{"speed_std", &speed_std},
{"speed_max", &speed_max},
{"speed_slope", &speed_slope},
{"speed_p", &speed_p.value},
{"speed_i", &speed_i.value},
{"speed_imax", &speed_imax.value},
{"manual", &manual},
OPCD_PARAMS_END
};
opcd_params_apply("controllers.yaw.", params);
tsfloat_init(&pos, 0.0f);
tsfloat_init(&speed, tsfloat_get(&speed_std));
pid_init(&controller, &speed_p, &speed_i, NULL, &speed_imax);
}
void ne_speed_ctrl_init(float dt)
{
ASSERT_ONCE();
/* load parameters: */
opcd_param_t params[] =
{
{"p", &speed_p.value},
{"i", &speed_i.value},
{"i_max", &speed_i_max.value},
{"d", &speed_d.value},
{"lpfg", &lpfg},
OPCD_PARAMS_END
};
opcd_params_apply("controllers.ne_speed.", params);
filter1_lp_init(&filter, tsfloat_get(&lpfg), dt, 2);
/* initialize controllers: */
FOR_EACH(i, controllers)
{
pid_init(&controllers[i], &speed_p, &speed_i, &speed_d, &speed_i_max);
}
int _main(void)
{
THROW_BEGIN()
/* init scl and get sockets:: */
THROW_ON_ERR(scl_init("arduino"));
void *rc_socket = scl_get_socket("rc_raw");
THROW_IF(rc_socket == NULL, -ENODEV);
void *power_socket = scl_get_socket("power");
THROW_IF(power_socket == NULL, -ENODEV);
/* allocate msgpack buffers: */
msgpack_sbuffer *msgpack_buf = msgpack_sbuffer_new();
THROW_IF(msgpack_buf == NULL, -ENOMEM);
msgpack_packer *pk = msgpack_packer_new(msgpack_buf, msgpack_sbuffer_write);
THROW_IF(pk == NULL, -ENOMEM);
/* fetch parameters: */
char *dev_path;
tsint_t dev_speed;
opcd_params_init("exynos_quad.arduino_serial.", 0);
opcd_param_t params[] =
{
{"path", &dev_path},
{"speed", &dev_speed},
OPCD_PARAMS_END
};
opcd_params_apply("", params);
/* opern serial port: */
serialport_t port;
THROW_ON_ERR(serial_open(&port, dev_path, tsint_get(&dev_speed), O_RDONLY));
uint16_t channels_raw[PPM_CHAN_MAX];
uint32_t voltage_raw, current_raw;
float channels[PPM_CHAN_MAX];
while (running)
{
int c = serial_read_char(&port);
if (c < 0)
msleep(1);
/* parse channels: */
int status = ppm_parse_frame(channels_raw, (uint8_t)(c));
if (status)
{
int sig_valid = 0;
int invalid_count = 0;
FOR_N(i, PPM_CHAN_MAX)
{
uint16_t chan_in = channels_raw[i];
if (chan_in >= PPM_VALUE_INVALID)
invalid_count++;
if (chan_in > PPM_VALUE_MAX)
chan_in = PPM_VALUE_MAX;
if (chan_in < PPM_VALUE_MIN)
chan_in = PPM_VALUE_MIN;
channels[i] = (float)(chan_in - PPM_VALUE_MIN) / (PPM_VALUE_MAX - PPM_VALUE_MIN) * 2.f - 1.f;
}
sig_valid = (invalid_count < (PPM_CHAN_MAX / 3));
/* send channels: */
msgpack_sbuffer_clear(msgpack_buf);
msgpack_pack_array(pk, 1 + PPM_CHAN_MAX);
PACKI(sig_valid); /* index 0: valid */
PACKFV(channels, PPM_CHAN_MAX); /* index 1, .. : channels */
scl_copy_send_dynamic(rc_socket, msgpack_buf->data, msgpack_buf->size);
}
/* parse adc voltage/current: */
status = power_parse_frame(&voltage_raw, ¤t_raw, (uint8_t)(c));
if (status)
{
float voltage = (float)(voltage_raw) / 1000.0;
float current = (float)(current_raw) / 1000.0;
/* send voltage / current: */
msgpack_sbuffer_clear(msgpack_buf);
msgpack_pack_array(pk, 2);
PACKF(voltage); /* index 0 */
PACKF(current); /* index 1 */
scl_copy_send_dynamic(power_socket, msgpack_buf->data, msgpack_buf->size);
}
}
void _main(int argc, char *argv[])
{
(void)argc;
(void)argv;
if (scl_init("gpsp") != 0)
{
syslog(LOG_CRIT, "could not init scl module");
exit(EXIT_FAILURE);
}
gps_socket = scl_get_socket("data");
if (gps_socket == NULL)
{
syslog(LOG_CRIT, "could not get scl gate");
exit(EXIT_FAILURE);
}
int64_t hwm = 1;
zmq_setsockopt(gps_socket, ZMQ_SNDHWM, &hwm, sizeof(hwm));
opcd_param_t params[] =
{
{"serial_path", &serial_path},
{"serial_speed", &serial_speed},
OPCD_PARAMS_END
};
opcd_params_init("sensors.gps.", 0);
opcd_params_apply("", params);
int status = serial_open(&port, serial_path, tsint_get(&serial_speed), 0, 0, 0);
if (status < 0)
{
syslog(LOG_CRIT, "could not open serial port: %s", serial_path);
exit(EXIT_FAILURE);
}
nmeaPARSER parser;
nmea_parser_init(&parser);
nmeaINFO info;
nmea_zero_INFO(&info);
int time_set = 0;
int smask = 0; /* global smask collects all sentences and is never reset,
in contrast to info.smask */
while (running)
{
int c = serial_read_char(&port);
if (c < 0)
continue;
char b = c;
/* parse NMEA frame: */
if (nmea_parse(&parser, &b, 1, &info) == 1)
{
smask |= info.smask;
if ( (info.smask & GPGGA) /* check for new position update */
&& (smask & (GPGSA | GPRMC))) /* go sure that we collect all sentences for first output*/
{
GpsData gps_data = GPS_DATA__INIT;
/* set general data: */
char time_str[TIME_STR_LEN];
generate_time_str(time_str, &info.utc);
gps_data.fix = 0;
gps_data.time = time_str;
/* set system time to gps time once: */
if (!time_set && info.fix >= 2)
{
char shell_date_cmd[TIME_STR_LEN + 8];
linux_sys_set_timezone(convert(info.lat), convert(info.lon));
sprintf(shell_date_cmd, "date -s \"%s\"", time_str);
time_set = system(shell_date_cmd) == 0;
}
/* set position data if a minimum of satellites is seen: */
if (info.fix >= 2)
{
gps_data.fix = 2;
PB_SET(gps_data, hdop, info.HDOP);
PB_SET(gps_data, lat, convert(info.lat));
PB_SET(gps_data, lon, convert(info.lon));
PB_SET(gps_data, sats, info.satinfo.inuse);
PB_SET(gps_data, course, info.track);
PB_SET(gps_data, speed, info.speed);
}
/* set data for 3d fix: */
if (info.fix == 3)
{
gps_data.fix = 3;
PB_SET(gps_data, vdop, info.VDOP);
PB_SET(gps_data, alt, info.elv);
}
/* add satellit info: */
unsigned int i;
gps_data.n_satinfo = info.satinfo.inview;
SatInfo **satinfo = malloc(gps_data.n_satinfo * sizeof(SatInfo *));
for (i = 0; i < gps_data.n_satinfo; i++)
{
/* fill SatInfo structure: */
nmeaSATELLITE *nmea_satinfo = &info.satinfo.sat[i];
satinfo[i] = malloc(gps_data.n_satinfo * sizeof(SatInfo));
sat_info__init(satinfo[i]);
satinfo[i]->id = nmea_satinfo->id;
satinfo[i]->in_use = info.satinfo.in_use[i] ? 1 : 0;
satinfo[i]->elv = nmea_satinfo->elv;
satinfo[i]->azimuth = nmea_satinfo->azimuth;
satinfo[i]->sig = nmea_satinfo->sig;
}
gps_data.satinfo = satinfo;
/* send the data: */
SCL_PACK_AND_SEND_DYNAMIC(gps_socket, gps_data, gps_data);
/* free allocated memory: */
for (i = 0; i < gps_data.n_satinfo; i++)
{
free(satinfo[i]);
}
free(satinfo);
}
nmea_zero_INFO(&info);
}
}
}
void main_init(int argc, char *argv[])
{
bool override_hw = false;
if (argc > 1)
{
if (strcmp(argv[1], "calibrate") == 0)
calibrate = true;
else
override_hw = true;
}
/* init data structures: */
memset(&pos_in, 0, sizeof(pos_in_t));
vec3_init(&pos_in.acc);
/* init SCL subsystem: */
syslog(LOG_INFO, "initializing signaling and communication link (SCL)");
if (scl_init("pilot") != 0)
{
syslog(LOG_CRIT, "could not init scl module");
die();
}
/* init params subsystem: */
syslog(LOG_INFO, "initializing opcd interface");
opcd_params_init("pilot.", 1);
/* initialize logger: */
syslog(LOG_INFO, "opening logger");
if (logger_open() != 0)
{
syslog(LOG_CRIT, "could not open logger");
die();
}
syslog(LOG_CRIT, "logger opened");
LOG(LL_INFO, "initializing platform");
if (arcade_quad_init(&platform, override_hw) < 0)
{
LOG(LL_ERROR, "could not initialize platform");
die();
}
acc_mag_cal_init();
cmc_init();
const size_t array_len = sizeof(float) * platform.n_motors;
setpoints = malloc(array_len);
ASSERT_NOT_NULL(setpoints);
memset(setpoints, 0, array_len);
rpm_square = malloc(array_len);
ASSERT_NOT_NULL(rpm_square);
memset(rpm_square, 0, array_len);
LOG(LL_INFO, "initializing model/controller");
pos_init();
ne_speed_ctrl_init(REALTIME_PERIOD);
att_ctrl_init();
yaw_ctrl_init();
u_ctrl_init();
u_speed_init();
navi_init();
LOG(LL_INFO, "initializing command interface");
cmd_init();
motors_state_init();
blackbox_init();
/* init flight logic: */
flight_logic_init();
/* init calibration data: */
cal_init(&gyro_cal, 3, 1000);
cal_ahrs_init();
flight_state_init(50, 150, 4.0);
piid_init(REALTIME_PERIOD);
interval_init(&gyro_move_interval);
gps_data_init(&gps_data);
mag_decl_init();
cal_init(&rc_cal, 3, 500);
tsfloat_t acc_fg;
opcd_param_t params[] =
{
{"acc_fg", &acc_fg},
OPCD_PARAMS_END
};
opcd_params_apply("main.", params);
filter1_lp_init(&lp_filter, tsfloat_get(&acc_fg), 0.06, 3);
cm_init();
mon_init();
LOG(LL_INFO, "entering main loop");
}