void write_data_s(void) { // global_data_lock(&global_data_rc_channels->access_conf); // uint8_t i; // for(i=0; i < NR_CHANNELS; i++){ // //Write the data to global_data_rc_channels (if not 0) // if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){ // global_data_rc_channels->chan[i].scaling_factor = // 10000/((max_values_servo[i] - min_values_servo[i])/2); // // global_data_rc_channels->chan[i].mid = mid_values_servo[i]; // } // // printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", // i, // global_data_rc_channels->function_name[global_data_rc_channels->function[i]], // min_values_servo[i], max_values_servo[i], // global_data_rc_channels->chan[i].scaling_factor, // global_data_rc_channels->chan[i].mid); // } // global_data_unlock(&global_data_rc_channels->access_conf); //Write to the Parameter storage global_data_lock(&global_data_parameter_storage->access_conf); global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0]; global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1]; global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2]; global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3]; global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0]; global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1]; global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2]; global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3]; global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0]; global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1]; global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2]; global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3]; global_data_unlock(&global_data_parameter_storage->access_conf); usleep(3e6); uint8_t i; for (i = 0; i < NR_CHANNELS; i++) { printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", i, min_values_servo[i], max_values_servo[i], global_data_rc_channels->chan[i].scaling_factor, global_data_rc_channels->chan[i].mid); } }
void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp) { static PID_t distance_controller; static int read_ret; static global_data_position_t position_estimated; static uint16_t counter; static bool initialized; static uint16_t pm_counter; static float lat_next; static float lon_next; static float pitch_current; static float thrust_total; if (initialized == false) { pid_init(&distance_controller, global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU], PID_MODE_DERIVATIV_CALC, 150);//150 // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; thrust_total = 0.0f; /* Position initialization */ /* Wait for new position estimate */ do { read_ret = read_lock_position(&position_estimated); } while (read_ret != 0); lat_next = position_estimated.lat; lon_next = position_estimated.lon; /* attitude initialization */ global_data_lock(&global_data_attitude->access_conf); pitch_current = global_data_attitude->pitch; global_data_unlock(&global_data_attitude->access_conf); initialized = true; } /* load new parameters with 10Hz */ if (counter % 50 == 0) { if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) { /* check whether new parameters are available */ if (global_data_parameter_storage->counter > pm_counter) { pid_set_parameters(&distance_controller, global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]); // // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; pm_counter = global_data_parameter_storage->counter; printf("Position controller changed pid parameters\n"); } } global_data_unlock(&global_data_parameter_storage->access_conf); } /* Wait for new position estimate */ do { read_ret = read_lock_position(&position_estimated); } while (read_ret != 0); /* Get next waypoint */ //TODO: add local copy if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) { lat_next = global_data_position_setpoint->x; lon_next = global_data_position_setpoint->y; global_data_unlock(&global_data_position_setpoint->access_conf); } /* Get distance to waypoint */ float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next); // if(counter % 5 == 0) // printf("distance_to_waypoint: %.4f\n", distance_to_waypoint); /* Get bearing to waypoint (direction on earth surface to next waypoint) */ float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next); if (counter % 5 == 0) printf("bearing: %.4f\n", bearing); /* Calculate speed in direction of bearing (needed for controller) */ float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy); // if(counter % 5 == 0) // printf("speed_norm: %.4f\n", speed_norm); float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller /* Control Thrust in bearing direction */ float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint, CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else // if(counter % 5 == 0) // printf("horizontal thrust: %.4f\n", horizontal_thrust); /* Get total thrust (from remote for now) */ if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum? global_data_unlock(&global_data_rc_channels->access_conf); } const float max_gas = 500.0f; thrust_total *= max_gas / 20000.0f; //TODO: check this thrust_total += max_gas / 2.0f; if (horizontal_thrust > thrust_total) { horizontal_thrust = thrust_total; } else if (horizontal_thrust < -thrust_total) { horizontal_thrust = -thrust_total; } //TODO: maybe we want to add a speed controller later... /* Calclulate thrust in east and north direction */ float thrust_north = cosf(bearing) * horizontal_thrust; float thrust_east = sinf(bearing) * horizontal_thrust; if (counter % 10 == 0) { printf("thrust north: %.4f\n", thrust_north); printf("thrust east: %.4f\n", thrust_east); fflush(stdout); } /* Get current attitude */ if (0 == global_data_trylock(&global_data_attitude->access_conf)) { pitch_current = global_data_attitude->pitch; global_data_unlock(&global_data_attitude->access_conf); } /* Get desired pitch & roll */ float pitch_desired = 0.0f; float roll_desired = 0.0f; if (thrust_total != 0) { float pitch_fraction = -thrust_north / thrust_total; float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total); if (roll_fraction < -1) { roll_fraction = -1; } else if (roll_fraction > 1) { roll_fraction = 1; } // if(counter % 5 == 0) // { // printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction); // fflush(stdout); // } pitch_desired = asinf(pitch_fraction); roll_desired = asinf(roll_fraction); } att_sp.roll = roll_desired; att_sp.pitch = pitch_desired; counter++; }
/**************************************************************************** * Public Functions ****************************************************************************/ void handleMessage(mavlink_message_t * msg) { //check for terminate command if(msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) { mavlink_command_long_t cmd; mavlink_msg_command_long_decode(msg, &cmd); if (cmd.target_system == mavlink_system.sysid && ((cmd.target_component == mavlink_system.compid) || (cmd.target_component == MAV_COMP_ID_ALL))) { bool terminate_link = false; bool reboot = false; /* result of the command */ uint8_t result = MAV_RESULT_UNSUPPORTED; /* supported command handling start */ /* request to set different system mode */ if (cmd.command == MAV_CMD_DO_SET_MODE) { mavlink_system.mode = cmd.param1; } /* request to arm */ // XXX /* request for an autopilot reboot */ if (cmd.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && cmd.param1 == 1.0f) { reboot = true; result = MAV_RESULT_ACCEPTED; mavlink_msg_statustext_send(chan,0,"Rebooting autopilot.. "); } /* request for a link shutdown */ if (cmd.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && cmd.param1 == 3.0f) { terminate_link = true; result = MAV_RESULT_ACCEPTED; mavlink_msg_statustext_send(chan,0,"Terminating MAVLink.. "); } /* supported command handling stop */ /* send any requested ACKs */ if (cmd.confirmation > 0) { mavlink_msg_command_ack_send(chan, cmd.command, result); } /* the two termination / reset commands need special handling */ if (terminate_link) { printf("MAVLink: Terminating.. \n"); fflush(stdout); /* sleep 100 ms to allow UART buffer to empty */ led_off(LED_BLUE); led_on(LED_AMBER); int i; for (i = 0; i < 5; i++) { led_toggle(LED_AMBER); usleep(20000); } //terminate other threads: pthread_cancel(heartbeat_thread); //terminate this thread (receive_thread) pthread_exit(NULL); } if (reboot) { printf("MAVLink: Rebooting system.. \n"); fflush(stdout); /* sleep 100 ms to allow UART buffer to empty */ led_off(LED_BLUE); led_on(LED_AMBER); int i; for (i = 0; i < 5; i++) { led_toggle(LED_BLUE); led_toggle(LED_AMBER); usleep(20000); } //terminate other threads: pthread_cancel(heartbeat_thread); // Reset whole system /* Resetting CPU */ // FIXME Need check for ARM architecture here #ifndef NVIC_AIRCR #define NVIC_AIRCR (*((uint32_t*)0xE000ED0C)) #endif /* Set the SYSRESETREQ bit to force a reset */ NVIC_AIRCR = 0x05fa0004; /* Spinning until the board is really reset */ while(true); } } } /* Handle quadrotor motor setpoints */ if(msg->msgid == MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT) { mavlink_set_quad_motors_setpoint_t quad_motors_setpoint; mavlink_msg_set_quad_motors_setpoint_decode(msg, &quad_motors_setpoint); if(quad_motors_setpoint.target_system == mavlink_system.sysid) { global_data_lock(&global_data_quad_motors_setpoint.access_conf); global_data_quad_motors_setpoint.motor_front_nw = quad_motors_setpoint.motor_front_nw; global_data_quad_motors_setpoint.motor_right_ne = quad_motors_setpoint.motor_right_ne; global_data_quad_motors_setpoint.motor_back_se = quad_motors_setpoint.motor_back_se; global_data_quad_motors_setpoint.motor_left_sw = quad_motors_setpoint.motor_left_sw; global_data_quad_motors_setpoint.counter++; global_data_quad_motors_setpoint.timestamp = global_data_get_timestamp_milliseconds(); global_data_unlock(&global_data_quad_motors_setpoint.access_conf); /* Inform the other processes that there is new gps data available */ global_data_broadcast(&global_data_quad_motors_setpoint.access_conf); } } }
static void *ubx_watchdog_loop(void * arg) //runs as a pthread and listens to uart1 ("/dev/ttyS0") { /* Retrieve file descriptor */ int fd = *((int *)arg); while(1) { /* if some values are to old reconfigure gps */ int i; pthread_mutex_lock(&ubx_mutex); bool all_okay = true; uint64_t timestamp_now = global_data_get_timestamp_milliseconds(); for(i = 0; i < UBX_NO_OF_MESSAGES; i++) { if(timestamp_now - ubx_state->last_message_timestamps[i] > GPS_WATCHDOG_CRITICAL_TIME_MILLISECONDS) { // printf("Warning: GPS ubx message %d not received for a long time\n", i); all_okay = false; } } pthread_mutex_unlock(&ubx_mutex); if(!all_okay) { /* gps error */ printf("GPS Watchdog detected gps not running or having problems\n"); global_data_lock(&global_data_sys_status.access_conf); global_data_sys_status.onboard_control_sensors_present |= 1 << 5;//TODO: write wrapper for bitmask global_data_sys_status.onboard_control_sensors_enabled |= 1 << 5; global_data_sys_status.onboard_control_sensors_health &= ~(1 << 5); global_data_sys_status.counter++; global_data_sys_status.timestamp = global_data_get_timestamp_milliseconds(); global_data_unlock(&global_data_sys_status.access_conf); /* trying to reconfigure the gps configuration */ configure_gps_ubx(fd); fflush(stdout); sleep(1); // int killres = pthread_kill(&ubx_thread, SIGKILL); // printf("killres=%d",killres); // sleep(1); // pthread_create (&ubx_thread, NULL, ubx_loop, (void *)&fd); } else { /* gps healthy */ global_data_lock(&global_data_sys_status.access_conf); global_data_sys_status.onboard_control_sensors_present |= 1 << 5;//TODO: write wrapper for bitmask global_data_sys_status.onboard_control_sensors_enabled |= 1 << 5; global_data_sys_status.onboard_control_sensors_health |= 1 << 5; global_data_sys_status.counter++; global_data_sys_status.timestamp = global_data_get_timestamp_milliseconds(); global_data_unlock(&global_data_sys_status.access_conf); } usleep(GPS_WATCHDOG_WAIT_TIME_MICROSECONDS); } }
static void *ubx_loop(void * arg) //runs as a pthread and listens to uart1 ("/dev/ttyS0") { /* Initialize ubx state */ // ubx_state = malloc(sizeof(gps_bin_ubx_state_t)); // ubx_decode_init(); /* Retrieve file descriptor */ int fd = *((int *)arg); /* Initialize gps stuff */ int buffer_size = 1000; // nmeaINFO * info = malloc(sizeof(nmeaINFO)); bool health_set = false; char * gps_rx_buffer = malloc(buffer_size*sizeof(char)); /* gps parser (nmea) */ // nmeaPARSER parser; // nmea_parser_init(&parser); // nmea_zero_INFO(info); // float lat_dec = 0; // float lon_dec = 0; /* custom (mediatek custom) */ // gps_bin_custom_state_t * mtk_state = malloc(sizeof(gps_bin_custom_state_t)); // mtk_decode_init(mtk_state); // mtk_state->print_errors = false; // if( !strcmp("custom",mode) ) // { // printf("\t%s: custom mode\n",APPNAME); // // configure_gps_custom(fd); // ? // // // // while(1) // // // // if (configure_gps_ubx(fd, ubx_state) != 0) // // // // { // // //TODO: execute custom read // // } // // } // else if( !strcmp("ubx",mode) ) // { printf("\t%s: ubx mode\n",APPNAME); //set parameters for ubx //ubx state gps_bin_ubx_state_t * ubx_state = malloc(sizeof(gps_bin_ubx_state_t)); printf("%s: ubx_state created\n",APPNAME); ubx_decode_init(); ubx_state->print_errors = false; int config_not_finished = 1; //is set to 0 as soon as all configurations are completed bool configured = false; /* set parameters for ubx */ if (configure_gps_ubx(fd) != 0) { printf("Configuration of gps module to ubx failed\n"); /* Write shared variable sys_status */ global_data_lock(&global_data_sys_status.access_conf); global_data_sys_status.onboard_control_sensors_present |= 1 << 5;//TODO: write wrapper for bitmask global_data_sys_status.onboard_control_sensors_enabled &= ~(1 << 5); global_data_sys_status.onboard_control_sensors_health &= ~(1 << 5); global_data_sys_status.counter++; global_data_sys_status.timestamp = global_data_get_timestamp_milliseconds(); global_data_unlock(&global_data_sys_status.access_conf); } else { printf("Configuration of gps module to ubx successful\n"); /* Write shared variable sys_status */ global_data_lock(&global_data_sys_status.access_conf); global_data_sys_status.onboard_control_sensors_present |= 1 << 5;//TODO: write wrapper for bitmask global_data_sys_status.onboard_control_sensors_enabled |= 1 << 5; global_data_sys_status.counter++; global_data_sys_status.timestamp = global_data_get_timestamp_milliseconds(); global_data_unlock(&global_data_sys_status.access_conf); } /* Inform the other processes that there is new gps data available */ global_data_broadcast(&global_data_sys_status.access_conf); while(1) { read_gps_ubx(fd, gps_rx_buffer, buffer_size, &ubx_mutex); // // /* set health to true if config is finished after certain time (only executed once) */ // if(config_not_finished == 0 && counter >= GPS_COUNTER_LIMIT && false == health_set) // { // global_data_lock(&global_data_sys_status.access_conf); // global_data_sys_status.onboard_control_sensors_health |= 1 << 5; // global_data_sys_status.counter++; // global_data_sys_status.timestamp = global_data_get_timestamp_milliseconds(); // global_data_unlock(&global_data_sys_status.access_conf); // // health_set = true; // // printf("%s: gps configuration successful\n",APPNAME); // } // else if (config_not_finished != 0 && counter >= GPS_COUNTER_LIMIT) // { // //reset state machine // ubx_decode_init(ubx_state); // ubx_state->print_errors = false; // ubx_state->last_config_message_sent = UBX_CONFIGURE_NOTHING; // ubx_state->last_ack_message_received = UBX_CONFIGURE_NOTHING; // ubx_state->last_config_failed = false; // config_not_finished = 1; //is set to 0 as soon as all configurations are completed // bool configured = false; // counter = 0; // // // printf("%s: gps configuration probably failed, exiting now\n",APPNAME); //// sleep(1); //// return 0; // } /* Inform the other processes that there is new gps data available */ global_data_broadcast(&global_data_gps.access_conf); } // } // else if( !strcmp("nmea",mode) ) // { // printf("\t%s: nmea mode\n",APPNAME); // } // while(1) // { // if( !strcmp("nmea",mode) ) //TODO: implement use of global_data-gps also in nmea mode (currently only in ubx mode) // { // printf("\t%s: nmea mode\n"); // //get gps data into info // read_gps_nmea(fd, gps_rx_buffer, buffer_size, info, &parser); // //convert latitude longitude // lat_dec = ndeg2degree(info->lat); // lon_dec = ndeg2degree(info->lon); // // //Test output //// printf("Lat:%d, Lon:%d,Elev:%d, Sig:%d, Fix:%d, Inview:%d\n", (int)(lat_dec*1e6), (int)(lon_dec*1e6), (int)(info->elv*1e6), info->sig, info->fix, info->satinfo.inview); // } //// else if ( !strcmp("ubx",mode) ) //// { //// //// //get gps data into info //// read_gps_ubx(fd, gps_rx_buffer, buffer_size, ubx_state); //TODO: atm using the info struct from the nmea library, once the gps/mavlink structures are clear--> use own struct ////// lat_dec = info->lat; ////// lon_dec = info->lon; ////// printf("Lat:%d, Lon:%d,Elev:%d, Sig:%d, Fix:%d, Inuse:%d, PDOP:%d\n", (int)(lat_dec*1e6), (int)(lon_dec*1e6), (int)(info->elv*1e6), info->sig, info->fix, info->satinfo.inuse, (int)(info->PDOP*1e4)); //// } // else if ( !strcmp("custom",mode) ) //TODO: implement use of global_data-gps also in custom mode (currently only in ubx mode) // { // //info is used as storage of the gps information. lat lon are already in fractional degree format * 10e6 // //see custom.h/mtk_parse for more information on which variables are stored in info // nmea_zero_INFO(info); // // //get gps data into info // read_gps_custom(fd, gps_rx_buffer, buffer_size, info, mtk_state); // // //Test output //// printf("Lat:%d, Lon:%d,Elev:%d, Sig:%d, Fix:%d, Inview:%d\n", (int)(info->lat), (int)info->lon, (int)info->elv, info->sig, info->fix, info->satinfo.inview); // // } // // // // // // } free(gps_rx_buffer); // free(info); //close port close_port(fd); //destroy gps parser // nmea_parser_destroy(&parser); return 0; }