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Code Issues Packages Projects Releases Wiki Activity

delete obsolete segway example

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This commit is contained in:
Daniel Agar 2019-09-28 14:35:17 -04:00
parent fd67bd0680
commit 0486d69240
45 changed files with 0 additions and 564 deletions
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1
boards/aerotenna/ocpoc/ubuntu.cmake
View File

@ -79,5 +79,4 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)

1
boards/airmind/mindpx-v2/default.cmake
View File

@ -107,7 +107,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/atlflight/eagle/default.cmake
View File

@ -119,5 +119,4 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
)

1
boards/atlflight/excelsior/default.cmake
View File

@ -120,5 +120,4 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)

1
boards/auav/x21/default.cmake
View File

@ -112,7 +112,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/av/x-v1/default.cmake
View File

@ -112,7 +112,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/beaglebone/blue/cross.cmake
View File

@ -76,5 +76,4 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)

1
boards/beaglebone/blue/native.cmake
View File

@ -74,5 +74,4 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)

1
boards/emlid/navio2/cross.cmake
View File

@ -84,5 +84,4 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)

1
boards/emlid/navio2/native.cmake
View File

@ -82,5 +82,4 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)

1
boards/intel/aerofc-v1/default.cmake
View File

@ -90,7 +90,6 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
#uuv_example_app
)

1
boards/intel/aerofc-v1/rtps.cmake
View File

@ -94,7 +94,6 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
#uuv_example_app
)

1
boards/mro/ctrl-zero-f7/default.cmake
View File

@ -116,7 +116,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/nxp/fmuk66-v3/default.cmake
View File

@ -111,7 +111,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/omnibus/f4sd/default.cmake
View File

@ -102,7 +102,6 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
#uuv_example_app
)

1
boards/px4/fmu-v2/default.cmake
View File

@ -119,6 +119,5 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
#uuv_example_app
)

1
boards/px4/fmu-v2/lpe.cmake
View File

@ -113,5 +113,4 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
)

1
boards/px4/fmu-v2/test.cmake
View File

@ -113,5 +113,4 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
)

1
boards/px4/fmu-v3/default.cmake
View File

@ -120,7 +120,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/fmu-v3/rtps.cmake
View File

@ -120,7 +120,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/fmu-v3/stackcheck.cmake
View File

@ -119,7 +119,6 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
#uuv_example_app
)

1
boards/px4/fmu-v4/default.cmake
View File

@ -106,7 +106,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/fmu-v4/rtps.cmake
View File

@ -109,7 +109,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/fmu-v4/stackcheck.cmake
View File

@ -106,7 +106,6 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
#uuv_example_app
)

1
boards/px4/fmu-v4pro/default.cmake
View File

@ -118,7 +118,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/fmu-v4pro/rtps.cmake
View File

@ -118,7 +118,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/fmu-v5/critmonitor.cmake
View File

@ -120,7 +120,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/fmu-v5/default.cmake
View File

@ -120,7 +120,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/fmu-v5/irqmonitor.cmake
View File

@ -120,7 +120,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/fmu-v5/rtps.cmake
View File

@ -118,6 +118,5 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/fmu-v5/stackcheck.cmake
View File

@ -119,6 +119,5 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
#uuv_example_app
)

1
boards/px4/fmu-v5x/default.cmake
View File

@ -120,6 +120,5 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app
)

1
boards/px4/raspberrypi/cross.cmake
View File

@ -76,5 +76,4 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)

1
boards/px4/raspberrypi/native.cmake
View File

@ -75,5 +75,4 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)

1
boards/px4/sitl/default.cmake
View File

@ -79,7 +79,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)
set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")

1
boards/px4/sitl/rtps.cmake
View File

@ -80,7 +80,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)
set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")

1
boards/px4/sitl/test.cmake
View File

@ -79,7 +79,6 @@ px4_add_board(
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
)
set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")

1
boards/uvify/core/default.cmake
View File

@ -113,7 +113,6 @@ px4_add_board(
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#segway
#uuv_example_app
)

66
src/examples/segway/BlockSegwayController.cpp
View File

@ -1,66 +0,0 @@
#include "BlockSegwayController.hpp"
using matrix::Eulerf;
using matrix::Quatf;
void BlockSegwayController::update()
{
// wait for a sensor update, check for exit condition every 100 ms
if (px4_poll(&_attPoll, 1, 100) < 0) { return; } // poll error
uint64_t newTimeStamp = hrt_absolute_time();
float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
_timeStamp = newTimeStamp;
// check for sane values of dt
// to prevent large control responses
if (dt > 1.0f || dt < 0) { return; }
// set dt for all child blocks
setDt(dt);
// check for new updates
if (_param_update.updated()) { updateParams(); }
// get new information from subscriptions
updateSubscriptions();
actuator_controls_s &actuators = _actuators.get();
// default all output to zero unless handled by mode
for (unsigned i = 2; i < actuator_controls_s::NUM_ACTUATOR_CONTROLS; i++) {
actuators.control[i] = 0.0f;
}
const uint8_t &nav_state = _status.get().nav_state;
// only update guidance in auto mode
if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {
// update guidance
}
Eulerf euler = Eulerf(Quatf(_att.get().q));
// compute speed command
float spdCmd = -th2v.update(euler.theta()) - q2v.update(_angular_velocity.get().xyz[1]);
// handle autopilot modes
if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ||
nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL ||
nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL) {
actuators.control[0] = spdCmd;
actuators.control[1] = spdCmd;
} else if (nav_state == vehicle_status_s::NAVIGATION_STATE_STAB) {
actuators.control[0] = spdCmd;
actuators.control[1] = spdCmd;
} else if (nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL) {
actuators.control[CH_LEFT] = _manual.get().z;
actuators.control[CH_RIGHT] = -_manual.get().x;
}
// publish
_actuators.update();
}

34
src/examples/segway/BlockSegwayController.hpp
View File

@ -1,34 +0,0 @@
#pragma once
#include <px4_posix.h>
#include <controllib/blocks.hpp>
#include "blocks.hpp"
using control::BlockPI;
using control::BlockP;
class BlockSegwayController : public control::BlockUorbEnabledAutopilot
{
public:
BlockSegwayController() :
BlockUorbEnabledAutopilot(nullptr, "SEG"),
th2v(this, "TH2V"),
q2v(this, "Q2V"),
_attPoll(),
_timeStamp(0)
{
_attPoll.fd = _att.getHandle();
_attPoll.events = POLLIN;
}
void update();
private:
enum {CH_LEFT, CH_RIGHT};
BlockPI th2v;
BlockP q2v;
px4_pollfd_struct_t _attPoll;
uint64_t _timeStamp;
};

42
src/examples/segway/CMakeLists.txt
View File

@ -1,42 +0,0 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE examples__segway
MAIN segway
SRCS
blocks.cpp
segway_main.cpp
BlockSegwayController.cpp
DEPENDS
)

104
src/examples/segway/blocks.cpp
View File

@ -1,104 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file uorb_blocks.cpp
*
* uorb block library code
*/
#include "blocks.hpp"
#include <lib/ecl/geo/geo.h>
#include <matrix/math.hpp>
using matrix::wrap_2pi;
namespace control
{
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_xtYawLimit(this, "XT2YAW"),
_xt2Yaw(this, "XT2YAW"),
_psiCmd(0)
{
}
void BlockWaypointGuidance::update(
const vehicle_global_position_s &pos,
const vehicle_attitude_s &att,
const position_setpoint_s &missionCmd,
const position_setpoint_s &lastMissionCmd)
{
// heading to waypoint
float psiTrack = get_bearing_to_next_waypoint(
(double)pos.lat / (double)1e7,
(double)pos.lon / (double)1e7,
missionCmd.lat,
missionCmd.lon);
// cross track
struct crosstrack_error_s xtrackError;
get_distance_to_line(&xtrackError,
(double)pos.lat / (double)1e7,
(double)pos.lon / (double)1e7,
lastMissionCmd.lat,
lastMissionCmd.lon,
missionCmd.lat,
missionCmd.lon);
_psiCmd = wrap_2pi(psiTrack -
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
}
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
// subscriptions
_manual(ORB_ID(manual_control_setpoint), 20, 0, &getSubscriptions()),
_param_update(ORB_ID(parameter_update), 1000, 0, &getSubscriptions()), // limit to 1 Hz
_missionCmd(ORB_ID(position_setpoint_triplet), 20, 0, &getSubscriptions()),
_att(ORB_ID(vehicle_attitude), 20, 0, &getSubscriptions()),
_angular_velocity(ORB_ID(vehicle_angular_velocity), 20, 0, &getSubscriptions()),
_attCmd(ORB_ID(vehicle_attitude_setpoint), 20, 0, &getSubscriptions()),
_pos(ORB_ID(vehicle_global_position), 20, 0, &getSubscriptions()),
_ratesCmd(ORB_ID(vehicle_rates_setpoint), 20, 0, &getSubscriptions()),
_status(ORB_ID(vehicle_status), 20, 0, &getSubscriptions()),
// publications
_actuators(ORB_ID(actuator_controls_0))
{
}
}

115
src/examples/segway/blocks.hpp
View File

@ -1,115 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file uorb_blocks.h
*
* uorb block library code
*/
#pragma once
#include <math.h>
#include <poll.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <controllib/blocks.hpp>
#include <drivers/drv_hrt.h>
#include <uORB/SubscriptionPollable.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_controls.h>
namespace control
{
/**
* Waypoint Guidance block
*/
class __EXPORT BlockWaypointGuidance : public SuperBlock
{
private:
BlockLimitSym _xtYawLimit;
BlockP _xt2Yaw;
float _psiCmd;
public:
BlockWaypointGuidance(SuperBlock *parent, const char *name);
virtual ~BlockWaypointGuidance() = default;
void update(const vehicle_global_position_s &pos,
const vehicle_attitude_s &att,
const position_setpoint_s &missionCmd,
const position_setpoint_s &lastMissionCmd);
float getPsiCmd() { return _psiCmd; }
};
/**
* UorbEnabledAutopilot
*/
class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
{
protected:
// subscriptions
uORB::SubscriptionPollable<manual_control_setpoint_s> _manual;
uORB::SubscriptionPollable<parameter_update_s> _param_update;
uORB::SubscriptionPollable<position_setpoint_triplet_s> _missionCmd;
uORB::SubscriptionPollable<vehicle_attitude_s> _att;
uORB::SubscriptionPollable<vehicle_angular_velocity_s> _angular_velocity;
uORB::SubscriptionPollable<vehicle_attitude_setpoint_s> _attCmd;
uORB::SubscriptionPollable<vehicle_global_position_s> _pos;
uORB::SubscriptionPollable<vehicle_rates_setpoint_s> _ratesCmd;
uORB::SubscriptionPollable<vehicle_status_s> _status;
// publications
uORB::PublicationData<actuator_controls_s> _actuators{ORB_ID(actuator_controls_0)};
public:
BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
virtual ~BlockUorbEnabledAutopilot() = default;
};
} // namespace control

7
src/examples/segway/params.c
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@ -1,7 +0,0 @@
#include <parameters/param.h>
// 16 is max name length
PARAM_DEFINE_FLOAT(SEG_TH2V_P, 10.0f); // pitch to voltage
PARAM_DEFINE_FLOAT(SEG_TH2V_I, 0.0f); // pitch integral to voltage
PARAM_DEFINE_FLOAT(SEG_TH2V_I_MAX, 0.0f); // integral limiter
PARAM_DEFINE_FLOAT(SEG_Q2V, 1.0f); // pitch rate to voltage

158
src/examples/segway/segway_main.cpp
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@ -1,158 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: James Goppert
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file segway_main.cpp
* @author James Goppert
*
* Segway controller using control library
*/
#include <px4_config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <parameters/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include "BlockSegwayController.hpp"
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/**
* Deamon management function.
*/
extern "C" __EXPORT int segway_main(int argc, char *argv[]);
/**
* Mainloop of deamon.
*/
int segway_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason) {
fprintf(stderr, "%s\n", reason);
}
fprintf(stderr, "usage: segway {start|stop|status} [-p <additional params>]\n\n");
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int segway_main(int argc, char *argv[])
{
if (argc < 2) {
usage("missing command");
return -1;
}
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
/* this is not an error */
return 0;
}
thread_should_exit = false;
deamon_task = px4_task_spawn_cmd("segway",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
5120,
segway_thread_main,
(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
return 0;
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
return 0;
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("is running");
} else {
warnx("not started");
}
return 0;
}
usage("unrecognized command");
return -1;
}
int segway_thread_main(int argc, char *argv[])
{
warnx("starting");
using namespace control;
BlockSegwayController autopilot;
thread_running = true;
while (!thread_should_exit) {
autopilot.update();
}
warnx("exiting.");
thread_running = false;
return 0;
}