segway move to examples

src/examples/segway/BlockSegwayController.cpp

@@ -0,0 +1,66 @@
+#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(_att.get().pitchspeed);
+
+	// 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;
+	}
+
+	// update all publications
+	updatePublications();
+}

src/examples/segway/BlockSegwayController.hpp

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <px4_posix.h>
+#include <controllib/blocks.hpp>
+#include <controllib/uorb/blocks.hpp>
+
+using control::BlockPI;
+using control::BlockP;
+
+class BlockSegwayController : public control::BlockUorbEnabledAutopilot
+{
+public:
+	BlockSegwayController() :
+		BlockUorbEnabledAutopilot(NULL, "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;
+};

src/examples/segway/CMakeLists.txt

@@ -0,0 +1,45 @@
+############################################################################
+#
+#   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
+	STACK_MAIN 1300
+	STACK_MAX 1300
+	SRCS
+		segway_main.cpp
+		BlockSegwayController.cpp
+		params.c
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/examples/segway/params.c

@@ -0,0 +1,7 @@
+#include <systemlib/param/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

src/examples/segway/segway_main.cpp

@@ -0,0 +1,159 @@
+/****************************************************************************
+ *
+ *   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 <systemlib/systemlib.h>
+#include <systemlib/param/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");
+	exit(1);
+}
+
+/**
+ * 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");
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			warnx("already running");
+			/* this is not an error */
+			exit(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 *)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("is running");
+
+		} else {
+			warnx("not started");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(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;
+}