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Completely implemented offboard control

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This commit is contained in:
Lorenz Meier
2012-09-21 12:55:41 +02:00
parent 572efc3383
commit 082074f991
12 changed files with 467 additions and 211 deletions
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apps/uORB/objects_common.cpp
+3 -1
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@@ -59,7 +59,6 @@ ORB_DEFINE(output_pwm, struct pwm_output_values);
#include <drivers/drv_rc_input.h>
ORB_DEFINE(input_rc, struct rc_input_values);
// XXX need to check wether these should be here
#include "topics/vehicle_attitude.h"
ORB_DEFINE(vehicle_attitude, struct vehicle_attitude_s);
@@ -99,6 +98,9 @@ ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
#include "topics/manual_control_setpoint.h"
ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
#include "topics/offboard_control_setpoint.h"
ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
#include "topics/optical_flow.h"
ORB_DEFINE(optical_flow, struct optical_flow_s);
apps/uORB/topics/manual_control_setpoint.h
+23 -27
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@@ -1,21 +1,21 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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.
* 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.
* 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.
* 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
@@ -57,31 +57,27 @@
*/
enum MANUAL_CONTROL_MODE
{
DIRECT = 0,
ROLLPOS_PITCHPOS_YAWRATE_THROTTLE = 1,
ROLLRATE_PITCHRATE_YAWRATE_THROTTLE = 2,
ROLLPOS_PITCHPOS_YAWPOS_THROTTLE = 3
MANUAL_CONTROL_MODE_DIRECT = 0,
MANUAL_CONTROL_MODE_ATT_YAW_RATE = 1,
MANUAL_CONTROL_MODE_ATT_YAW_POS = 2,
MANUAL_CONTROL_MODE_MULTIROTOR_SIMPLE = 3 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};
struct manual_control_setpoint_s {
uint64_t timestamp;
enum MANUAL_CONTROL_MODE mode; /**< The current control inputs mode */
float roll; /**< roll / roll rate input */
float pitch;
float yaw;
float throttle;
enum MANUAL_CONTROL_MODE mode; /**< The current control inputs mode */
float roll; /**< ailerons roll / roll rate input */
float pitch; /**< elevator / pitch / pitch rate */
float yaw; /**< rudder / yaw rate / yaw */
float throttle; /**< throttle / collective thrust / altitude */
float override_mode_switch;
float override_mode_switch;
float ailerons;
float elevator;
float rudder;
float flaps;
float aux1_cam_pan;
float aux2_cam_tilt;
float aux3_cam_zoom;
float aux4_cam_roll;
float aux1_cam_pan_flaps;
float aux2_cam_tilt;
float aux3_cam_zoom;
float aux4_cam_roll;
}; /**< manual control inputs */
apps/uORB/topics/offboard_control_setpoint.h
+94
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@@ -0,0 +1,94 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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 offboard_control_setpoint.h
* Definition of the manual_control_setpoint uORB topic.
*/
#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Off-board control inputs.
*
* Typically sent by a ground control station / joystick or by
* some off-board controller via C or SIMULINK.
*/
enum OFFBOARD_CONTROL_MODE
{
OFFBOARD_CONTROL_MODE_DIRECT = 0,
OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};
struct offboard_control_setpoint_s {
uint64_t timestamp;
enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */
bool armed; /**< Armed flag set, yes / no */
float p1; /**< ailerons roll / roll rate input */
float p2; /**< elevator / pitch / pitch rate */
float p3; /**< rudder / yaw rate / yaw */
float p4; /**< throttle / collective thrust / altitude */
float override_mode_switch;
float aux1_cam_pan_flaps;
float aux2_cam_tilt;
float aux3_cam_zoom;
float aux4_cam_roll;
}; /**< offboard control inputs */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(offboard_control_setpoint);
#endif
apps/uORB/topics/vehicle_rates_setpoint.h
-1
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@@ -47,7 +47,6 @@
* @addtogroup topics
* @{
*/
struct vehicle_rates_setpoint_s
{
uint64_t timestamp; /**< in microseconds since system start */
apps/uORB/topics/vehicle_status.h
+10
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@@ -110,6 +110,8 @@ struct vehicle_status_s
uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
uint64_t failsave_lowlevel_start_time; /**< time when the lowlevel failsafe flag was set */
//uint64_t failsave_highlevel_begin; TO BE COMPLETED
commander_state_machine_t state_machine; /**< current flight state, main state machine */
enum VEHICLE_FLIGHT_MODE flight_mode; /**< current flight mode, as defined by mode switch */
@@ -134,10 +136,18 @@ struct vehicle_status_s
bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */
bool flag_preflight_accel_calibration;
bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception is terminally lost */
bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */
uint64_t rc_signal_lost_interval; /**< interval in microseconds since when no RC signal is available */
bool offboard_control_signal_found_once;
bool offboard_control_signal_lost;
uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */
bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
//bool failsave_highlevel;
/* see SYS_STATUS mavlink message for the following */
uint32_t onboard_control_sensors_present;
uint32_t onboard_control_sensors_enabled;