merged

apps/systemlib/conversions.c

@@ -55,3 +55,92 @@ int16_t_from_bytes(uint8_t bytes[])
 
 	return u.w;
 }
+
+void rot2quat(const float R[9], float Q[4])
+{
+  float q0_2;
+  float q1_2;
+  float q2_2;
+  float q3_2;
+  int32_t idx;
+
+  /* conversion of rotation matrix to quaternion
+   * choose the largest component to begin with */
+  q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F;
+  q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F;
+  q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F;
+  q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F;
+
+  idx = 0;
+
+  if (q0_2 < q1_2) {
+    q0_2 = q1_2;
+
+    idx = 1;
+  }
+
+  if (q0_2 < q2_2) {
+    q0_2 = q2_2;
+    idx = 2;
+  }
+
+  if (q0_2 < q3_2) {
+    q0_2 = q3_2;
+    idx = 3;
+  }
+
+  q0_2 = sqrtf(q0_2);
+
+  /* solve for the remaining three components */
+  if (idx == 0) {
+    q1_2 = q0_2;
+    q2_2 = (R[5] - R[7]) / 4.0F / q0_2;
+    q3_2 = (R[6] - R[2]) / 4.0F / q0_2;
+    q0_2 = (R[1] - R[3]) / 4.0F / q0_2;
+  } else if (idx == 1) {
+    q2_2 = q0_2;
+    q1_2 = (R[5] - R[7]) / 4.0F / q0_2;
+    q3_2 = (R[3] + R[1]) / 4.0F / q0_2;
+    q0_2 = (R[6] + R[2]) / 4.0F / q0_2;
+  } else if (idx == 2) {
+    q3_2 = q0_2;
+    q1_2 = (R[6] - R[2]) / 4.0F / q0_2;
+    q2_2 = (R[3] + R[1]) / 4.0F / q0_2;
+    q0_2 = (R[7] + R[5]) / 4.0F / q0_2;
+  } else {
+    q1_2 = (R[1] - R[3]) / 4.0F / q0_2;
+    q2_2 = (R[6] + R[2]) / 4.0F / q0_2;
+    q3_2 = (R[7] + R[5]) / 4.0F / q0_2;
+  }
+
+  /* return values */
+  Q[0] = q1_2;
+  Q[1] = q2_2;
+  Q[2] = q3_2;
+  Q[3] = q0_2;
+}
+
+void quat2rot(const float Q[4], float R[9])
+{
+  float q0_2;
+  float q1_2;
+  float q2_2;
+  float q3_2;
+
+  memset(&R[0], 0, 9U * sizeof(float));
+
+  q0_2 = Q[0] * Q[0];
+  q1_2 = Q[1] * Q[1];
+  q2_2 = Q[2] * Q[2];
+  q3_2 = Q[3] * Q[3];
+
+  R[0] = ((q0_2 + q1_2) - q2_2) - q3_2;
+  R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]);
+  R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]);
+  R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]);
+  R[4] = ((q0_2 + q2_2) - q1_2) - q3_2;
+  R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]);
+  R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]);
+  R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]);
+  R[8] = ((q0_2 + q3_2) - q1_2) - q2_2;
+}

apps/systemlib/conversions.h

@@ -44,6 +44,8 @@
 #include <float.h>
 #include <stdint.h>
 
+#define CONSTANTS_ONE_G		9.80665f
+
 __BEGIN_DECLS
 
 /**
@@ -56,6 +58,26 @@ __BEGIN_DECLS
  */
 __EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]);
 
+/**
+ * Converts a 3 x 3 rotation matrix to an unit quaternion.
+ *
+ * All orientations are expressed in NED frame.
+ *
+ * @param R rotation matrix to convert
+ * @param Q quaternion to write back to
+ */
+__EXPORT void rot2quat(const float R[9], float Q[4]);
+
+/**
+ * Converts an unit quaternion to a 3 x 3 rotation matrix.
+ *
+ * All orientations are expressed in NED frame.
+ *
+ * @param Q quaternion to convert
+ * @param R rotation matrix to write back to
+ */
+__EXPORT void quat2rot(const float Q[4], float R[9]);
+
 __END_DECLS
 
 #endif /* CONVERSIONS_H_ */

apps/systemlib/pid/pid.c

@@ -183,3 +183,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 
 	return pid->last_output;
 }
+
+
+__EXPORT void pid_reset_integral(PID_t *pid)
+{
+	pid->integral = 0;
+}

apps/systemlib/pid/pid.h

@@ -72,6 +72,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
 //void pid_set(PID_t *pid, float sp);
 __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
 
+__EXPORT void pid_reset_integral(PID_t *pid);
 
 
 #endif /* PID_H_ */

apps/systemlib/scheduling_priorities.h

@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <nuttx/sched.h>
+
+/*      SCHED_PRIORITY_MAX    */
+#define SCHED_PRIORITY_FAST_DRIVER           SCHED_PRIORITY_MAX
+#define SCHED_PRIORITY_WATCHDOG             (SCHED_PRIORITY_MAX - 5)
+#define SCHED_PRIORITY_ACTUATOR_OUTPUTS     (SCHED_PRIORITY_MAX - 15)
+#define SCHED_PRIORITY_ATTITUDE_CONTROL     (SCHED_PRIORITY_MAX - 25)
+#define SCHED_PRIORITY_SLOW_DRIVER          (SCHED_PRIORITY_MAX - 35)
+#define SCHED_PRIORITY_POSITION_CONTROL     (SCHED_PRIORITY_MAX - 40)
+/*      SCHED_PRIORITY_DEFAULT    */
+#define SCHED_PRIORITY_LOGGING              (SCHED_PRIORITY_DEFAULT - 10)
+#define SCHED_PRIORITY_PARAMS               (SCHED_PRIORITY_DEFAULT - 15)
+/*      SCHED_PRIORITY_IDLE    */