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[WIP] manual_control selector hacks
This commit is contained in:
Daniel Agar
committed by
Matthias Grob
Matthias Grob
parent
e18cf3da3e
commit
2d816e0b3e
@@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE module__manual_control
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MAIN manual_control
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COMPILE_FLAGS
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SRCS
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ManualControl.cpp
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ManualControl.cpp
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ManualControl.hpp
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DEPENDS
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px4_work_queue
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)
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@@ -0,0 +1,5 @@
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menuconfig MODULES_MANUAL_CONTROL
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bool "manual_control"
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default n
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---help---
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Enable support for manual_control
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@@ -0,0 +1,249 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "ManualControl.hpp"
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#include <drivers/drv_hrt.h>
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namespace manual_control
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{
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ManualControl::ManualControl() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
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{
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}
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ManualControl::~ManualControl()
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{
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perf_free(_loop_perf);
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perf_free(_loop_interval_perf);
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}
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bool ManualControl::init()
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{
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ScheduleNow();
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return true;
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}
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void ManualControl::Run()
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{
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if (should_exit()) {
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ScheduleClear();
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exit_and_cleanup();
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return;
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}
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perf_begin(_loop_perf);
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perf_count(_loop_interval_perf);
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// Check if parameters have changed
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if (_parameter_update_sub.updated()) {
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// clear update
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parameter_update_s param_update;
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_parameter_update_sub.copy(¶m_update);
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updateParams();
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_stick_arm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
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_stick_disarm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
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}
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const hrt_abstime rc_timeout = _param_com_rc_loss_t.get() * 1_s;
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bool publish_once = false;
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int selected_manual_input = -1;
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for (int i = 0; i < MAX_MANUAL_INPUT_COUNT; i++) {
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manual_control_input_s manual_control_input;
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if (_manual_control_input_subs[i].update(&manual_control_input)) {
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bool publish = false;
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if ((_param_com_rc_in_mode.get() == 0)
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&& (manual_control_input.data_source == manual_control_input_s::SOURCE_RC)) {
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publish = true;
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} else if ((_param_com_rc_in_mode.get() == 1)
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&& (manual_control_input.data_source >= manual_control_input_s::SOURCE_MAVLINK_0)) {
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publish = true;
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} else {
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// otherwise, first come, first serve (REVIEW)
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publish = true;
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}
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bool available = (hrt_elapsed_time(&manual_control_input.timestamp) < rc_timeout)
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&& (hrt_elapsed_time(&_manual_control_input[i].timestamp) < rc_timeout);
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if (publish && available && !publish_once) {
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const float dt_inv = 1e6f / static_cast<float>(manual_control_input.timestamp_sample -
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_manual_control_input[i].timestamp_sample);
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manual_control_setpoint_s manual_control_setpoint{};
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manual_control_setpoint.timestamp_sample = manual_control_input.timestamp_sample;
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manual_control_setpoint.x = manual_control_input.x;
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manual_control_setpoint.y = manual_control_input.y;
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manual_control_setpoint.z = manual_control_input.z;
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manual_control_setpoint.r = manual_control_input.r;
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manual_control_setpoint.vx = (manual_control_input.x - _manual_control_input[i].x) * dt_inv;
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manual_control_setpoint.vy = (manual_control_input.y - _manual_control_input[i].y) * dt_inv;
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manual_control_setpoint.vz = (manual_control_input.z - _manual_control_input[i].z) * dt_inv;
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manual_control_setpoint.vr = (manual_control_input.r - _manual_control_input[i].r) * dt_inv;
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manual_control_setpoint.flaps = manual_control_input.flaps;
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manual_control_setpoint.aux1 = manual_control_input.aux1;
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manual_control_setpoint.aux2 = manual_control_input.aux2;
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manual_control_setpoint.aux3 = manual_control_input.aux3;
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manual_control_setpoint.aux4 = manual_control_input.aux4;
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manual_control_setpoint.aux5 = manual_control_input.aux5;
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manual_control_setpoint.aux6 = manual_control_input.aux6;
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manual_control_setpoint.data_source = manual_control_input.data_source;
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// user arm/disarm gesture
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const bool right_stick_centered = (fabsf(manual_control_input.x) < 0.1f) && (fabsf(manual_control_input.y) < 0.1f);
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const bool stick_lower_left = (manual_control_input.z < 0.1f) && (manual_control_input.r < -0.9f);
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const bool stick_lower_right = (manual_control_input.z < 0.1f) && (manual_control_input.r > 0.9f);
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_stick_arm_hysteresis.set_state_and_update(stick_lower_right && right_stick_centered, manual_control_input.timestamp);
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_stick_disarm_hysteresis.set_state_and_update(stick_lower_left && right_stick_centered, manual_control_input.timestamp);
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manual_control_setpoint.arm_gesture = _stick_arm_hysteresis.get_state();
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manual_control_setpoint.disarm_gesture = _stick_disarm_hysteresis.get_state();
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// user wants override
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const float minimum_stick_change = 0.01f * _param_com_rc_stick_ov.get();
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const bool rpy_moved = (fabsf(manual_control_input.x - _manual_control_input[i].x) > minimum_stick_change)
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|| (fabsf(manual_control_input.y - _manual_control_input[i].y) > minimum_stick_change)
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|| (fabsf(manual_control_input.r - _manual_control_input[i].r) > minimum_stick_change);
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// Throttle change value doubled to achieve the same scaling even though the range is [0,1] instead of [-1,1]
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const bool throttle_moved = (fabsf(manual_control_input.z - _manual_control_input[i].z) * 2.f > minimum_stick_change);
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const bool use_throttle = !(_param_rc_override.get() & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
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manual_control_setpoint.user_override = rpy_moved || (use_throttle && throttle_moved);
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manual_control_setpoint.timestamp = hrt_absolute_time();
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_manual_control_setpoint_pub.publish(manual_control_setpoint);
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publish_once = true;
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selected_manual_input = i;
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}
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_manual_control_input[i] = manual_control_input;
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_available[i] = available;
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}
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}
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if ((selected_manual_input >= 0) && (selected_manual_input != _selected_manual_input)) {
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if (_selected_manual_input >= 0) {
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PX4_INFO("selected manual_control_input changed %d -> %d", _selected_manual_input, selected_manual_input);
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}
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_manual_control_input_subs[selected_manual_input].registerCallback();
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_selected_manual_input = selected_manual_input;
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}
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// reschedule timeout
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ScheduleDelayed(200_ms);
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perf_end(_loop_perf);
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}
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int ManualControl::task_spawn(int argc, char *argv[])
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{
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ManualControl *instance = new ManualControl();
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if (instance) {
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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if (instance->init()) {
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return PX4_OK;
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}
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} else {
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PX4_ERR("alloc failed");
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}
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delete instance;
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_object.store(nullptr);
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_task_id = -1;
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return PX4_ERROR;
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}
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int ManualControl::print_status()
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{
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perf_print_counter(_loop_perf);
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perf_print_counter(_loop_interval_perf);
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return 0;
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}
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int ManualControl::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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int ManualControl::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("manual_control", "system");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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}; // namespace manual_control
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extern "C" __EXPORT int manual_control_main(int argc, char *argv[])
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{
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return manual_control::ManualControl::main(argc, argv);
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}
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@@ -0,0 +1,115 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
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||||
* 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.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
||||
*
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* 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
|
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* 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
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/hysteresis/hysteresis.h>
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#include <lib/perf/perf_counter.h>
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#include <uORB/topics/manual_control_input.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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using namespace time_literals;
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namespace manual_control
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{
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class ManualControl : public ModuleBase<ManualControl>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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ManualControl();
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~ManualControl() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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int print_status() override;
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private:
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static constexpr int MAX_MANUAL_INPUT_COUNT = 3;
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enum OverrideBits {
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OVERRIDE_AUTO_MODE_BIT = (1 << 0),
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OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
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OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
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};
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void Run() override;
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uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::SubscriptionCallbackWorkItem _manual_control_input_subs[MAX_MANUAL_INPUT_COUNT] {
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{this, ORB_ID(manual_control_input), 0},
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{this, ORB_ID(manual_control_input), 1},
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{this, ORB_ID(manual_control_input), 2},
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};
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manual_control_input_s _manual_control_input[MAX_MANUAL_INPUT_COUNT] {};
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bool _available[MAX_MANUAL_INPUT_COUNT] {};
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int8_t _selected_manual_input{-1};
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systemlib::Hysteresis _stick_arm_hysteresis{false};
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systemlib::Hysteresis _stick_disarm_hysteresis{false};
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perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
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(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
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(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
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(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
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(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst
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)
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};
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}; // namespace manual_control
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