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Merge pull request #1151 from PX4/offboard2_externalsetpointmessages

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Offboard2: Handle external setpoint messages
This commit is contained in:
Lorenz Meier
2014-10-07 10:29:04 +02:00
parent d856356fce c6de36d683
commit 79e5ec6465
17 changed files with 571 additions and 240 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/module.mk
-1
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@@ -46,7 +46,6 @@ SRCS = navigator_main.cpp \
loiter.cpp \
rtl.cpp \
rtl_params.c \
offboard.cpp \
mission_feasibility_checker.cpp \
geofence.cpp \
geofence_params.c \
src/modules/navigator/navigator.h
+1 -5
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@@ -60,7 +60,6 @@
#include "mission.h"
#include "loiter.h"
#include "rtl.h"
#include "offboard.h"
#include "datalinkloss.h"
#include "enginefailure.h"
#include "gpsfailure.h"
@@ -70,7 +69,7 @@
/**
* Number of navigation modes that need on_active/on_inactive calls
*/
#define NAVIGATOR_MODE_ARRAY_SIZE 8
#define NAVIGATOR_MODE_ARRAY_SIZE 7
class Navigator : public control::SuperBlock
{
@@ -139,7 +138,6 @@ public:
int get_onboard_mission_sub() { return _onboard_mission_sub; }
int get_offboard_mission_sub() { return _offboard_mission_sub; }
int get_offboard_control_sp_sub() { return _offboard_control_sp_sub; }
Geofence& get_geofence() { return _geofence; }
bool get_can_loiter_at_sp() { return _can_loiter_at_sp; }
float get_loiter_radius() { return _param_loiter_radius.get(); }
@@ -159,7 +157,6 @@ private:
int _home_pos_sub; /**< home position subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _capabilities_sub; /**< notification of vehicle capabilities updates */
int _offboard_control_sp_sub; /*** offboard control subscription */
int _control_mode_sub; /**< vehicle control mode subscription */
int _onboard_mission_sub; /**< onboard mission subscription */
int _offboard_mission_sub; /**< offboard mission subscription */
@@ -199,7 +196,6 @@ private:
RTL _rtl; /**< class that handles RTL */
RCLoss _rcLoss; /**< class that handles RTL according to
OBC rules (rc loss mode) */
Offboard _offboard; /**< class that handles offboard */
DataLinkLoss _dataLinkLoss; /**< class that handles the OBC datalink loss mode */
EngineFailure _engineFailure; /**< class that handles the engine failure mode
(FW only!) */
src/modules/navigator/navigator_main.cpp
+5 -12
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@@ -68,7 +68,6 @@
#include <uORB/topics/mission.h>
#include <uORB/topics/fence.h>
#include <uORB/topics/navigation_capabilities.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <drivers/drv_baro.h>
#include <systemlib/err.h>
@@ -105,7 +104,6 @@ Navigator::Navigator() :
_home_pos_sub(-1),
_vstatus_sub(-1),
_capabilities_sub(-1),
_offboard_control_sp_sub(-1),
_control_mode_sub(-1),
_onboard_mission_sub(-1),
_offboard_mission_sub(-1),
@@ -134,7 +132,6 @@ Navigator::Navigator() :
_loiter(this, "LOI"),
_rtl(this, "RTL"),
_rcLoss(this, "RCL"),
_offboard(this, "OFF"),
_dataLinkLoss(this, "DLL"),
_engineFailure(this, "EF"),
_gpsFailure(this, "GPSF"),
@@ -149,11 +146,10 @@ Navigator::Navigator() :
_navigation_mode_array[0] = &_mission;
_navigation_mode_array[1] = &_loiter;
_navigation_mode_array[2] = &_rtl;
_navigation_mode_array[3] = &_offboard;
_navigation_mode_array[4] = &_dataLinkLoss;
_navigation_mode_array[5] = &_engineFailure;
_navigation_mode_array[6] = &_gpsFailure;
_navigation_mode_array[7] = &_rcLoss;
_navigation_mode_array[3] = &_dataLinkLoss;
_navigation_mode_array[4] = &_engineFailure;
_navigation_mode_array[5] = &_gpsFailure;
_navigation_mode_array[6] = &_rcLoss;
updateParams();
}
@@ -282,7 +278,6 @@ Navigator::task_main()
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
_offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
/* copy all topics first time */
vehicle_status_update();
@@ -426,6 +421,7 @@ Navigator::task_main()
case NAVIGATION_STATE_POSCTL:
case NAVIGATION_STATE_LAND:
case NAVIGATION_STATE_TERMINATION:
case NAVIGATION_STATE_OFFBOARD:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
@@ -460,9 +456,6 @@ Navigator::task_main()
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_navigation_mode = &_gpsFailure;
break;
case NAVIGATION_STATE_OFFBOARD:
_navigation_mode = &_offboard;
break;
default:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
src/modules/navigator/offboard.cpp
-129
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@@ -1,129 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014 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 offboard.cpp
*
* Helper class for offboard commands
*
* @author Julian Oes <julian@oes.ch>
*/
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <fcntl.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include "navigator.h"
#include "offboard.h"
Offboard::Offboard(Navigator *navigator, const char *name) :
NavigatorMode(navigator, name),
_offboard_control_sp({0})
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
Offboard::~Offboard()
{
}
void
Offboard::on_inactive()
{
}
void
Offboard::on_activation()
{
}
void
Offboard::on_active()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
bool updated;
orb_check(_navigator->get_offboard_control_sp_sub(), &updated);
if (updated) {
update_offboard_control_setpoint();
}
/* copy offboard setpoints to the corresponding topics */
if (_navigator->get_control_mode()->flag_control_position_enabled
&& _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
/* position control */
pos_sp_triplet->current.x = _offboard_control_sp.p1;
pos_sp_triplet->current.y = _offboard_control_sp.p2;
pos_sp_triplet->current.yaw = _offboard_control_sp.p3;
pos_sp_triplet->current.z = -_offboard_control_sp.p4;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.position_valid = true;
_navigator->set_position_setpoint_triplet_updated();
} else if (_navigator->get_control_mode()->flag_control_velocity_enabled
&& _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) {
/* velocity control */
pos_sp_triplet->current.vx = _offboard_control_sp.p2;
pos_sp_triplet->current.vy = _offboard_control_sp.p1;
pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3;
pos_sp_triplet->current.vz = _offboard_control_sp.p4;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.velocity_valid = true;
_navigator->set_position_setpoint_triplet_updated();
}
}
void
Offboard::update_offboard_control_setpoint()
{
orb_copy(ORB_ID(offboard_control_setpoint), _navigator->get_offboard_control_sp_sub(), &_offboard_control_sp);
}
src/modules/navigator/offboard.h
-72
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@@ -1,72 +0,0 @@
/***************************************************************************
*
* Copyright (c) 2014 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 offboard.h
*
* Helper class for offboard commands
*
* @author Julian Oes <julian@oes.ch>
*/
#ifndef NAVIGATOR_OFFBOARD_H
#define NAVIGATOR_OFFBOARD_H
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/uORB.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include "navigator_mode.h"
class Navigator;
class Offboard : public NavigatorMode
{
public:
Offboard(Navigator *navigator, const char *name);
~Offboard();
virtual void on_inactive();
virtual void on_activation();
virtual void on_active();
private:
void update_offboard_control_setpoint();
struct offboard_control_setpoint_s _offboard_control_sp;
};
#endif