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Merge commit '8888b73e160520e5b15e168998013f4a5f6e64c0' into local/mathlib
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px4dev
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############################################################################
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#
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# Copyright (C) 2012 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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#
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# Basic example application
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#
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APPNAME = control_demo
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Example User <mail@example.com>
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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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/**
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* @file control_demo.cpp
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* Demonstration of control library
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/control/fixedwing.hpp>
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#include <systemlib/param/param.h>
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#include <drivers/drv_hrt.h>
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#include <math.h>
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static bool thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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/**
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* Deamon management function.
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*/
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extern "C" __EXPORT int control_demo_main(int argc, char *argv[]);
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/**
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* Mainloop of deamon.
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*/
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int control_demo_thread_main(int argc, char *argv[]);
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/**
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* Test function
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*/
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void test();
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/**
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* Print the correct usage.
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*/
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static void usage(const char *reason);
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static void
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usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: control_demo {start|stop|status} [-p <additional params>]\n\n");
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exit(1);
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}
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/**
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* The deamon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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* The actual stack size should be set in the call
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* to task_create().
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*/
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int control_demo_main(int argc, char *argv[])
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{
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if (argc < 1)
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usage("missing command");
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if (!strcmp(argv[1], "start")) {
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if (thread_running) {
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printf("control_demo already running\n");
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/* this is not an error */
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exit(0);
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}
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thread_should_exit = false;
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deamon_task = task_spawn("control_demo",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 10,
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4096,
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control_demo_thread_main,
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(argv) ? (const char **)&argv[2] : (const char **)NULL);
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exit(0);
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}
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if (!strcmp(argv[1], "test")) {
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test();
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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thread_should_exit = true;
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exit(0);
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}
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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printf("\tcontrol_demo app is running\n");
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} else {
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printf("\tcontrol_demo app not started\n");
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}
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exit(0);
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}
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usage("unrecognized command");
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exit(1);
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}
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int control_demo_thread_main(int argc, char *argv[])
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{
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printf("[control_Demo] starting\n");
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using namespace control;
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fixedwing::BlockMultiModeBacksideAutopilot autopilot(NULL, "FWB");
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thread_running = true;
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while (!thread_should_exit) {
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autopilot.update();
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}
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printf("[control_demo] exiting.\n");
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thread_running = false;
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return 0;
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}
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void test()
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{
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printf("beginning control lib test\n");
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control::basicBlocksTest();
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}
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@@ -0,0 +1,63 @@
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#include <systemlib/param/param.h>
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// currently tuned for easystar from arkhangar in HIL
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//https://github.com/arktools/arkhangar
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// 16 is max name length
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// gyro low pass filter
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PARAM_DEFINE_FLOAT(FWB_P_LP, 10.0f); // roll rate low pass cut freq
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PARAM_DEFINE_FLOAT(FWB_Q_LP, 10.0f); // pitch rate low pass cut freq
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PARAM_DEFINE_FLOAT(FWB_R_LP, 10.0f); // yaw rate low pass cut freq
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// yaw washout
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PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
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// stabilization mode
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PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.1f); // roll rate 2 aileron
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PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
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PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
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// psi -> phi -> p
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PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 2.0f); // heading 2 roll
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PARAM_DEFINE_FLOAT(FWB_PHI2P, 2.0f); // roll to roll rate
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PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 1.0f); // roll limit
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// velocity -> theta
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PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.5f);
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PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);
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PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);
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PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);
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PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);
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PARAM_DEFINE_FLOAT(FWB_THE_MIN, -1.0f);
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PARAM_DEFINE_FLOAT(FWB_THE_MAX, 1.0f);
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// theta -> q
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PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);
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PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
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PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
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PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
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PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
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// h -> thr
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PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.005f);
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PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.001f);
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PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.01f);
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PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 1.0f);
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PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 250.0f);
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// crosstrack
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PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.0f);
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PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.01f);
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// speed command
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PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);
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PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);
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PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);
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// trim
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PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);
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PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.0f);
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PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);
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PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.7f);
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