feat: spacecraft build

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -92,7 +92,7 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()
 
-if(true)
+if(CONFIG_MODULES_SC_CONTROL_ALLOCATOR)
 	px4_add_romfs_files(
 		rc.sc_apps
 		rc.sc_defaults

boards/px4/sitl/spacecraft.px4board

@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=n
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=n
+CONFIG_MODULES_SC_CONTROL_ALLOCATOR=y

src/modules/sc_control_allocator/CMakeLists.txt

@@ -0,0 +1,51 @@
+############################################################################
+#
+#   Copyright (c) 2019 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.
+#
+############################################################################
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+
+px4_add_module(
+	MODULE modules__sc_control_allocator
+	MAIN sc_control_allocator
+	COMPILE_FLAGS
+		${MAX_CUSTOM_OPT_LEVEL}
+	STACK_MAIN
+		3000
+	SRCS
+		ControlAllocator.cpp
+		ControlAllocator.hpp
+	MODULE_CONFIG
+		module.yaml
+	DEPENDS
+		mathlib
+		px4_work_queue
+)

src/modules/sc_control_allocator/ControlAllocator.cpp

@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2019 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 ControlAllocator.cpp
+ *
+ * Control allocator.
+ *
+ * @author Julien Lecoeur <julien.lecoeur@gmail.com>
+ */
+
+#include "ControlAllocator.hpp"
+
+int ControlAllocator::task_spawn(int argc, char *argv[])
+{
+	return 0;
+}
+
+int ControlAllocator::print_status()
+{
+	PX4_INFO("Running");
+
+	return 0;
+}
+
+int ControlAllocator::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int ControlAllocator::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+	R"DESCR_STR(
+	### Description
+	This implements control allocation for spacecraft vehicles.
+	It takes torque and thrust setpoints as inputs and outputs
+	actuator setpoint messages.
+	)DESCR_STR"
+	);
+
+	PRINT_MODULE_USAGE_NAME("sc_control_allocator", "controller");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+/**
+ * Control Allocator app start / stop handling function
+ */
+extern "C" __EXPORT int sc_control_allocator_main(int argc, char *argv[]);
+
+int sc_control_allocator_main(int argc, char *argv[])
+{
+	return ControlAllocator::main(argc, argv);
+}

src/modules/sc_control_allocator/ControlAllocator.hpp

@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2019 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 ControlAllocator.hpp
+ *
+ * Control allocator.
+ *
+ * @author Julien Lecoeur <julien.lecoeur@gmail.com>
+ */
+
+#pragma once
+
+#include <lib/matrix/matrix/math.hpp>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/actuator_motors.h>
+#include <uORB/topics/actuator_servos.h>
+#include <uORB/topics/actuator_servos_trim.h>
+#include <uORB/topics/control_allocator_status.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_torque_setpoint.h>
+#include <uORB/topics/vehicle_thrust_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/failure_detector_status.h>
+
+class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+
+	ControlAllocator();
+
+	virtual ~ControlAllocator();
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+private:		/**< loop duration performance counter */
+
+};

src/modules/sc_control_allocator/Kconfig

@@ -0,0 +1,12 @@
+menuconfig MODULES_SC_CONTROL_ALLOCATOR
+	bool "sc_control_allocator"
+	default n
+	---help---
+		Enable support for control_allocator
+
+menuconfig USER_SC_CONTROL_ALLOCATOR
+	bool "control_allocator running as userspace module"
+	default y
+	depends on BOARD_PROTECTED && MODULES_SC_CONTROL_ALLOCATOR
+	---help---
+		Put sc_control_allocator in userspace memory