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Added home position concept, uORB struct and MAVLink announcement of home position

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This commit is contained in:
Lorenz Meier
2013-01-19 14:46:26 +01:00
parent bc35bb23dd
commit f119d9fbda
5 changed files with 160 additions and 61 deletions
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apps/commander/commander.c
+62 -61
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@@ -72,8 +72,10 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h>
@@ -1251,6 +1253,7 @@ int commander_thread_main(int argc, char *argv[])
{
/* not yet initialized */
commander_initialized = false;
bool home_position_set = false;
/* set parameters */
failsafe_lowlevel_timeout_ms = 0;
@@ -1302,6 +1305,11 @@ int commander_thread_main(int argc, char *argv[])
/* publish current state machine */
state_machine_publish(stat_pub, &current_status, mavlink_fd);
/* home position */
orb_advert_t home_pub = -1;
struct home_position_s home;
memset(&home, 0, sizeof(home));
if (stat_pub < 0) {
warnx("ERROR: orb_advertise for topic vehicle_status failed.\n");
exit(ERROR);
@@ -1332,10 +1340,6 @@ int commander_thread_main(int argc, char *argv[])
uint16_t stick_off_counter = 0;
uint16_t stick_on_counter = 0;
float hdop = 65535.0f;
int gps_quality_good_counter = 0;
/* Subscribe to manual control data */
int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
struct manual_control_setpoint_s sp_man;
@@ -1356,6 +1360,15 @@ int commander_thread_main(int argc, char *argv[])
memset(&local_position, 0, sizeof(local_position));
uint64_t last_local_position_time = 0;
/*
* The home position is set based on GPS only, to prevent a dependency between
* position estimator and commander. RAW GPS is more than good enough for a
* non-flying vehicle.
*/
int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
struct vehicle_gps_position_s gps_position;
memset(&gps_position, 0, sizeof(gps_position));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s sensors;
memset(&sensors, 0, sizeof(sensors));
@@ -1660,65 +1673,54 @@ int commander_thread_main(int argc, char *argv[])
state_changed = true;
}
if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) {
/* Check if last transition deserved an audio event */
// #warning This code depends on state that is no longer? maintained
// #if 0
// trigger_audio_alarm(vehicle_mode_previous, vehicle_state_previous, current_status.mode, current_status.state_machine);
// #endif
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
/* only check gps fix if we are outdoor */
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
//
// hdop = (float)(gps.eph) / 100.0f;
//
// /* check if gps fix is ok */
// if (gps.fix_type == GPS_FIX_TYPE_3D) { //TODO: is 2d-fix ok? //see http://en.wikipedia.org/wiki/Dilution_of_precision_%28GPS%29
//
// if (gotfix_counter >= GPS_GOTFIX_COUNTER_REQUIRED) { //TODO: add also a required time?
// update_state_machine_got_position_fix(stat_pub, &current_status);
// gotfix_counter = 0;
// } else {
// gotfix_counter++;
// }
// nofix_counter = 0;
//
// if (hdop < 5.0f) { //TODO: this should be a parameter
// if (gps_quality_good_counter > GPS_QUALITY_GOOD_COUNTER_LIMIT) {
// current_status.gps_valid = true;//--> position estimator can use the gps measurements
// }
//
// gps_quality_good_counter++;
//
//
//// if(counter%10 == 0)//for testing only
//// warnx("gps_quality_good_counter = %u\n", gps_quality_good_counter);//for testing only
//
// } else {
// gps_quality_good_counter = 0;
// current_status.gps_valid = false;//--> position estimator can not use the gps measurements
// }
//
// } else {
// gps_quality_good_counter = 0;
// current_status.gps_valid = false;//--> position estimator can not use the gps measurements
//
// if (nofix_counter > GPS_NOFIX_COUNTER_LIMIT) { //TODO: add also a timer limit?
// update_state_machine_no_position_fix(stat_pub, &current_status);
// nofix_counter = 0;
// } else {
// nofix_counter++;
// }
// gotfix_counter = 0;
// }
//
// }
//
//
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_TESTING) //simulate position fix for quick indoor tests
//update_state_machine_got_position_fix(stat_pub, &current_status, mavlink_fd);
/* end: check gps */
/* check for first, long-term and valid GPS lock -> set home position */
float hdop = gps_position.eph / 100.0f;
float vdop = gps_position.epv / 100.0f;
/* check if gps fix is ok */
// XXX magic number
/*
* If horizontal dilution of precision (hdop / eph)
* and vertical diluation of precision (vdop / epv)
* are below a certain threshold (e.g. 4 m), AND
* home position is not yet set AND the last GPS
* GPS measurement is not older than two seconds AND
* the system is currently not armed, set home
* position to the current position.
*/
if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop < 4.0f)
&& (vdop < 4.0f)
&& !home_position_set
&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
&& !current_status.flag_system_armed) {
warnx("setting home position");
/* copy position data to uORB home message, store it locally as well */
home.lat = gps_position.lat;
home.lon = gps_position.lon;
home.alt = gps_position.alt;
home.eph = gps_position.eph;
home.epv = gps_position.epv;
home.s_variance = gps_position.s_variance;
home.p_variance = gps_position.p_variance;
/* announce new home position */
if (home_pub > 0) {
orb_publish(ORB_ID(home_position), home_pub, &home);
} else {
home_pub = orb_advertise(ORB_ID(home_position), &home);
}
tune_confirm();
}
}
/* ignore RC signals if in offboard control mode */
if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) {
@@ -2041,4 +2043,3 @@ int commander_thread_main(int argc, char *argv[])
return 0;
}