/**************************************************************************** * * Copyright (c) 2012-2016 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 uuv_example_app.cpp * * This file let the hippocampus drive in a circle and prints the orientation as well as the acceleration data. * The HippoCampus is an autonomous underwater vehicle (AUV) designed by the Technical University Hamburg-Harburg (TUHH). * https://www.tuhh.de/mum/forschung/forschungsgebiete-und-projekte/flow-field-estimation-with-a-swarm-of-auvs.html * * @author Nils Rottann */ #include #include #include #include #include #include #include #include // system libraries #include #include #include // internal libraries #include #include #include // Include uORB and the required topics for this app #include #include // this topics hold the acceleration data #include // this topic gives the actuators control input #include // this topic holds the orientation of the hippocampus extern "C" __EXPORT int uuv_example_app_main(int argc, char *argv[]); int uuv_example_app_main(int argc, char *argv[]) { PX4_INFO("auv_hippocampus_example_app has been started!"); /* subscribe to vehicle_acceleration topic */ int sensor_sub_fd = orb_subscribe(ORB_ID(vehicle_acceleration)); /* limit the update rate to 5 Hz */ orb_set_interval(sensor_sub_fd, 200); /* subscribe to control_state topic */ int vehicle_attitude_sub_fd = orb_subscribe(ORB_ID(vehicle_attitude)); /* limit the update rate to 5 Hz */ orb_set_interval(vehicle_attitude_sub_fd, 200); /* advertise to actuator_control topic */ struct actuator_controls_s act; memset(&act, 0, sizeof(act)); orb_advert_t act_pub = orb_advertise(ORB_ID(actuator_controls_0), &act); /* one could wait for multiple topics with this technique, just using one here */ px4_pollfd_struct_t fds[2] = {}; fds[0].fd = sensor_sub_fd; fds[0].events = POLLIN; fds[1].fd = vehicle_attitude_sub_fd; fds[1].events = POLLIN; int error_counter = 0; for (int i = 0; i < 10; i++) { /* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */ int poll_ret = px4_poll(fds, 1, 1000); /* handle the poll result */ if (poll_ret == 0) { /* this means none of our providers is giving us data */ PX4_ERR("Got no data within a second"); } else if (poll_ret < 0) { /* this is seriously bad - should be an emergency */ if (error_counter < 10 || error_counter % 50 == 0) { /* use a counter to prevent flooding (and slowing us down) */ PX4_ERR("ERROR return value from poll(): %d", poll_ret); } error_counter++; } else { if (fds[0].revents & POLLIN) { /* obtained data for the first file descriptor */ vehicle_acceleration_s sensor{}; /* copy sensors raw data into local buffer */ orb_copy(ORB_ID(vehicle_acceleration), sensor_sub_fd, &sensor); // printing the sensor data into the terminal PX4_INFO("Acc:\t%8.4f\t%8.4f\t%8.4f", (double)sensor.xyz[0], (double)sensor.xyz[1], (double)sensor.xyz[2]); /* obtained data for the third file descriptor */ vehicle_attitude_s raw_ctrl_state{}; /* copy sensors raw data into local buffer */ orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub_fd, &raw_ctrl_state); // get current rotation matrix from control state quaternions, the quaternions are generated by the // attitude_estimator_q application using the sensor data matrix::Quatf q_att(raw_ctrl_state.q); // control_state is frequently updated matrix::Dcmf R = q_att; // create rotation matrix for the quaternion when post multiplying with a column vector // orientation vectors matrix::Vector3f x_B(R(0, 0), R(1, 0), R(2, 0)); // orientation body x-axis (in world coordinates) matrix::Vector3f y_B(R(0, 1), R(1, 1), R(2, 1)); // orientation body y-axis (in world coordinates) matrix::Vector3f z_B(R(0, 2), R(1, 2), R(2, 2)); // orientation body z-axis (in world coordinates) PX4_INFO("x_B:\t%8.4f\t%8.4f\t%8.4f", (double)x_B(0), (double)x_B(1), (double)x_B(2)); PX4_INFO("y_B:\t%8.4f\t%8.4f\t%8.4f", (double)y_B(0), (double)y_B(1), (double)y_B(2)); PX4_INFO("z_B:\t%8.4f\t%8.4f\t%8.4f \n", (double)z_B(0), (double)z_B(1), (double)z_B(2)); } } // Give actuator input to the HippoC, this will result in a circle act.control[0] = 0.0f; // roll act.control[1] = 0.0f; // pitch act.control[2] = 1.0f; // yaw act.control[3] = 1.0f; // thrust orb_publish(ORB_ID(actuator_controls_0), act_pub, &act); } PX4_INFO("Exiting uuv_example_app!"); return 0; }