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Remove unmaintained uuv_example_app

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Matthias Grob
2022-11-24 13:19:02 +01:00
parent 79c55614d8
commit a953167a6a
8 changed files with 0 additions and 227 deletions
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boards/beaglebone/blue/default.px4board
-1
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@@ -83,5 +83,4 @@ CONFIG_EXAMPLES_HELLO=y
CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
CONFIG_EXAMPLES_PX4_SIMPLE_APP=y CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
CONFIG_EXAMPLES_WORK_ITEM=y CONFIG_EXAMPLES_WORK_ITEM=y
boards/emlid/navio2/default.px4board
-1
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@@ -86,5 +86,4 @@ CONFIG_EXAMPLES_HELLO=y
CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
CONFIG_EXAMPLES_PX4_SIMPLE_APP=y CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
CONFIG_EXAMPLES_WORK_ITEM=y CONFIG_EXAMPLES_WORK_ITEM=y
boards/px4/raspberrypi/default.px4board
-1
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@@ -82,5 +82,4 @@ CONFIG_EXAMPLES_HELLO=y
CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
CONFIG_EXAMPLES_PX4_SIMPLE_APP=y CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
CONFIG_EXAMPLES_WORK_ITEM=y CONFIG_EXAMPLES_WORK_ITEM=y
boards/px4/sitl/default.px4board
-1
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@@ -70,5 +70,4 @@ CONFIG_EXAMPLES_HELLO=y
CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
CONFIG_EXAMPLES_PX4_SIMPLE_APP=y CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
CONFIG_EXAMPLES_WORK_ITEM=y CONFIG_EXAMPLES_WORK_ITEM=y
boards/scumaker/pilotpi/default.px4board
-1
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@@ -76,5 +76,4 @@ CONFIG_EXAMPLES_HELLO=y
CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
CONFIG_EXAMPLES_PX4_SIMPLE_APP=y CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
CONFIG_EXAMPLES_WORK_ITEM=y CONFIG_EXAMPLES_WORK_ITEM=y
src/examples/uuv_example_app/CMakeLists.txt
-39
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@@ -1,39 +0,0 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
px4_add_module(
MODULE examples__uuv_example_app
MAIN uuv_example_app
SRCS
uuv_example_app.cpp
DEPENDS
)
src/examples/uuv_example_app/Kconfig
-5
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@@ -1,5 +0,0 @@
menuconfig EXAMPLES_UUV_EXAMPLE_APP
bool "uuv_example_app"
default n
---help---
Enable support for uuv_example_app
src/examples/uuv_example_app/uuv_example_app.cpp
-178
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@@ -1,178 +0,0 @@
/****************************************************************************
*
* 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 <Nils.Rottmann@tuhh.de>
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#include <math.h>
// system libraries
#include <parameters/param.h>
#include <systemlib/err.h>
#include <perf/perf_counter.h>
// internal libraries
#include <lib/mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <lib/geo/geo.h>
// Include uORB and the required topics for this app
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_acceleration.h> // this topics hold the acceleration data
#include <uORB/topics/actuator_controls.h> // this topic gives the actuators control input
#include <uORB/topics/vehicle_attitude.h> // 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;
}