ardrone in the air again (workaround: rate controller disabled)

apps/ardrone_interface/ardrone_interface.c

@@ -239,14 +239,15 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 
 	/* declare and safely initialize all structs */
 	struct vehicle_status_s state;
-	memset(&state, 0, sizeof(state));
+	//memset(&state, 0, sizeof(state));
 	struct actuator_controls_s actuator_controls;
-	memset(&actuator_controls, 0, sizeof(actuator_controls));
+	//memset(&actuator_controls, 0, sizeof(actuator_controls));
 	struct actuator_armed_s armed;
 	armed.armed = false;
 
 	/* subscribe to attitude, motor setpoints and system state */
 	int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+
 	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
 	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 
@@ -328,7 +329,13 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 			 * if in failsafe
 			 */
 			if (armed.armed && !armed.lockdown) {
+
+
+
+				//printf("AMO_BEF: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuator_controls.control[0], actuator_controls.control[1], actuator_controls.control[2], actuator_controls.control[3]);
+
 				ardrone_mixing_and_output(ardrone_write, &actuator_controls);
+
 			} else {
 				/* Silently lock down motor speeds to zero */
 				ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);

apps/ardrone_interface/ardrone_motor_control.c

@@ -368,6 +368,8 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	float yaw_control = actuators->control[2];
 	float motor_thrust = actuators->control[3];
 
+	//printf("AMO: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",roll_control, pitch_control, yaw_control, motor_thrust);
+
 	const float min_thrust = 0.02f;			/**< 2% minimum thrust */
 	const float max_thrust = 1.0f;			/**< 100% max thrust */
 	const float scaling = 512.0f;			/**< 100% thrust equals a value of 512 */
@@ -387,15 +389,16 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	if (motor_thrust <= min_thrust) {
 		motor_thrust = min_thrust;
 		output_band = 0.0f;
-
+		//printf("0 silent\n");
 	} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
 		output_band = band_factor * (motor_thrust - min_thrust);
-
+		//printf("1 starting\n");
 	} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
 		output_band = band_factor * startpoint_full_control;
-
+		//printf("2 working\n");
 	} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
 		output_band = band_factor * (max_thrust - motor_thrust);
+		//printf("3 full\n");
 	}
 
 	//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer

apps/multirotor_att_control/multirotor_att_control_main.c

@@ -76,7 +76,7 @@ __EXPORT int multirotor_att_control_main(int argc, char *argv[]);
 static bool thread_should_exit;
 static int mc_task;
 static bool motor_test_mode = false;
-static struct actuator_controls_s actuators;
+
 static orb_advert_t actuator_pub;
 
 /**
@@ -86,6 +86,8 @@ static void *rate_control_thread_main(void *arg)
 {
 	prctl(PR_SET_NAME, "mc rate control", getpid());
 
+	struct actuator_controls_s actuators;
+
 	int gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
 	int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
 
@@ -125,8 +127,8 @@ static void *rate_control_thread_main(void *arg)
 				gyro_lp[1] = gyro_report.y;
 				gyro_lp[2] = gyro_report.z;
 
-				multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
-				orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+//				multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
+//				orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 			// }
 		}
 	}
@@ -153,6 +155,8 @@ mc_thread_main(int argc, char *argv[])
 	struct vehicle_rates_setpoint_s rates_sp;
 	memset(&rates_sp, 0, sizeof(rates_sp));
 
+	struct actuator_controls_s actuators;
+
 	/* subscribe to attitude, motor setpoints and system state */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
@@ -228,6 +232,7 @@ mc_thread_main(int argc, char *argv[])
 			/* set yaw rate */
 			rates_sp.yaw = manual.yaw;
 			att_sp.thrust = manual.throttle;
+			//printf("Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body, att_sp.thrust);
 			att_sp.timestamp = hrt_absolute_time();
 			/* STEP 2: publish the result to the vehicle actuators */
 			orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
@@ -269,10 +274,15 @@ mc_thread_main(int argc, char *argv[])
 		/* run attitude controller */
 		if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
 			multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
+//			printf("publish actuator\n");
+
+//			printf("MAC_PUB: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuators.control[0], actuators.control[1], actuators.control[2], actuators.control[3]);
+
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 		} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
 			multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
 			orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
+//			printf("publish attitude\n");
 		}
 
 

apps/multirotor_att_control/multirotor_attitude_control.c

@@ -312,6 +312,10 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		actuators->control[3] = motor_thrust;
 	}
 
+//	if(motor_skip_counter%20 == 0)
+//		printf("MAC: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuators->control[0], actuators->control[1], actuators->control[2], actuators->control[3]);
+
+
 	// XXX change yaw rate to yaw pos controller
 	if (rates_sp) {
 		rates_sp->roll = roll_control;
@@ -320,5 +324,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		rates_sp->thrust = motor_thrust;
 	}
 
+//	if(motor_skip_counter%20 == 0)
+//		printf("Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",rates_sp->roll, rates_sp->pitch, rates_sp->yaw, rates_sp->thrust);
+
 	motor_skip_counter++;
 }