diff --git a/conf/airframes/tudelft/bebop_autonomous_race_2018.xml b/conf/airframes/tudelft/bebop_autonomous_race_2018.xml index ba1c5bbcf9..6a5cea22fe 100644 --- a/conf/airframes/tudelft/bebop_autonomous_race_2018.xml +++ b/conf/airframes/tudelft/bebop_autonomous_race_2018.xml @@ -46,6 +46,8 @@ + + diff --git a/conf/modules/ctrl_module_demo.xml b/conf/modules/ctrl_module_innerloop_demo.xml similarity index 64% rename from conf/modules/ctrl_module_demo.xml rename to conf/modules/ctrl_module_innerloop_demo.xml index 5e7a6a8fa9..82e62c1f61 100644 --- a/conf/modules/ctrl_module_demo.xml +++ b/conf/modules/ctrl_module_innerloop_demo.xml @@ -11,20 +11,20 @@ - - - - + + + +
- +
- + diff --git a/conf/modules/ctrl_module_outerloop_demo.xml b/conf/modules/ctrl_module_outerloop_demo.xml new file mode 100644 index 0000000000..f6dec8d529 --- /dev/null +++ b/conf/modules/ctrl_module_outerloop_demo.xml @@ -0,0 +1,28 @@ + + + + + + Demo Control Module. + Only for rotorcraft firmware. + Simple rate controler as example on how to integrate write and call your own controller in a module. + + + + + + + + + + +
+ +
+ + + + + + + diff --git a/sw/airborne/modules/ctrl/ctrl_module_demo.c b/sw/airborne/modules/ctrl/ctrl_module_innerloop_demo.c similarity index 96% rename from sw/airborne/modules/ctrl/ctrl_module_demo.c rename to sw/airborne/modules/ctrl/ctrl_module_innerloop_demo.c index b24607938b..640a708687 100644 --- a/sw/airborne/modules/ctrl/ctrl_module_demo.c +++ b/sw/airborne/modules/ctrl/ctrl_module_innerloop_demo.c @@ -19,12 +19,12 @@ */ /** - * @file modules/ctrl/ctrl_module_demo.h + * @file modules/ctrl/ctrl_module_innerloop_demo.h * @brief example empty controller * */ -#include "modules/ctrl/ctrl_module_demo.h" +#include "modules/ctrl/ctrl_module_innerloop_demo.h" #include "state.h" #include "subsystems/radio_control.h" #include "firmwares/rotorcraft/stabilization.h" diff --git a/sw/airborne/modules/ctrl/ctrl_module_demo.h b/sw/airborne/modules/ctrl/ctrl_module_innerloop_demo.h similarity index 90% rename from sw/airborne/modules/ctrl/ctrl_module_demo.h rename to sw/airborne/modules/ctrl/ctrl_module_innerloop_demo.h index 4d84ae6891..2b474aea15 100644 --- a/sw/airborne/modules/ctrl/ctrl_module_demo.h +++ b/sw/airborne/modules/ctrl/ctrl_module_innerloop_demo.h @@ -19,14 +19,14 @@ */ /** - * @file modules/ctrl/ctrl_module_demo.c + * @file modules/ctrl/ctrl_module_innerloop_demo.c * @brief example empty controller * * Implements an example simple rate controller in a module. */ -#ifndef CTRL_MODULE_DEMO_H_ -#define CTRL_MODULE_DEMO_H_ +#ifndef CTRL_MODULE_INNERLOOP_DEMO_H_ +#define CTRL_MODULE_INNERLOOP_DEMO_H_ #include @@ -54,4 +54,4 @@ extern void guidance_v_module_init(void); extern void guidance_v_module_enter(void); extern void guidance_v_module_run(bool in_flight); -#endif /* CTRL_MODULE_DEMO_H_ */ +#endif /* CTRL_MODULE_INNERLOOP_DEMO_H_ */ diff --git a/sw/airborne/modules/ctrl/ctrl_module_outerloop_demo.c b/sw/airborne/modules/ctrl/ctrl_module_outerloop_demo.c new file mode 100644 index 0000000000..7f0748b01b --- /dev/null +++ b/sw/airborne/modules/ctrl/ctrl_module_outerloop_demo.c @@ -0,0 +1,87 @@ +/* + * Copyright (C) 2015 + * + * This file is part of Paparazzi. + * + * Paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * Paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Paparazzi; see the file COPYING. If not, see + * . + */ + +/** + * @file modules/ctrl/ctrl_module_outerloop_demo.h + * @brief example empty controller + * + */ + +#include "modules/ctrl/ctrl_module_outerloop_demo.h" +#include "state.h" +#include "subsystems/radio_control.h" +#include "firmwares/rotorcraft/stabilization.h" +#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h" + + +// Own Variables + +struct ctrl_module_demo_struct { +// RC Inputs + struct Int32Eulers rc_sp; + +// Output command + struct Int32Eulers cmd; + +} ctrl; + + +// Settings +float comode_time = 0; + + +//////////////////////////////////////////////////////////////////// +// Call our controller +// Implement own Horizontal loops +void guidance_h_module_init(void) +{ +} + +void guidance_h_module_enter(void) +{ + // Store current heading + ctrl.cmd.psi = stateGetNedToBodyEulers_i()->psi; + + // Convert RC to setpoint + stabilization_attitude_read_rc_setpoint_eulers(&rc_sp, in_flight, false, false); +} + +void guidance_h_module_read_rc(void) +{ + stabilization_attitude_read_rc_setpoint_eulers(&rc_sp, in_flight, false, false); +} + + +void guidance_h_module_run(bool in_flight) +{ + // YOUR NEW HORIZONTAL OUTERLOOP CONTROLLER GOES HERE + // ctrl.cmd = CallMyNewHorizontalOuterloopControl(ctrl); + float roll = 0.0; + float pitch = 0.0; + + ctrl.cmd.phi = ANGLE_BFP_OF_REAL(roll); + ctrl.cmd.theta = ANGLE_BFP_OF_REAL(pitch); + + stabilization_attitude_set_rpy_setpoint_i(&(ctrl.cmd)); + stabilization_attitude_run(in_flight); + + // Alternatively, use the indi_guidance and send AbiMsgACCEL_SP to it instead of setting pitch and roll +} + diff --git a/sw/airborne/modules/ctrl/ctrl_module_outerloop_demo.h b/sw/airborne/modules/ctrl/ctrl_module_outerloop_demo.h new file mode 100644 index 0000000000..0f480dc512 --- /dev/null +++ b/sw/airborne/modules/ctrl/ctrl_module_outerloop_demo.h @@ -0,0 +1,48 @@ +/* + * Copyright (C) 2015 + * + * This file is part of Paparazzi. + * + * Paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * Paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Paparazzi; see the file COPYING. If not, see + * . + */ + +/** + * @file modules/ctrl/ctrl_module_outerloop_demo.c + * @brief example empty controller + * + * Implements an example simple horizontal outerloop controller in a module. + */ + +#ifndef CTRL_MODULE_OUTERLOOP_DEMO_H_ +#define CTRL_MODULE_OUTERLOOP_DEMO_H_ + +#include + +// Settings +extern float comode_time; + +// Demo with own guidance_h +#define GUIDANCE_H_MODE_MODULE_SETTING GUIDANCE_H_MODE_MODULE + +// But re-using an existing altitude-hold controller +#define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_HOVER + +// Implement own Horizontal loops +extern void guidance_h_module_init(void); +extern void guidance_h_module_enter(void); +extern void guidance_h_module_read_rc(void); +extern void guidance_h_module_run(bool in_flight); + +#endif /* CTRL_MODULE_OUTERLOOP_DEMO_H_ */ diff --git a/sw/airborne/modules/sensors/cameras/jevois_mavlink.c b/sw/airborne/modules/sensors/cameras/jevois_mavlink.c index 56d76a0e8a..902eafce23 100644 --- a/sw/airborne/modules/sensors/cameras/jevois_mavlink.c +++ b/sw/airborne/modules/sensors/cameras/jevois_mavlink.c @@ -39,6 +39,7 @@ #include "subsystems/imu.h" #include "autopilot.h" +#include "generated/modules.h" mavlink_system_t mavlink_system;