mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 04:13:39 +08:00
add a fms module (renamed VI) only working with booz for now
This commit is contained in:
Gautier Hattenberger
@@ -0,0 +1,16 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="vi_datalink" dir="vehicle_interface">
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<header>
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<file name="vi_datalink.h"/>
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</header>
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<init fun="vi_init()"/>
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<periodic fun="vi_periodic()" freq="25"/>
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<datalink message="BOOZ2_FMS_COMMAND" fun="VI_PARSE_DATALINK(dl_buffer)"/>
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<makefile>
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<file name="vi.c"/>
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<file name="vi_datalink.c"/>
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</makefile>
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</module>
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@@ -0,0 +1,74 @@
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/*
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* $Id: $
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*
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* Copyright (C) 2008-2010 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
|
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* 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.
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||||
*
|
||||
* 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, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#include "vehicle_interface/vi.h"
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#include "booz/booz_imu.h"
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#include "booz/booz_gps.h"
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#include "booz/booz_ahrs.h"
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#include "airframe.h"
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struct VehicleInterface vi;
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#ifndef VI_TIMEOUT
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#define VI_TIMEOUT 100
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#endif
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void vi_init(void) {
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vi.enabled = FALSE;
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vi.timeouted = TRUE;
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vi.last_msg = BOOZ_FMS_TIMEOUT;
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vi.input.h_mode = BOOZ2_GUIDANCE_H_MODE_ATTITUDE;
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INT_EULERS_ZERO(vi.input.h_sp.attitude);
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vi.input.v_mode = BOOZ2_GUIDANCE_V_MODE_CLIMB;
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vi.input.v_sp.climb = 0;
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vi_impl_init();
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}
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void vi_periodic(void) {
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#if (VI_TIMEOUT != 0)
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if (vi.last_msg < VI_TIMEOUT)
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vi.last_msg++;
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else {
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vi.timeouted = TRUE;
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vi.input.h_mode = BOOZ2_GUIDANCE_H_MODE_ATTITUDE;
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INT_EULERS_ZERO(vi.input.h_sp.attitude);
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vi.input.v_mode = BOOZ2_GUIDANCE_V_MODE_CLIMB;
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vi.input.v_sp.climb = 0;
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}
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#endif
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vi_impl_periodic();
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}
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void vi_set_enabled(bool_t enabled) {
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vi_impl_set_enabled(enabled);
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}
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void vi_update_info(void) {
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}
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@@ -0,0 +1,106 @@
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/*
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* $Id: $
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*
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* Copyright (C) 2008-2010 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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* This is the "external interface" to the autopilot. It allows an external device to
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* fetch the vehicle state and input commands at different levels. We should support
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* different hardware peripherals like i2c, spi or uart.
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* For now we only have an implementation using datalink messages.
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation; either version 2 of the License, or
|
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* (at your option) any later version.
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*
|
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* This program 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.
|
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*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program; if not, write to the Free Software
|
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef VEHICLE_INTERFACE_H
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#define VEHICLE_INTERFACE_H
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#include "std.h"
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#include "math/pprz_algebra_int.h"
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#include "booz/booz2_autopilot.h"
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#include "booz/booz_guidance.h"
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#include "booz/booz2_navigation.h"
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struct Vi_imu_info {
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struct Int16Vect3 gyro;
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struct Int16Vect3 accel;
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struct Int16Vect3 mag;
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};
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struct Vi_gps_info {
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struct Int32Vect3 pos;
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struct Int16Vect3 speed;
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int32_t pacc;
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uint8_t num_sv;
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uint8_t fix;
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};
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struct Vi_ahrs_info {
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struct Int16Eulers euler;
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struct Int16Eulers rate;
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};
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struct Vi_info {
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struct Vi_imu_info imu;
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struct Vi_gps_info gps;
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struct Vi_ahrs_info ahrs;
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};
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struct Vi_command {
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union {
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struct Int32Vect3 rate;
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struct Int32Eulers attitude;
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struct Int32Vect3 speed; //FIXME Warning z is heading rate
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struct Int32Vect3 pos; //FIXME Warning z is heading
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} h_sp;
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union {
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int32_t direct;
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int32_t climb;
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int32_t height;
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} v_sp;
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uint8_t h_mode;
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uint8_t v_mode;
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};
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struct VehicleInterface {
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bool_t enabled;
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bool_t timeouted;
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uint8_t last_msg;
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struct Vi_info info;
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struct Vi_command input;
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};
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extern struct VehicleInterface vi;
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extern void vi_init(void);
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extern void vi_set_enabled(bool_t enabled);
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extern void vi_periodic(void);
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extern void vi_update_info(void);
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/* must be implemented by specific module */
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extern void vi_impl_init(void);
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extern void vi_impl_periodic(void);
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extern void vi_impl_set_enabled(bool_t enabled);
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#define vi_SetEnabled(_val) { \
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vi.enabled = _val; \
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vi_set_enabled(_val); \
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}
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#endif /* VI_H */
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@@ -0,0 +1,49 @@
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/*
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* $Id: $
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*
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* Copyright (C) 2008-2010 The Paparazzi Team
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||||
*
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||||
* 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, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
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*/
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#include "vehicle_interface/vi_datalink.h"
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void vi_impl_init(void) {
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}
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void vi_impl_periodic(void) {
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}
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void vi_impl_set_enabled(bool_t enabled __attribute__ ((unused))) {
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}
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#define ViMaxHSpeed ((int16_t)SPEED_BFP_OF_REAL(VI_MAX_H_SPEED))
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#define ViMaxVSpeed ((int16_t)SPEED_BFP_OF_REAL(VI_MAX_V_SPEED))
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#define ViMaxHeadingRate ((int16_t)RATE_BFP_OF_REAL(RadOfDeg(VI_MAX_HEADING_RATE)))
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struct Int16Vect3 wp_speed_max = { ViMaxHSpeed, ViMaxHSpeed, ViMaxVSpeed };
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void vi_update_wp(uint8_t wp_id) {
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struct Int16Vect3 wp_speed;
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wp_speed.x = ViMaxHSpeed * vi.input.h_sp.speed.x / 128;
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wp_speed.y = ViMaxHSpeed * vi.input.h_sp.speed.y / 128;
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wp_speed.z = ViMaxVSpeed * vi.input.v_sp.climb / 128;
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VECT3_BOUND_BOX(wp_speed, wp_speed_max);
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int16_t heading_rate = BoundAbs(vi.input.h_sp.speed.z,ViMaxHeadingRate);
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navigation_update_update_wp_from_speed(wp_id , wp_speed, heading_rate);
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}
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@@ -0,0 +1,112 @@
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/*
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* $Id: booz_fms_datalink.h 5216 2010-08-04 17:13:43Z gautier $
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*
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* This is the implementation of the "external interface" to the autopilot.
|
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* using datalink messages.
|
||||
*
|
||||
* This program 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 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef VEHICLE_INTERFACE_DATALINK_H
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#define VEHICLE_INTERFACE_DATALINK_H
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#include "std.h"
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#include "vehicle_interface/vi.h"
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#include "math/pprz_algebra_int.h"
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#ifndef VI_MAX_H_SPEED
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#define VI_MAX_H_SPEED 4.
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#endif
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#ifndef VI_MAX_V_SPEED
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#define VI_MAX_V_SPEED 2.
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#endif
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#ifndef VI_MAX_HEADING_RATE
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#define VI_MAX_HEADING_RATE 60.
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#endif
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extern void vi_update_wp(uint8_t wp_id);
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#ifdef VI_PHI_THETA_MAX
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#define VI_LIMIT_ATTITUDE(_att) { \
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BoundAbs(_att.phi, VI_PHI_THETA_MAX); \
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BoundAbs(_att.theta, VI_PHI_THETA_MAX); \
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}
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#else
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#define VI_LIMIT_ATTITUDE(_x) {}
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#endif
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#define VI_PARSE_DATALINK(_dl_buffer) { \
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vi.last_msg = 0; \
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vi.input.h_mode = DL_BOOZ2_FMS_COMMAND_h_mode(_dl_buffer); \
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vi.input.v_mode = DL_BOOZ2_FMS_COMMAND_v_mode(_dl_buffer); \
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switch (vi.input.h_mode) { \
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case BOOZ2_GUIDANCE_H_MODE_KILL: \
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case BOOZ2_GUIDANCE_H_MODE_RATE : \
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break; \
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case BOOZ2_GUIDANCE_H_MODE_ATTITUDE : \
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{ \
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vi.input.h_sp.attitude.phi = DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer); \
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vi.input.h_sp.attitude.theta = DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
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vi.input.h_sp.attitude.psi = DL_BOOZ2_FMS_COMMAND_h_sp_3(_dl_buffer); \
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ANGLE_REF_NORMALIZE(vi.input.h_sp.attitude.psi); \
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BOOZ_FMS_LIMIT_ATTITUDE(vi.input.h_sp.attitude); \
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} \
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break; \
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case BOOZ2_GUIDANCE_H_MODE_HOVER : \
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{ \
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vi.input.h_sp.pos.x = DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer); \
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vi.input.h_sp.pos.y = DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
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} \
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break; \
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case BOOZ2_GUIDANCE_H_MODE_NAV : \
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{ \
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vi.input.h_sp.speed.x = DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer); \
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vi.input.h_sp.speed.y = DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
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vi.input.h_sp.speed.z = DL_BOOZ2_FMS_COMMAND_h_sp_3(_dl_buffer); \
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} \
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break; \
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} \
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switch (vi.input.v_mode) { \
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case BOOZ2_GUIDANCE_V_MODE_KILL: \
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case BOOZ2_GUIDANCE_V_MODE_RC_DIRECT: \
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case BOOZ2_GUIDANCE_V_MODE_RC_CLIMB: \
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break; \
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case BOOZ2_GUIDANCE_V_MODE_CLIMB : \
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vi.input.v_sp.climb = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
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break; \
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case BOOZ2_GUIDANCE_V_MODE_HOVER : \
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vi.input.v_sp.height = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
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break; \
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case BOOZ2_GUIDANCE_V_MODE_NAV : \
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vi.input.v_sp.climb = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
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break; \
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} \
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}
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#define BOOZ_FMS_NAV_STICK_PARSE_DL(_dl_buffer) { \
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vi.last_msg = 0; \
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vi.input.h_mode = BOOZ2_GUIDANCE_H_MODE_NAV; \
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vi.input.v_mode = BOOZ2_GUIDANCE_V_MODE_NAV; \
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vi.input.h_sp.speed.x = DL_BOOZ_NAV_STICK_vx_sp(_dl_buffer); \
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vi.input.h_sp.speed.y = DL_BOOZ_NAV_STICK_vy_sp(_dl_buffer); \
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vi.input.h_sp.speed.z = DL_BOOZ_NAV_STICK_r_sp(_dl_buffer); \
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vi.input.v_sp.climb = DL_BOOZ_NAV_STICK_vz_sp(_dl_buffer); \
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}
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#define NavUpdateWPFromVI(_wp) vi_update_wp(uint8_t _wp);
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#endif /* VI_DATALINK_H */
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@@ -0,0 +1,91 @@
|
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/*
|
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* $Id: booz_fms_test_signal.c 4675 2010-03-13 22:59:46Z poine $
|
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*
|
||||
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
|
||||
*
|
||||
* 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, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
#include "booz_fms.h"
|
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|
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#include "booz2_ins.h"
|
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#include "math/pprz_algebra_int.h"
|
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|
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#define FMS_TEST_SIGNAL_DEFAULT_MODE STEP_YAW
|
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#define FMS_TEST_SIGNAL_DEFAULT_PERIOD 40
|
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#define FMS_TEST_SIGNAL_DEFAULT_AMPLITUDE (((int32_t)ANGLE_BFP_OF_REAL(RadOfDeg(5)))<<8)
|
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|
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struct BoozFmsTestSignal fms_test_signal;
|
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|
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void booz_fms_impl_init(void) {
|
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fms_test_signal.mode = FMS_TEST_SIGNAL_DEFAULT_MODE;
|
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fms_test_signal.period = FMS_TEST_SIGNAL_DEFAULT_PERIOD;
|
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fms_test_signal.amplitude = FMS_TEST_SIGNAL_DEFAULT_AMPLITUDE;
|
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fms_test_signal.counter = 0;
|
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fms.input.h_mode = BOOZ2_GUIDANCE_H_MODE_ATTITUDE;
|
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fms.input.v_mode = BOOZ2_GUIDANCE_V_MODE_HOVER;
|
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}
|
||||
|
||||
void booz_fms_impl_periodic(void) {
|
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|
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switch (fms_test_signal.mode) {
|
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|
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case STEP_ROLL: {
|
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if (fms_test_signal.counter < fms_test_signal.period) {
|
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EULERS_ASSIGN(fms.input.h_sp.attitude, fms_test_signal.amplitude, 0, 0);
|
||||
}
|
||||
else {
|
||||
EULERS_ASSIGN(fms.input.h_sp.attitude, -fms_test_signal.amplitude, 0, 0);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case STEP_YAW: {
|
||||
if (fms_test_signal.counter < fms_test_signal.period) {
|
||||
EULERS_ASSIGN(fms.input.h_sp.attitude, 0, 0, fms_test_signal.amplitude);
|
||||
}
|
||||
else {
|
||||
EULERS_ASSIGN(fms.input.h_sp.attitude, 0, 0, -fms_test_signal.amplitude);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case STEP_PITCH:
|
||||
case STEP_VERT:
|
||||
break;
|
||||
#if 0
|
||||
case BOOZ_FMS_TEST_SIGNAL_MODE_VERTICAL: {
|
||||
if (booz2_guidance_v_mode < BOOZ2_GUIDANCE_V_MODE_HOVER)
|
||||
booz_fms_test_signal_start_z = booz_ins_ltp_pos.z;
|
||||
else {
|
||||
booz_fms_input.v_sp.height = (booz_fms_test_signal_counter < booz_fms_test_signal_period) ?
|
||||
booz_fms_test_signal_start_z :
|
||||
booz_fms_test_signal_start_z - 256;
|
||||
//BOOZ_INT_OF_FLOAT(-0.5, IPOS_FRAC)
|
||||
}
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
}
|
||||
fms_test_signal.counter++;
|
||||
if (fms_test_signal.counter >= (2 * fms_test_signal.period))
|
||||
fms_test_signal.counter = 0;
|
||||
}
|
||||
|
||||
void booz_fms_impl_set_enabled(bool_t enabled) {
|
||||
if (enabled)
|
||||
fms_test_signal.counter = 0;
|
||||
}
|
||||
@@ -0,0 +1,57 @@
|
||||
/*
|
||||
* $Id: booz_fms_test_signal.h 3976 2009-08-21 01:30:22Z poine $
|
||||
*
|
||||
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
|
||||
*
|
||||
* 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, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
#ifndef BOOZ_FMS_TEST_SIGNAL_H
|
||||
#define BOOZ_FMS_TEST_SIGNAL_H
|
||||
|
||||
#include "std.h"
|
||||
|
||||
|
||||
enum fms_ts_mode {
|
||||
STEP_ROLL,
|
||||
STEP_PITCH,
|
||||
STEP_YAW,
|
||||
STEP_VERT
|
||||
};
|
||||
|
||||
struct BoozFmsTestSignal {
|
||||
enum fms_ts_mode mode;
|
||||
uint32_t period;
|
||||
uint32_t amplitude;
|
||||
uint32_t counter;
|
||||
};
|
||||
|
||||
extern struct BoozFmsTestSignal fms_test_signal;
|
||||
|
||||
#define booz_fms_test_signal_SetPeriod(_val) { \
|
||||
fms_test_signal.period = _val; \
|
||||
fms_test_signal.counter = 0; \
|
||||
}
|
||||
|
||||
#define booz_fms_test_signal_SetMode(_val) { \
|
||||
fms_test_signal.mode = (enum fms_ts_mode)(_val); \
|
||||
fms_test_signal.counter = 0; \
|
||||
}
|
||||
|
||||
#endif /* BOOZ_FMS_TEST_SIGNAL_H */
|
||||
|
||||
Reference in New Issue
Block a user