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139 lines
4.1 KiB
C
139 lines
4.1 KiB
C
/**
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******************************************************************************
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*
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* @file pathfollower.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief This module compared @ref PositionActuatl to @ref ActiveWaypoint
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* and sets @ref AttitudeDesired. It only does this when the FlightMode field
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* of @ref ManualControlCommand is Auto.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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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 3 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
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Input object: PathDesired
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* Input object: PositionState
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* Input object: ManualControlCommand
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* Output object: StabilizationDesired
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*
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* This module acts as "autopilot" - it controls the setpoints of stabilization
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* based on current flight situation and desired flight path (PathDesired) as
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* directed by flightmode selection or pathplanner
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* This is a periodic delayed callback module
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*
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*/
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#include <openpilot.h>
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#include <callbackinfo.h>
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#include <math.h>
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#include <pid.h>
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#include <CoordinateConversions.h>
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#include <fixedwingpathfollowersettings.h>
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#include <vtolpathfollowersettings.h>
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#include <flightstatus.h>
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#include <pathstatus.h>
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// Private constants
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#define CALLBACK_PRIORITY CALLBACK_PRIORITY_LOW
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#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
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#define PF_IDLE_UPDATE_RATE_MS 100
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#define STACK_SIZE_BYTES 2048
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// Private types
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// Private variables
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static DelayedCallbackInfo *pathFollowerCBInfo;
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static uint32_t updatePeriod = PF_IDLE_UPDATE_RATE_MS;
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// Private functions
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static void pathFollowerTask(void);
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static void SettingsUpdatedCb(UAVObjEvent *ev);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t PathFollowerStart()
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{
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// Start main task
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SettingsUpdatedCb(NULL);
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PIOS_CALLBACKSCHEDULER_Dispatch(pathFollowerCBInfo);
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return 0;
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}
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t PathFollowerInitialize()
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{
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// initialize objects
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FixedWingPathFollowerSettingsInitialize();
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VtolPathFollowerSettingsInitialize();
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FlightStatusInitialize();
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PathStatusInitialize();
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// Create object queue
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pathFollowerCBInfo = PIOS_CALLBACKSCHEDULER_Create(&pathFollowerTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_ALTITUDEHOLD, STACK_SIZE_BYTES);
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FixedWingPathFollowerSettingsConnectCallback(&SettingsUpdatedCb);
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VtolPathFollowerSettingsConnectCallback(&SettingsUpdatedCb);
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return 0;
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}
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MODULE_INITCALL(PathFollowerInitialize, PathFollowerStart);
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/**
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* Module thread, should not return.
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*/
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static void pathFollowerTask(void)
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{
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FlightStatusData flightStatus;
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FlightStatusGet(&flightStatus);
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if (flightStatus.ControlChain.PathFollower != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
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PIOS_CALLBACKSCHEDULER_Schedule(pathFollowerCBInfo, PF_IDLE_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
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return;
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}
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// do pathfollower things here
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PIOS_CALLBACKSCHEDULER_Schedule(pathFollowerCBInfo, updatePeriod, CALLBACK_UPDATEMODE_SOONER);
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}
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static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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// read in settings (TODO)
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}
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