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374 lines (292 loc) · 11.3 KB
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/****************************************************************************
*
* Copyright (c) 2014 MAVlink Development Team. All rights reserved.
* Author: Trent Lukaczyk, <aerialhedgehog@gmail.com>
* Jaycee Lock, <jaycee.lock@gmail.com>
* Lorenz Meier, <lm@inf.ethz.ch>
*
* 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 mavlink_control.cpp
*
* @brief An example offboard control process via mavlink
*
* This process connects an external MAVLink UART device to send an receive data
*
* @author Trent Lukaczyk, <aerialhedgehog@gmail.com>
* @author Jaycee Lock, <jaycee.lock@gmail.com>
* @author Lorenz Meier, <lm@inf.ethz.ch>
*
*/
// ------------------------------------------------------------------------------
// Includes
// ------------------------------------------------------------------------------
#include "mavlink_control.h"
// ------------------------------------------------------------------------------
// TOP
// ------------------------------------------------------------------------------
int
top (int argc, char **argv)
{
// --------------------------------------------------------------------------
// PARSE THE COMMANDS
// --------------------------------------------------------------------------
// Default input arguments
#ifdef __APPLE__
char *uart_name = (char*)"/dev/tty.usbmodem1";
#else
char *uart_name = (char*)"/dev/ttyUSB0";
#endif
int baudrate = 57600;
// do the parse, will throw an int if it fails
parse_commandline(argc, argv, uart_name, baudrate);
// --------------------------------------------------------------------------
// PORT and THREAD STARTUP
// --------------------------------------------------------------------------
/*
* Instantiate a serial port object
*
* This object handles the opening and closing of the offboard computer's
* serial port over which it will communicate to an autopilot. It has
* methods to read and write a mavlink_message_t object. To help with read
* and write in the context of pthreading, it gaurds port operations with a
* pthread mutex lock.
*
*/
Serial_Port serial_port(uart_name, baudrate);
/*
* Instantiate an autopilot interface object
*
* This starts two threads for read and write over MAVlink. The read thread
* listens for any MAVlink message and pushes it to the current_messages
* attribute. The write thread at the moment only streams a position target
* in the local NED frame (mavlink_set_position_target_local_ned_t), which
* is changed by using the method update_setpoint(). Sending these messages
* are only half the requirement to get response from the autopilot, a signal
* to enter "offboard_control" mode is sent by using the enable_offboard_control()
* method. Signal the exit of this mode with disable_offboard_control(). It's
* important that one way or another this program signals offboard mode exit,
* otherwise the vehicle will go into failsafe.
*
*/
Autopilot_Interface autopilot_interface(&serial_port);
/*
* Setup interrupt signal handler
*
* Responds to early exits signaled with Ctrl-C. The handler will command
* to exit offboard mode if required, and close threads and the port.
* The handler in this example needs references to the above objects.
*
*/
serial_port_quit = &serial_port;
autopilot_interface_quit = &autopilot_interface;
signal(SIGINT,quit_handler);
/*
* Start the port and autopilot_interface
* This is where the port is opened, and read and write threads are started.
*/
serial_port.start();
autopilot_interface.start();
// --------------------------------------------------------------------------
// RUN COMMANDS
// --------------------------------------------------------------------------
/*
* Now we can implement the algorithm we want on top of the autopilot interface
*/
commands(autopilot_interface);
// --------------------------------------------------------------------------
// THREAD and PORT SHUTDOWN
// --------------------------------------------------------------------------
/*
* Now that we are done we can stop the threads and close the port
*/
autopilot_interface.stop();
serial_port.stop();
// --------------------------------------------------------------------------
// DONE
// --------------------------------------------------------------------------
// woot!
return 0;
}
// ------------------------------------------------------------------------------
// COMMANDS
// ------------------------------------------------------------------------------
void
commands(Autopilot_Interface &api)
{
// --------------------------------------------------------------------------
// START OFFBOARD MODE
// --------------------------------------------------------------------------
api.enable_offboard_control();
usleep(100); // give some time to let it sink in
// now the autopilot is accepting setpoint commands
// --------------------------------------------------------------------------
// SEND OFFBOARD COMMANDS
// --------------------------------------------------------------------------
printf("SEND OFFBOARD COMMANDS\n");
// initialize command data strtuctures
mavlink_set_position_target_local_ned_t sp;
mavlink_set_position_target_local_ned_t ip = api.initial_position;
// autopilot_interface.h provides some helper functions to build the command
// Example 1 - Set Velocity
// set_velocity( -1.0 , // [m/s]
// -1.0 , // [m/s]
// 0.0 , // [m/s]
// sp );
// Example 2 - Set Position
set_position( ip.x - 5.0 , // [m]
ip.y - 5.0 , // [m]
ip.z , // [m]
sp );
// Example 1.2 - Append Yaw Command
set_yaw( ip.yaw , // [rad]
sp );
// SEND THE COMMAND
api.update_setpoint(sp);
// NOW pixhawk will try to move
// Wait for 8 seconds, check position
for (int i=0; i < 8; i++)
{
mavlink_local_position_ned_t pos = api.current_messages.local_position_ned;
printf("%i CURRENT POSITION XYZ = [ % .4f , % .4f , % .4f ] \n", i, pos.x, pos.y, pos.z);
sleep(1);
}
printf("\n");
// --------------------------------------------------------------------------
// STOP OFFBOARD MODE
// --------------------------------------------------------------------------
api.disable_offboard_control();
// now pixhawk isn't listening to setpoint commands
// --------------------------------------------------------------------------
// GET A MESSAGE
// --------------------------------------------------------------------------
printf("READ SOME MESSAGES \n");
// copy current messages
Mavlink_Messages messages = api.current_messages;
// local position in ned frame
mavlink_local_position_ned_t pos = messages.local_position_ned;
printf("Got message LOCAL_POSITION_NED (spec: https://pixhawk.ethz.ch/mavlink/#LOCAL_POSITION_NED)\n");
printf(" pos (NED): %f %f %f (m)\n", pos.x, pos.y, pos.z );
// hires imu
mavlink_highres_imu_t imu = messages.highres_imu;
printf("Got message HIGHRES_IMU (spec: https://pixhawk.ethz.ch/mavlink/#HIGHRES_IMU)\n");
printf(" ap time: %llu \n", imu.time_usec);
printf(" acc (NED): % f % f % f (m/s^2)\n", imu.xacc , imu.yacc , imu.zacc );
printf(" gyro (NED): % f % f % f (rad/s)\n", imu.xgyro, imu.ygyro, imu.zgyro);
printf(" mag (NED): % f % f % f (Ga)\n" , imu.xmag , imu.ymag , imu.zmag );
printf(" baro: %f (mBar) \n" , imu.abs_pressure);
printf(" altitude: %f (m) \n" , imu.pressure_alt);
printf(" temperature: %f C \n" , imu.temperature );
printf("\n");
// --------------------------------------------------------------------------
// END OF COMMANDS
// --------------------------------------------------------------------------
return;
}
// ------------------------------------------------------------------------------
// Parse Command Line
// ------------------------------------------------------------------------------
// throws EXIT_FAILURE if could not open the port
void
parse_commandline(int argc, char **argv, char *&uart_name, int &baudrate)
{
// string for command line usage
const char *commandline_usage = "usage: mavlink_serial -d <devicename> -b <baudrate>";
// Read input arguments
for (int i = 1; i < argc; i++) { // argv[0] is "mavlink"
// Help
if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) {
printf("%s\n",commandline_usage);
throw EXIT_FAILURE;
}
// UART device ID
if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) {
if (argc > i + 1) {
uart_name = argv[i + 1];
} else {
printf("%s\n",commandline_usage);
throw EXIT_FAILURE;
}
}
// Baud rate
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--baud") == 0) {
if (argc > i + 1) {
baudrate = atoi(argv[i + 1]);
} else {
printf("%s\n",commandline_usage);
throw EXIT_FAILURE;
}
}
}
// end: for each input argument
// Done!
return;
}
// ------------------------------------------------------------------------------
// Quit Signal Handler
// ------------------------------------------------------------------------------
// this function is called when you press Ctrl-C
void
quit_handler( int sig )
{
printf("\n");
printf("TERMINATING AT USER REQUEST\n");
printf("\n");
// autopilot interface
try {
autopilot_interface_quit->handle_quit(sig);
}
catch (int error){}
// serial port
try {
serial_port_quit->handle_quit(sig);
}
catch (int error){}
// end program here
exit(0);
}
// ------------------------------------------------------------------------------
// Main
// ------------------------------------------------------------------------------
int
main(int argc, char **argv)
{
// This program uses throw, wrap one big try/catch here
try
{
int result = top(argc,argv);
return result;
}
catch ( int error )
{
fprintf(stderr,"mavlink_control threw exception %i \n" , error);
return error;
}
}
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