229 lines
7.1 KiB
C++
229 lines
7.1 KiB
C++
#include "Eigen/Core"
|
|
#include "driver/gpio.h"
|
|
#include "drone.h"
|
|
#include "drone_comms.h"
|
|
#include "drone_controller.h"
|
|
#include "esp32-hal.h" #include "esp_log.h"
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/idf_additions.h"
|
|
#include "freertos/projdefs.h"
|
|
#include "freertos/task.h"
|
|
#include <atomic>
|
|
#include <cmath> #include <cstdint>
|
|
#include <optional>
|
|
|
|
#include "env_sens.h"
|
|
#include "gps.h"
|
|
#include "imu.h"
|
|
#include "nav.h"
|
|
#include "packet_handler.h"
|
|
#include "radio.h"
|
|
#include "sens_fus.h"
|
|
#include "servo.h"
|
|
|
|
static const char *TAG = "MAIN";
|
|
|
|
#define TIME_RELEASE_QUEUE_TO_ACTIVATION 500
|
|
|
|
extern "C" void app_main(void) {
|
|
|
|
sens_fus_mutex = xSemaphoreCreateMutex();
|
|
configASSERT(sens_fus_mutex);
|
|
nav_mutex = xSemaphoreCreateMutex();
|
|
|
|
initArduino();
|
|
gpio_install_isr_service(0);
|
|
Serial.begin(115200);
|
|
|
|
xTaskCreatePinnedToCore(radio_task, // Function name
|
|
"radio_rxtx", // Name for debugging
|
|
4096, // Stack size in bytes
|
|
NULL, // Parameters
|
|
5, // Priority (higher = more urgent)
|
|
NULL, // Task handle
|
|
0 // Core ID
|
|
);
|
|
|
|
xTaskCreatePinnedToCore(env_sens::baro_poll_task, "baro_poll", 8192, NULL, 5,
|
|
NULL, 0);
|
|
|
|
xTaskCreatePinnedToCore(gps_poll_task, "gps_poll", 8192, NULL, 5, NULL, 0);
|
|
|
|
xTaskCreatePinnedToCore(drone_controller_task, // Function name
|
|
"drone_controller_task", // Name for debugging
|
|
1024 * 32, // Stack size in bytes
|
|
NULL, // Parameters
|
|
20, // Priority (higher = more urgent)
|
|
NULL, // Task handle
|
|
1 // Core ID
|
|
);
|
|
|
|
xTaskCreatePinnedToCore(motor_throttles_task, // Function name
|
|
"motor_throttles_task", // Name for debugging
|
|
1024 * 4, // Stack size in bytes
|
|
NULL, // Parameters
|
|
24, // Priority (higher = more urgent)
|
|
NULL, // Task handle
|
|
1 // Core ID
|
|
);
|
|
|
|
// vTaskDelay(5000);
|
|
// for (int i = 0; i < 4; i++) {
|
|
// motor_throttles[i] = 10.0;
|
|
// vTaskDelay(2000);
|
|
// motor_throttles[i] = 0.0;
|
|
// }
|
|
|
|
xTaskCreate(
|
|
[](void *pvParameters) {
|
|
while (true) {
|
|
while (packet_rx_queue &&
|
|
xQueueReceive(packet_rx_queue, &packet_data[0], 20)) {
|
|
handle_packet(&packet_data[0]);
|
|
}
|
|
vTaskDelay(1);
|
|
}
|
|
},
|
|
"lambda_recv_task", 8192, NULL, 5, NULL);
|
|
|
|
setup_imu();
|
|
servo_init();
|
|
ESP_LOGI("MAIN", "All tasks spawned. Main loop free.");
|
|
|
|
Eigen::Vector3f local_pos = {0, 0, 0};
|
|
Eigen::Vector3f local_vel = {0, 0, 0};
|
|
bool nav_data_ready = false;
|
|
|
|
uint64_t last_print_time = 0;
|
|
uint64_t last_position_broadcast_time = 0;
|
|
uint64_t last_status_broadcast_time = 0;
|
|
uint64_t time_activation_queue = 0;
|
|
bool released = false;
|
|
|
|
while (true) {
|
|
|
|
if (millis() > last_position_broadcast_time + 200 && packet_tx_queue) {
|
|
send_packet_getter(PACKET_TYPE::INFO_DRONE_POSITION);
|
|
last_position_broadcast_time = millis();
|
|
}
|
|
// auto vel = sens_fus.velocity;
|
|
// ESP_LOGI("GPSvsIMU", "gps_vel: %f, imu_vel: %f",
|
|
// gps->velocity().value().norm(),
|
|
// Eigen::Vector3f(vel.x(), vel.y(), 0.0).norm());
|
|
|
|
if (millis() > last_status_broadcast_time + 500 && packet_tx_queue) {
|
|
send_packet_getter(PACKET_TYPE::INFO_DRONE_STATUS);
|
|
last_status_broadcast_time = millis();
|
|
}
|
|
|
|
if (nav_mutex && xSemaphoreTake(nav_mutex, 10)) {
|
|
|
|
if (gps->gps_avaliable()) {
|
|
waypoint current_wayp = nav_man.get_current_waypoint();
|
|
auto pos = sens_fus.position;
|
|
|
|
if ((current_wayp.coords_in_axis.value_or(
|
|
Eigen::Vector3f(INFINITY, INFINITY, INFINITY)) -
|
|
pos)
|
|
.norm() < 1.0) {
|
|
nav_man.waypoint_reached();
|
|
}
|
|
}
|
|
|
|
xSemaphoreGive(nav_mutex);
|
|
}
|
|
|
|
// Release
|
|
if (imu_state_var.lin_accel_global.z < -8.0 && !released) {
|
|
released = true;
|
|
time_activation_queue = millis();
|
|
}
|
|
|
|
if (released && drone_cont &&
|
|
std::atomic_load(&drone_cont->current_input_mode) ==
|
|
INPUT_TYPE::AUTO_NAV &&
|
|
millis() - time_activation_queue > TIME_RELEASE_QUEUE_TO_ACTIVATION) {
|
|
|
|
dcont::reset_pid_states(drone_cont->drone_controller);
|
|
servo_set(SERVO_OPTIONS::UP);
|
|
|
|
xTaskCreate(
|
|
[](void *pvParameters) {
|
|
vTaskDelay(pdMS_TO_TICKS(700));
|
|
std::atomic_store(&killswitch_active, false);
|
|
},
|
|
"lambda_task", 2048, NULL, 5, NULL);
|
|
}
|
|
|
|
// Logging
|
|
if (millis() > last_print_time + 1000) {
|
|
last_print_time = millis();
|
|
|
|
std::optional<Eigen::Vector3f> coords;
|
|
float lat, lon, alt;
|
|
bool gps_values = false;
|
|
bool fix = false;
|
|
uint8_t sat_count = 0;
|
|
if (gps_mutex && xSemaphoreTake(gps_mutex, (TickType_t)20) == pdTRUE) {
|
|
if (gps->gps_avaliable()) {
|
|
coords = gps->get_coordinates();
|
|
lat = gps->gps->latitudeDegrees;
|
|
lon = gps->gps->longitudeDegrees;
|
|
alt = gps->gps->altitude;
|
|
gps_values = true;
|
|
}
|
|
sat_count = gps->gps->satellites;
|
|
fix = gps->gps->fix;
|
|
xSemaphoreGive(gps_mutex);
|
|
|
|
if (gps_values) {
|
|
|
|
ESP_LOGI(TAG,
|
|
"loc -> lat: %f, long: %f, height: %f, sat_c: %d, fix: %b",
|
|
lat, lon, alt, sat_count, fix);
|
|
}
|
|
|
|
if (coords.has_value()) {
|
|
auto D_pos = coords.value();
|
|
|
|
ESP_LOGI(TAG, " -> D(pos): (%f, %f, %f)", D_pos[0], D_pos[1],
|
|
D_pos[2]);
|
|
}
|
|
}
|
|
env_sens::dbg_sens();
|
|
|
|
if (sens_fus_mutex &&
|
|
xSemaphoreTake(sens_fus_mutex, pdMS_TO_TICKS(10)) == pdTRUE) {
|
|
local_pos = sens_fus.position;
|
|
local_vel = sens_fus.velocity;
|
|
nav_data_ready = true;
|
|
xSemaphoreGive(sens_fus_mutex);
|
|
}
|
|
|
|
if (nav_data_ready) {
|
|
ESP_LOGI(TAG, "nav(pos): (%f, %f, %f)", local_pos[0], local_pos[1],
|
|
local_pos[2]);
|
|
ESP_LOGI(TAG, "nav(vel): (%f, %f, %f)", local_vel[0], local_vel[1],
|
|
local_vel[2]);
|
|
}
|
|
|
|
if (motor_throttles != nullptr) {
|
|
|
|
ESP_LOGI(TAG, "Throttles: (%f, %f, %f, %f)", motor_throttles[0],
|
|
motor_throttles[1], motor_throttles[2], motor_throttles[3]);
|
|
}
|
|
|
|
if (time_last_controller - millis() < CONNECTION_LOST_THRESHOLD) {
|
|
|
|
ESP_LOGI(TAG, "Controller: (%f, %f), (%f, %f)",
|
|
current_controller_input.lx, current_controller_input.ly,
|
|
current_controller_input.rx, current_controller_input.ry);
|
|
}
|
|
// ESP_LOGI(TAG, "ROT: (%f, %f, %f)", imu_state_var.rot_euler.x(),
|
|
// imu_state_var.rot_euler.y(), imu_state_var.rot_euler.z());
|
|
}
|
|
|
|
vTaskDelay(pdMS_TO_TICKS(5));
|
|
}
|
|
}
|