controls/model/modelParameters.m

+    % Model Parameters
+    m = 1.19;            % Quadrotor + battery mass
+    g = 9.81;            % Acceleration of gravity
+    Jxx = 0.0218;        % Quadrotor and battery motor of inertia around bx (pitch)
+    Jyy = 0.0277;        % Quadrotor and battery motor of inertia around by (roll)
+    Jzz = 0.0332;        % Quadrotor and battery motor of inertia around bz (yaw)
+    Jreq = 4.2012e-05;   % Rotor and motor moment of inertia around axis of rotation
+    Kt = 8.1558*10^-6;   % Rotor thrust constant
+    Kh = 0;              % Rotor in-plane drag constant
+    Kd = 1.8087e-07;     % Rotor drag constant
+    rhx = 0.016;         % X-axis distance from center of mass to a rotor hub
+    rhy = 0.016;         % Y-axis distance from center of mass to a rotor hub
+    rhz = 0.003;         % Z-axis distance from center of mass to a rotor hub
+    Rm = 0.2308;         % Motor resistance
+    Kq = 96.3422;        % Motor torque constant
+    Kv = 96.3422;        % Motor back emf constant
+    If = 0.511;          % Motor internal friction current
+    Pmin = 0.40;         % Minimum zybo output duty cycle command
+    Pmax = 0.80;         % Maximum zybo output duty cycle command
+    Tc = 0.01;           % Camera system sampling period
+    tau_c = 0;           % Camera system total latency
+    Vb = 11.1;           % Nominal battery voltage (V)
\ No newline at end of file

.gitignore → groundStation/.gitignore

@@ -38,4 +38,7 @@ src/vrpn/build*
 src/vrpn/pc_linux64/*
 
 #Exacutables
-./BlueTooth
+logs
+BackEnd
+obj
+Cli

groundStation/Makefile

+# Declaration of variables
+
+# Generic Variables
+GCC=gcc
+GXX=g++
+CFLAGS= -Wall -pedantic -Wextra -Werror -std=gnu99 -g -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-but-set-variable
+CXXFLAGS= -Wall -pedantic -Wextra -Werror -Wno-reorder -Wno-unused-variable -std=c++0x -g
+INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
+INCDIR=inc src/vrpn src/vrpn/quat src/vrpn/build $(BESRCDIR) $(CLISRCDIR) $(FESRCDIR)
+LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat 
+OBJDIR=obj
+
+# Backend Specific Variables
+BEBINARY=BackEnd
+BESRCDIR=src/backend
+BECSOURCES := $(wildcard $(BESRCDIR)/*.c )
+BECOBJECTS = $(BECSOURCES:$(BESRCDIR)/%.c=$(OBJDIR)/%.o)
+BECPPSOURCES := $(wildcard $(BESRCDIR)/*.cpp )
+BECPPOBJECTS = $(BECPPSOURCES:$(BESRCDIR)/%.cpp=$(OBJDIR)/%.o)
+
+# CLI Specific Variables
+CLIBINARY=Cli
+CLISRCDIR=src/cli
+CLISOURCES := $(wildcard $(CLISRCDIR)/*.c)
+CLIOBJECTS = $(CLISOURCES:$(CLISRCDIR)/%.c=$(OBJDIR)/%.o)
+
+# Frontend-common stuff
+FESRCDIR=src/frontend
+FECSOURCES := $(wildcard $(FESRCDIR)/*.c )
+FECOBJECTS = $(FECSOURCES:$(FESRCDIR)/%.c=$(OBJDIR)/%.o)
+
+
+OBJECTS= $(CLIOBJECTS) $(BECOBJECTS) $(BECPPOBJECTS) $(FECOBJECTS)
+
+# Default target
+all: logs objdir backend cli
+
+vrpn: vrpn/build
+
+cli:  $(CLIOBJECTS) $(FECOBJECTS)
+	$(GCC) $(CFLAGS) $^ -o $(CLIBINARY) $(INCLUDES) $(LIBS)
+
+$(CLIOBJECTS) : $(OBJDIR)/%.o : $(CLISRCDIR)/%.c
+	$(GCC)  $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
+
+
+backend: $(BECPPOBJECTS) $(BECOBJECTS)
+	$(GXX) $(CXXFLAGS) $^ -o $(BEBINARY) $(INCLUDES) $(LIBS)
+
+$(FECOBJECTS) : $(OBJDIR)/%.o : $(FESRCDIR)/%.c
+	$(GCC)  $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
+
+$(BECOBJECTS) : $(OBJDIR)/%.o : $(BESRCDIR)/%.c
+	$(GCC)  $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
+
+$(BECPPOBJECTS) : $(OBJDIR)/%.o : $(BESRCDIR)/%.cpp
+	$(GXX)  $(CXXFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
+
+vrpn/build:
+	mkdir -p src/vrpn/build
+	cd src/vrpn/build && cmake .. && make
+
+logs:
+	mkdir -p logs
+
+objdir:
+	mkdir -p obj
+
+clean_logs:
+	rm -f logs/*
+
+clean:
+	rm -rf $(OBJDIR)/ $(BEBINARY) $(CLIBINARY)
+
+debug:
+	@echo $(OBJECTS)

groundStation/README.md

+# groundStation
+
+## Make Process
+
+First, if submodules were not recursevly added through git. Run this command if you have made any attempt to make vrpn manually. 
+run
+	'git submodule update --init --recursive'
+
+Now that you have all of the files necissary.
+
+cd into the groundstation folder.
+	cd groundStation
+	make vrpn
+	make
+
+run the program with sudo privledges
+	sudo -E ./BackEnd
+
+If you wish to change the way the backend communicates to the quad and vice versa, look at src/config.h. 
+	This provides a list of environment variables which you can set and use for your computer or time of use.
+	Because the backend must be ran with sudo privledges, you will need to preserve the env. vars. with sudo rights.
+	Hence the "-E" flag.
+
+## Modifying
+See MODIFYING for the software architecture/organization and how to add new functionality.
+
+## Using
+First, the backend daemon must be running. Run the backend with ./BackEnd. Note
+the environment variables in config.h, especially the backend socket path. The backend
+requires root for bluetooth, but can run as a normal user with TCP, as long as the
+socket path is writable by the user.
+
+Once the backend is running, various CLI tools can be used to view the state of the
+quad and send commands. Each of these tools is given as the first argument
+to the CLI program, for example, to monitor the quad, use `cli monitor`. Note that
+the backend socket environment variable must be set to the same value as it
+was for the backend. The CLI program also supports busybox-style symbolic links.
+For example, if there is a symlink named `monitor` that points to the `cli` binary,
+running the `monitor` program will effectively run `cli monitor`.
+
+The names of the binaries is subject to change.
+
+### Example
+In one terminal or screen, run the backend:
+
+`UCART_SOCKET=./ucart.socket ./BackEnd`
+
+This will activate the quad and the backend, and the backend will be available for
+connections from the frontend tools. One useful tool is the monitor. In another
+terminal window, run the monitor forever:
+
+`UCART_SOCKET=./ucart.socket ./cli monitor -f`
+
+This will begin a periodic monitoring that updates 10 times per second.
+
+Finally, in a third window, export the socket path:
+
+`export UCART_SOCKET=./ucart.socket`
+
+and then run any other tools to modify the quad, for example modifying PID constants:
+
+`./cli setpid --pitch -p 1.000`
+

groundStation/src/backend/commands.h

+#ifndef _COMMANDS_H
+#define _COMMANDS_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "type_def.h"
+
+
+// ----------------------
+// Helper stuff
+
+#define MAX_TYPE 6
+#define MAX_SUBTYPE 100
+
+enum Message{
+	BEGIN_CHAR = 0xBE,
+	END_CHAR   = 0xED
+};
+
+// This should also have double to avoid confusion with float values.
+enum DataType
+{
+	floatType,
+	intType,
+	stringType
+};
+
+// MESSAGE SUBTYPES
+struct MessageSubtype{
+	char ID;
+	char cmdText[100];
+	char cmdDataType;
+	int (*functionPtr)(unsigned char *command, int dataLen, modular_structs_t *structs);
+};
+
+// MESSAGE TYPES
+struct MessageType{
+	char ID;
+	struct MessageSubtype subtypes[MAX_SUBTYPE];
+};
+
+int debug(unsigned char *c, int dataLen, modular_structs_t *structs);
+int update(unsigned char *c, int dataLen, modular_structs_t *structs);
+int logdata(unsigned char *c, int dataLen, modular_structs_t *structs);
+int response(unsigned char *packet, int dataLen, modular_structs_t *structs);
+int setyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setroll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getroll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resproll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+
+float getFloat(unsigned char* str, int pos);
+int getInt(unsigned char* str, int pos);
+
+// TODO add in string to be read from the command line when sending a subtype of message
+extern struct MessageType MessageTypes[MAX_TYPE];
+
+#endif
\ No newline at end of file

src/communication.c → groundStation/src/backend/communication.c

@@ -52,84 +52,95 @@ int checkInt(char *intString, int *value) {
 //--------------------------------
 
 // Formatting commands from ground station CLI
-int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
-	//command[strlen((char *)command) - 1] = 0;
-	
-	tokenList_t tokens = tokenize((char *)command);
+int formatCommand(char *command, unsigned char **formattedCommand) {
+	//fprintf(stderr, "length = %li , received '%s'\n", strlen(command), command);
+	char cmd[strlen(command)];
+	strncpy(cmd, command, strlen(command));
+	cmd[strlen(command)] = '\0';
+
+	tokenList_t tokens = tokenize(cmd);
 	float floatValue = 0.0;
 	int intValue = 0;
 	int valid;
-	metadata_t metadata = {};
+	metadata_t metadata;
 	
 	// ----------------------------------------------
-	if(tokens.numTokens > 1) {
-		for(int cmdIndex = 0; cmdIndex < NUM_COMMANDS; ++cmdIndex)
+	if(tokens.numTokens > 0) {
+		for(int type = 0; type < MAX_TYPE; type++)
 		{
-			if(strcmp(tokens.tokens[0], registeredCommands[cmdIndex].commandText) == 0)
+			for(int subtype = 0; subtype < MAX_SUBTYPE; subtype++)
 			{
-
-				switch (registeredCommands[cmdIndex].dataType)
+				if(strcmp(tokens.tokens[0], MessageTypes[type].subtypes[subtype].cmdText) == 0)
 				{
-					// Validate the float input
-					case floatType:
-						valid = checkFloat(tokens.tokens[1], &floatValue);
-						if(!valid) {
-							return -1;
-						}
-						
-						printf("%f, %s\n", floatValue, tokens.tokens[1]);
-						
-						metadata.begin_char  = BEGIN_CHAR;
-						metadata.msg_type    = registeredCommands[cmdIndex].ID;
-						metadata.msg_subtype = registeredCommands[cmdIndex].subID;
-						metadata.msg_id      = msgNum++;
-						metadata.data_len    = sizeof(floatValue);
-						
-						formatPacket(&metadata, &floatValue, formattedCommand);
-						
-						break;
-					
-					// Validate the integer input
-					case intType:
-						valid = checkInt(tokens.tokens[1], &intValue);
-						if(!valid) {
-							return -1;
-						}
-						
-						metadata.begin_char  = BEGIN_CHAR;
-						metadata.msg_type    = registeredCommands[cmdIndex].ID;
-						metadata.msg_subtype = registeredCommands[cmdIndex].subID;
-						metadata.msg_id      = msgNum++;
-						metadata.data_len    = sizeof(intValue);
-						
-						formatPacket(&metadata, &intValue, formattedCommand);
-						
-						break;
+					printf("Sending\n\ttype: %d, \n\tsubtype: %d\n\tcommand: %s\n", type, subtype, MessageTypes[type].subtypes[subtype].cmdText);
 					
-					// Validate the string input (doesn't need to happen)
-					case stringType:
-						metadata.begin_char  = BEGIN_CHAR;
-						metadata.msg_type    = registeredCommands[cmdIndex].ID;
-						metadata.msg_subtype = registeredCommands[cmdIndex].subID;
-						metadata.msg_id      = msgNum++;
-						metadata.data_len    = strlen(tokens.tokens[1]);
+					// Make sure the second token is the right type
+					switch (MessageTypes[type].subtypes[subtype].cmdDataType)
+					{
+						// Validate the float input
+						case floatType:
+							metadata.begin_char = (char) BEGIN_CHAR;
+							metadata.msg_type = MessageTypes[type].ID;
+							metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
+
+							if(MessageTypes[type].ID == 0x01) {
+								valid = checkFloat(tokens.tokens[1], &floatValue);
+								if(!valid) {
+									return -1;
+								}
+								metadata.data_len = sizeof(floatValue);
+							} else {
+								metadata.data_len = 0;
+							}
+							
+							metadata.msg_id = msgNum++;
+							formatPacket(&metadata, &floatValue, formattedCommand);
+							break;
 						
-						formatPacket(&metadata, &tokens.tokens[1], formattedCommand);
+						// Validate the integer input
+						case intType:
+							metadata.begin_char = (char) BEGIN_CHAR;
+							metadata.msg_type = MessageTypes[type].ID;
+							metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
+							
+							if(MessageTypes[type].ID == 0x01) {
+								valid = checkInt(tokens.tokens[1], &intValue);
+								if(!valid) {
+									return -1;
+								}
+								metadata.data_len = sizeof(intValue);
+							} else {
+								metadata.data_len = 0;
+							}
+							
+							metadata.msg_id = msgNum++;
+							formatPacket(&metadata, &intValue, formattedCommand);
+							
+							break;
 						
-						break;
-					default:
-						return -1;
+						// Validate the string input (doesn't need to happen)
+						case stringType:
+							metadata.begin_char = (char) BEGIN_CHAR;
+							metadata.msg_type = MessageTypes[type].ID;
+							metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
+							metadata.msg_id = msgNum++;
+							metadata.data_len = strlen(tokens.tokens[1]);
+							
+							formatPacket(&metadata, &tokens.tokens[1], formattedCommand);
+							
+							break;
+						default:
+							return -1;
+					}
+					return 0;
 				}
-
-				return 0;
 			}
 		}
 	}
-	
+
 	// Only gets here if the command does not exist
-	return -1;
+	return -1;	
 }
-
 // QUAD & Ground Station
 // Format the log data from log_message
 //int formatData(unsigned char *log_msg, unsigned char *formattedCommand)
@@ -154,7 +165,8 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
 	(*formattedCommand)[2] = metadata->msg_subtype;
 	
 	//Msg id (msgNum is 2 bytes)
-	(*formattedCommand)[3] = metadata->msg_id;
+	(*formattedCommand)[3] = (metadata->msg_id & 0x000000ff);
+	(*formattedCommand)[4] = ((metadata->msg_id >> 8) & 0x000000ff);
 	
 	// Data length and data - bytes 5&6 for len, 7+ for data
 	(*formattedCommand)[5] = metadata->data_len & 0x000000ff;
@@ -232,7 +244,7 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
 
 // QUAD & Ground Station
 // Process the command received
-int processCommand(unsigned char *packet, unsigned int cmdIndex) {
+int processCommand(unsigned char *packet, modular_structs_t *structs) {
 	int validPacket;
 	unsigned char *data;
 	metadata_t metadata;
@@ -245,11 +257,11 @@ int processCommand(unsigned char *packet, unsigned int cmdIndex) {
 	
 	if(metadata.data_len >= 0) {
 		// Call the appropriate subtype function
-		(* (registeredCommands[cmdIndex].functionPtr))(data, metadata.data_len);
+		(* (MessageTypes[(unsigned char)metadata.msg_type].subtypes[(unsigned char)metadata.msg_subtype].functionPtr))(data, metadata.data_len, structs);
 		
 		return 0;
 	}
 	
 	// Only gets here if there is an error
 	return -1;
-}
+}
\ No newline at end of file

src/communication.h → groundStation/src/backend/communication.h

@@ -10,12 +10,10 @@
 tokenList_t tokenize(char* cmd);
 int checkFloat(char *floatString, float *value);
 int checkInt(char *intString, int *value);
-int formatCommand(unsigned char *command, unsigned char **formattedCommand);
+int formatCommand(char *command, unsigned char **formattedCommand);
 int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedCommand);
 int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * meta_data);
-int processCommand(unsigned char *command, unsigned int cmdIndex);
+int processCommand(unsigned char *command, modular_structs_t *structs);
 int logData(unsigned char *log_msg, unsigned char *formattedCommand);
-float getFloat(unsigned char* str, int pos);
-int getInt(unsigned char* str, int pos);
 
-#endif
+#endif
\ No newline at end of file

groundStation/src/backend/config.h

+#ifndef __CONFIG_H
+#define __CONFIG_H
+
+
+#define DEFAULT_SOCKET "/var/run/ucart.socket"
+#define SOCKET_ENV "UCART_SOCKET"
+#define NOQUAD_ENV "UCART_NO_QUAD"
+#define NOVRPN_ENV "UCART_NO_VRPN"
+
+
+// If you are planning on using any of these env vars and you have
+// 	exported them with normal user rights. You will need to run the 
+// 	backend with sudo elevation and with the --preserve-env flag or -E
+#define QUAD_WIFI_ENV "UCART_USE_WIFI"
+#define QUAD_IP_ENV "UCART_QUAD_IP"
+#define QUAD_IP_DEFAULT "192.168.4.1"
+#define QUAD_PORT_ENV "UCART_QUAD_PORT"
+#define QUAD_PORT_DEFAULT 8080
+
+#endif

src/logger.h → groundStation/src/backend/logger.h

@@ -15,6 +15,7 @@
 int createLogFile(int, char*);
 int writeStringToLog(const char*);
 int updateLogFile(const struct ucart_vrpn_TrackerData* );
+void closeLogFile();
 
 
-#endif
\ No newline at end of file
+#endif