Merge pull request #1392 from bitcraze/rik/ootcontrollerfix

Fix out of tree controllers

examples/app_out_of_tree_controller/.gitignore

@@ -0,0 +1,2 @@
+bin/*
+cf2.*

examples/app_out_of_tree_controller/Kbuild

@@ -0,0 +1 @@
+obj-y += src/

examples/app_out_of_tree_controller/Makefile

@@ -0,0 +1,23 @@
+# The firmware uses the Kbuild build system. There are 'Kbuild' files in this
+# example that outlays what needs to be built. (check src/Kbuild).
+#
+# The firmware is configured using options in Kconfig files, the
+# values of these end up in the .config file in the firmware directory.
+#
+# By setting the OOT_CONFIG (it is '$(PWD)/oot-config' by default) environment
+# variable you can provide a custom configuration. It is important that you
+# enable the app-layer. See app-config in this directory for example.
+
+#
+# We want to execute the main Makefile for the firmware project,
+# it will handle the build for us.
+#
+CRAZYFLIE_BASE := ../..
+
+#
+# We override the default OOT_CONFIG here, we could also name our config
+# to oot-config and that would be the default.
+#
+OOT_CONFIG := $(PWD)/app-config
+
+include $(CRAZYFLIE_BASE)/tools/make/oot.mk

examples/app_out_of_tree_controller/README.md

@@ -0,0 +1,5 @@
+# Out of tree controller app for Crazyflie 2.X
+
+This folder contains an out of tree controller implementation for the Crazyflie. Instead of using a custom controller, this example uses the built-in PID controller.
+
+Check out [the OOT build documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/development/oot/) and [this blog post](https://www.bitcraze.io/2023/02/adding-an-estimator-or-controller/) for more information.

examples/app_out_of_tree_controller/app-config

@@ -0,0 +1,4 @@
+CONFIG_APP_ENABLE=y
+CONFIG_APP_PRIORITY=1
+CONFIG_APP_STACKSIZE=350
+CONFIG_CONTROLLER_OOT=y

examples/app_out_of_tree_controller/src/Kbuild

@@ -0,0 +1 @@
+obj-y += out_of_tree_controller.o

examples/app_out_of_tree_controller/src/out_of_tree_controller.c

@@ -0,0 +1,76 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2024 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * out_of_tree_controller.c - App layer application of an out of tree controller.
+ */
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+// Edit the debug name to get nice debug prints
+#define DEBUG_MODULE "MYCONTROLLER"
+#include "debug.h"
+
+
+// We still need an appMain() function, but we will not really use it. Just let it quietly sleep.
+void appMain() {
+  DEBUG_PRINT("Waiting for activation ...\n");
+
+  while(1) {
+    vTaskDelay(M2T(2000));
+  }
+}
+
+// The new controller goes here --------------------------------------------
+// Move the includes to the the top of the file if you want to
+#include "controller.h"
+
+// Call the PID controller in this example to make it possible to fly. When you implement you own controller, there is
+// no need to include the pid controller.
+#include "controller_pid.h"
+
+void controllerOutOfTreeInit() {
+  // Initialize your controller data here...
+
+  // Call the PID controller instead in this example to make it possible to fly
+  controllerPidInit();
+}
+
+bool controllerOutOfTreeTest() {
+  // Always return true
+  return true;
+}
+
+void controllerOutOfTree(control_t *control, const setpoint_t *setpoint, const sensorData_t *sensors, const state_t *state, const uint32_t tick) {
+  // Implement your controller here...
+
+  // Call the PID controller instead in this example to make it possible to fly
+  controllerPid(control, setpoint, sensors, state, tick);
+}

src/modules/src/controller/controller.c

@@ -57,6 +57,8 @@ void controllerInit(ControllerType controller) {
     #define CONTROLLER ControllerTypeBrescianini
   #elif defined(CONFIG_CONTROLLER_LEE)
     #define CONTROLLER ControllerTypeLee
+  #elif defined(CONFIG_CONTROLLER_OOT)
+    #define CONTROLLER ControllerTypeOot
   #else
     #define CONTROLLER ControllerTypeAutoSelect
   #endif