/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: 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 multirotor_att_control_main.c
*
* Implementation of multirotor attitude control main loop.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <getopt.h>
#include <time.h>
#include <math.h>
#include <poll.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include <uORB/uORB.h>
#include <drivers/drv_gyro.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/actuator_controls.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include "multirotor_attitude_control.h"
#include "multirotor_rate_control.h"
__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
static bool thread_should_exit;
static int mc_task;
static bool motor_test_mode = false;
static orb_advert_t actuator_pub;
static struct vehicle_status_s state;
/**
* Perform rate control right after gyro reading
*/
static void *rate_control_thread_main(void *arg)
{
prctl(PR_SET_NAME, "mc rate control", getpid());
struct actuator_controls_s actuators;
int gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
struct pollfd fds = { .fd = gyro_sub, .events = POLLIN };
struct gyro_report gyro_report;
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
float gyro_lp[3] = {0.0f, 0.0f, 0.0f};
while (!thread_should_exit) {
/* rate control at maximum rate */
/* wait for a sensor update, check for exit condition every 1000 ms */
int ret = poll(&fds, 1, 1000);
if (ret < 0) {
/* XXX this is seriously bad - should be an emergency */
} else if (ret == 0) {
/* XXX this means no sensor data - should be critical or emergency */
printf("[mc att control] WARNING: Not getting gyro data, no rate control\n");
} else {
/* get data */
orb_copy(ORB_ID(sensor_gyro), gyro_sub, &gyro_report);
bool rates_sp_valid = false;
orb_check(rates_sp_sub, &rates_sp_valid);
if (rates_sp_valid) {
orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
}
/* perform local lowpass */
/* apply controller */
if (state.flag_control_rates_enabled) {
/* lowpass gyros */
// XXX
gyro_lp[0] = gyro_report.x;
gyro_lp[1] = gyro_report.y;
gyro_lp[2] = gyro_report.z;
multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
}
}
}
return NULL;
}
static int
mc_thread_main(int argc, char *argv[])
{
/* declare and safely initialize all structs */
memset(&state, 0, sizeof(state));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
struct offboard_control_setpoint_s offboard_sp;
memset(&offboard_sp, 0, sizeof(offboard_sp));
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
struct actuator_controls_s actuators;
/* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
/*
* Do not rate-limit the loop to prevent aliasing
* if rate-limiting would be desired later, the line below would
* enable it.
*
* rate-limit the attitude subscription to 200Hz to pace our loop
* orb_set_interval(att_sub, 5);
*/
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
/* publish actuator controls */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
actuators.control[i] = 0.0f;
}
actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
/* register the perf counter */
perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control");
/* welcome user */
printf("[multirotor_att_control] starting\n");
/* ready, spawn pthread */
pthread_attr_t rate_control_attr;
pthread_attr_init(&rate_control_attr);
pthread_attr_setstacksize(&rate_control_attr, 2048);
pthread_t rate_control_thread;
pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL);
while (!thread_should_exit) {
/* wait for a sensor update, check for exit condition every 500 ms */
poll(&fds, 1, 500);
perf_begin(mc_loop_perf);
/* get a local copy of system state */
bool updated;
orb_check(state_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
}
/* get a local copy of manual setpoint */
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
/* get a local copy of attitude setpoint */
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
/* get a local copy of rates setpoint */
orb_check(setpoint_sub, &updated);
if (updated) {
orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
}
/* get a local copy of the current sensor values */
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
/** STEP 1: Define which input is the dominating control input */
if (state.flag_control_manual_enabled) {
/* manual inputs, from RC control or joystick */
att_sp.roll_body = manual.roll;
att_sp.pitch_body = manual.pitch;
att_sp.yaw_body = manual.yaw; // XXX Hack, remove, switch to yaw rate controller
/* set yaw rate */
rates_sp.yaw = manual.yaw;
att_sp.thrust = manual.throttle;
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
if (motor_test_mode) {
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = 0.1f;
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
} else if (state.flag_control_offboard_enabled) {
/* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
rates_sp.roll = offboard_sp.p1;
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
/* decide wether we want rate or position input */
}
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
/* run attitude controller */
if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
perf_end(mc_loop_perf);
}
printf("[multirotor att control] stopping, disarming motors.\n");
/* kill all outputs */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
actuators.control[i] = 0.0f;
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
close(att_sub);
close(state_sub);
close(manual_sub);
close(actuator_pub);
close(att_sp_pub);
perf_print_counter(mc_loop_perf);
perf_free(mc_loop_perf);
pthread_join(rate_control_thread, NULL);
fflush(stdout);
exit(0);
}
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: multirotor_att_control [-m <mode>] [-t] {start|status|stop}\n");
fprintf(stderr, " <mode> is 'rates' or 'attitude'\n");
fprintf(stderr, " -t enables motor test mode with 10%% thrust\n");
exit(1);
}
int multirotor_att_control_main(int argc, char *argv[])
{
int ch;
unsigned int optioncount = 0;
while ((ch = getopt(argc, argv, "tm:")) != EOF) {
switch (ch) {
case 't':
motor_test_mode = true;
optioncount += 1;
break;
case ':':
usage("missing parameter");
break;
default:
fprintf(stderr, "option: -%c\n", ch);
usage("unrecognized option");
break;
}
}
argc -= optioncount;
//argv += optioncount;
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1+optioncount], "start")) {
thread_should_exit = false;
mc_task = task_spawn("multirotor_att_control",
SCHED_RR,
SCHED_PRIORITY_MAX - 15,
2048,
mc_thread_main,
NULL);
exit(0);
}
if (!strcmp(argv[1+optioncount], "stop")) {
thread_should_exit = true;
exit(0);
}
usage("unrecognized command");
exit(1);
}