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/**
* @file mc_att_control.cpp
* Multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Julian Oes <julian@oes.ch>
* @author Roman Bapst <bapstr@ethz.ch>
*/
#include "mc_att_control.h"
#define YAW_DEADZONE 0.05f
#define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f
namespace mc_att_control
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
}
MulticopterAttitudeControl::MulticopterAttitudeControl() :
MulticopterAttitudeControlBase(),
_task_should_exit(false),
_control_task(-1),
_actuators_0_circuit_breaker_enabled(false),
/* subscriptions */
_v_att_sub(-1),
_v_att_sp_sub(-1),
_v_control_mode_sub(-1),
_params_sub(-1),
_manual_control_sp_sub(-1),
_armed_sub(-1),
/* publications */
_att_sp_pub(-1),
_v_rates_sp_pub(-1),
_actuators_0_pub(-1),
n(),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
{
_params_handles.roll_p = param_find("MC_ROLL_P");
_params_handles.roll_rate_p = param_find("MC_ROLLRATE_P");
_params_handles.roll_rate_i = param_find("MC_ROLLRATE_I");
_params_handles.roll_rate_d = param_find("MC_ROLLRATE_D");
_params_handles.pitch_p = param_find("MC_PITCH_P");
_params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P");
_params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I");
_params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D");
_params_handles.yaw_p = param_find("MC_YAW_P");
_params_handles.yaw_rate_p = param_find("MC_YAWRATE_P");
_params_handles.yaw_rate_i = param_find("MC_YAWRATE_I");
_params_handles.yaw_rate_d = param_find("MC_YAWRATE_D");
_params_handles.yaw_ff = param_find("MC_YAW_FF");
_params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX");
_params_handles.man_roll_max = param_find("MC_MAN_R_MAX");
_params_handles.man_pitch_max = param_find("MC_MAN_P_MAX");
_params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX");
_params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX");
_params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX");
_params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX");
/* fetch initial parameter values */
parameters_update();
/*
* do subscriptions
*/
// _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
PX4_SUBSCRIBE(n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
// _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, 0);
// _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
PX4_SUBSCRIBE(n, vehicle_rates_setpoint, 0);
// _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
PX4_SUBSCRIBE(n, vehicle_control_mode, 0);
// _params_sub = orb_subscribe(ORB_ID(parameter_update));
PX4_SUBSCRIBE(n, parameter_update, 0);
// _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
PX4_SUBSCRIBE(n, manual_control_setpoint, 0);
// _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
PX4_SUBSCRIBE(n, actuator_armed, 0);
}
MulticopterAttitudeControl::~MulticopterAttitudeControl()
{
if (_control_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_control_task);
break;
}
} while (_control_task != -1);
}
// mc_att_control::g_control = nullptr;
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v;
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v;
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v;
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v;
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v;
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
/* manual control scale */
param_get(_params_handles.man_roll_max, &_params.man_roll_max);
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
/* acro control scale */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
return OK;
}
void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
perf_begin(_loop_perf);
/* run controller on attitude changes */
static uint64_t last_run = 0;
float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too small (< 2ms) and too large (> 20ms) dt's */
if (dt < 0.002f) {
dt = 0.002f;
} else if (dt > 0.02f) {
dt = 0.02f;
}
if (_v_control_mode.flag_control_attitude_enabled) {
control_attitude(dt);
/* publish the attitude setpoint if needed */
if (_publish_att_sp) {
_v_att_sp.timestamp = hrt_absolute_time();
if (_att_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
&_v_att_sp);
} else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
&_v_att_sp);
}
}
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
_manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z;
/* reset yaw setpoint after ACRO */
_reset_yaw_sp = true;
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
//XXX vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
}
}
if (_v_control_mode.flag_control_rates_enabled) {
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
}
}
}
}