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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"
#include "mc_att_control_params.h"
#include "math.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),
_actuators_0_circuit_breaker_enabled(false),
/* publications */
_att_sp_pub(nullptr),
_v_rates_sp_pub(nullptr),
_actuators_0_pub(nullptr),
_n(),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
{
_params_handles.roll_p = PX4_PARAM_INIT(MC_ROLL_P);
_params_handles.roll_rate_p = PX4_PARAM_INIT(MC_ROLLRATE_P);
_params_handles.roll_rate_i = PX4_PARAM_INIT(MC_ROLLRATE_I);
_params_handles.roll_rate_d = PX4_PARAM_INIT(MC_ROLLRATE_D);
_params_handles.pitch_p = PX4_PARAM_INIT(MC_PITCH_P);
_params_handles.pitch_rate_p = PX4_PARAM_INIT(MC_PITCHRATE_P);
_params_handles.pitch_rate_i = PX4_PARAM_INIT(MC_PITCHRATE_I);
_params_handles.pitch_rate_d = PX4_PARAM_INIT(MC_PITCHRATE_D);
_params_handles.yaw_p = PX4_PARAM_INIT(MC_YAW_P);
_params_handles.yaw_rate_p = PX4_PARAM_INIT(MC_YAWRATE_P);
_params_handles.yaw_rate_i = PX4_PARAM_INIT(MC_YAWRATE_I);
_params_handles.yaw_rate_d = PX4_PARAM_INIT(MC_YAWRATE_D);
_params_handles.yaw_ff = PX4_PARAM_INIT(MC_YAW_FF);
_params_handles.yaw_rate_max = PX4_PARAM_INIT(MC_YAWRATE_MAX);
_params_handles.man_roll_max = PX4_PARAM_INIT(MC_MAN_R_MAX);
_params_handles.man_pitch_max = PX4_PARAM_INIT(MC_MAN_P_MAX);
_params_handles.man_yaw_max = PX4_PARAM_INIT(MC_MAN_Y_MAX);
_params_handles.acro_roll_max = PX4_PARAM_INIT(MC_ACRO_R_MAX);
_params_handles.acro_pitch_max = PX4_PARAM_INIT(MC_ACRO_P_MAX);
_params_handles.acro_yaw_max = PX4_PARAM_INIT(MC_ACRO_Y_MAX);
/* fetch initial parameter values */
parameters_update();
/*
* do subscriptions
*/
_v_att = _n.subscribe<px4_vehicle_attitude>(&MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
_v_att_sp = _n.subscribe<px4_vehicle_attitude_setpoint>(0);
_v_rates_sp = _n.subscribe<px4_vehicle_rates_setpoint>(0);
_v_control_mode = _n.subscribe<px4_vehicle_control_mode>(0);
_parameter_update = _n.subscribe<px4_parameter_update>(
&MulticopterAttitudeControl::handle_parameter_update, this, 1000);
_manual_control_sp = _n.subscribe<px4_manual_control_setpoint>(0);
_armed = _n.subscribe<px4_actuator_armed>(0);
_v_status = _n.subscribe<px4_vehicle_status>(0);
}
MulticopterAttitudeControl::~MulticopterAttitudeControl()
{
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
/* roll gains */
PX4_PARAM_GET(_params_handles.roll_p, &v);
_params.att_p(0) = v;
PX4_PARAM_GET(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v;
PX4_PARAM_GET(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
PX4_PARAM_GET(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v;
/* pitch gains */
PX4_PARAM_GET(_params_handles.pitch_p, &v);
_params.att_p(1) = v;
PX4_PARAM_GET(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v;
PX4_PARAM_GET(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
PX4_PARAM_GET(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v;
/* yaw gains */
PX4_PARAM_GET(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
PX4_PARAM_GET(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
PX4_PARAM_GET(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
PX4_PARAM_GET(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
PX4_PARAM_GET(_params_handles.yaw_ff, &_params.yaw_ff);
PX4_PARAM_GET(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
/* manual control scale */
PX4_PARAM_GET(_params_handles.man_roll_max, &_params.man_roll_max);
PX4_PARAM_GET(_params_handles.man_pitch_max, &_params.man_pitch_max);
PX4_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 */
PX4_PARAM_GET(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
PX4_PARAM_GET(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
PX4_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_parameter_update(const px4_parameter_update &msg)
{
parameters_update();
}
void MulticopterAttitudeControl::handle_vehicle_attitude(const px4_vehicle_attitude &msg) {
perf_begin(_loop_perf);
/* run controller on attitude changes */
static uint64_t last_run = 0;
float dt = (px4::get_time_micros() - last_run) / 1000000.0f;
last_run = px4::get_time_micros();
/* 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->data().flag_control_attitude_enabled) {
control_attitude(dt);
/* publish the attitude setpoint if needed */
if (_publish_att_sp && _v_status->data().is_rotary_wing) {
_v_att_sp_mod.data().timestamp = px4::get_time_micros();
if (_att_sp_pub != nullptr) {
_att_sp_pub->publish(_v_att_sp_mod);
} else {
_att_sp_pub = _n.advertise<px4_vehicle_attitude_setpoint>();
}
}
/* publish attitude rates setpoint */
_v_rates_sp_mod.data().roll = _rates_sp(0);
_v_rates_sp_mod.data().pitch = _rates_sp(1);
_v_rates_sp_mod.data().yaw = _rates_sp(2);
_v_rates_sp_mod.data().thrust = _thrust_sp;
_v_rates_sp_mod.data().timestamp = px4::get_time_micros();
if (_v_rates_sp_pub != nullptr) {
_v_rates_sp_pub->publish(_v_rates_sp_mod);
} else {
if (_v_status->data().is_vtol) {
//XXX add a second publisher?
// _v_rates_sp_pub = _n.advertise<px4_mc_virtual_rates_setpoint>();
} else {
_v_rates_sp_pub = _n.advertise<px4_vehicle_rates_setpoint>();
}
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode->data().flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp->data().y, -_manual_control_sp->data().x,
_manual_control_sp->data().r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp->data().z;
/* reset yaw setpoint after ACRO */
_reset_yaw_sp = true;
/* publish attitude rates setpoint */
_v_rates_sp_mod.data().roll = _rates_sp(0);
_v_rates_sp_mod.data().pitch = _rates_sp(1);
_v_rates_sp_mod.data().yaw = _rates_sp(2);
_v_rates_sp_mod.data().thrust = _thrust_sp;
_v_rates_sp_mod.data().timestamp = px4::get_time_micros();
if (_v_rates_sp_pub != nullptr) {
_v_rates_sp_pub->publish(_v_rates_sp_mod);
} else {
if (_v_status->data().is_vtol) {
//XXX add a second publisher?
// _v_rates_sp_pub = _n.advertise<px4_mc_virtual_rates_setpoint>();
} else {
_v_rates_sp_pub = _n.advertise<px4_vehicle_rates_setpoint>();
}
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
_rates_sp(0) = _v_rates_sp->data().roll;
_rates_sp(1) = _v_rates_sp->data().pitch;
_rates_sp(2) = _v_rates_sp->data().yaw;
_thrust_sp = _v_rates_sp->data().thrust;
}
}
if (_v_control_mode->data().flag_control_rates_enabled) {
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.data().control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.data().control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.data().control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.data().control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.data().timestamp = px4::get_time_micros();
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub != nullptr) {
_actuators_0_pub->publish(_actuators);
} else {
if (_v_status->data().is_vtol) {
//XXX add a second publisher?
// _actuators_0_pub = _n.advertise<px4_actuator_controls_virtual_mc>();
} else {
_actuators_0_pub = _n.advertise<px4_actuator_controls_0>();
}
}
}
}
}
