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/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* 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
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* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mc_att_control.h
* 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>
*
* The controller has two loops: P loop for angular error and PD loop for angular rate error.
* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
* For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
* so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
* These two approaches fused seamlessly with weight depending on angular error.
* When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
*/
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <systemlib/perf_counter.h>
#include <systemlib/circuit_breaker.h>
#include <lib/mathlib/mathlib.h>
#include "mc_att_control_base.h"
class MulticopterAttitudeControl :
public MulticopterAttitudeControlBase
{
public:
/**
* Constructor
*/
MulticopterAttitudeControl();
/**
* Destructor, also kills the sensors task.
*/
~MulticopterAttitudeControl();
/* Callbacks for topics */
void handle_vehicle_attitude(const px4_vehicle_attitude &msg);
void handle_parameter_update(const px4_parameter_update &msg);
void spin() { _n.spin(); }
private:
bool _task_should_exit; /**< if true, sensor task should exit */
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
px4::Publisher<px4_vehicle_attitude_setpoint> *_att_sp_pub; /**< attitude setpoint publication */
px4::Publisher<px4_vehicle_rates_setpoint> *_v_rates_sp_pub; /**< rate setpoint publication */
px4::Publisher<px4_actuator_controls_0> *_actuators_0_pub; /**< attitude actuator controls publication */
px4::NodeHandle _n;
struct {
px4::ParameterFloat roll_p;
px4::ParameterFloat roll_rate_p;
px4::ParameterFloat roll_rate_i;
px4::ParameterFloat roll_rate_d;
px4::ParameterFloat pitch_p;
px4::ParameterFloat pitch_rate_p;
px4::ParameterFloat pitch_rate_i;
px4::ParameterFloat pitch_rate_d;
px4::ParameterFloat yaw_p;
px4::ParameterFloat yaw_rate_p;
px4::ParameterFloat yaw_rate_i;
px4::ParameterFloat yaw_rate_d;
px4::ParameterFloat yaw_ff;
px4::ParameterFloat yaw_rate_max;
px4::ParameterFloat acro_roll_max;
px4::ParameterFloat acro_pitch_max;
px4::ParameterFloat acro_yaw_max;
} _params_handles; /**< handles for interesting parameters */
perf_counter_t _loop_perf; /**< loop performance counter */
/**
* Update our local parameter cache.
*/
int parameters_update();
};
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