Abs yaw and other bugs fixed

2 files changed, 194 insertions, 157 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 09710f0fc..258299828 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -241,123 +241,140 @@ mc_thread_main(int argc, char *argv[])
 
 
 				} else if (state.flag_control_manual_enabled) {
+					/* direct manual input */
+					if (state.flag_control_attitude_enabled) {
+						/* Control attitude, update attitude setpoint depending on SAS mode:
+						 * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS: roll, pitch, yaw, thrust
+						 * VEHICLE_MANUAL_SAS_MODE_ALTITUDE: roll, pitch, yaw
+						 * VEHICLE_MANUAL_SAS_MODE_SIMPLE: yaw
+						 * */
+
+						/* initialize to current yaw if switching to manual or att control */
+						if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
+							state.flag_control_manual_enabled != flag_control_manual_enabled ||
+							state.flag_system_armed != flag_system_armed) {
+							att_sp.yaw_body = att.yaw;
+						}
 
-					if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS) {
-						/* direct manual input */
-						if (state.flag_control_attitude_enabled) {
-
-							/* initialize to current yaw if switching to manual or att control */
-							if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
-								state.flag_control_manual_enabled != flag_control_manual_enabled ||
-								state.flag_system_armed != flag_system_armed) {
-								att_sp.yaw_body = att.yaw;
-							}
-
-							static bool rc_loss_first_time = true;
+						static bool rc_loss_first_time = true;
 
-							/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-							if (state.rc_signal_lost) {
-								/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
-								param_get(failsafe_throttle_handle, &failsafe_throttle);
+						/* if the RC signal is lost, try to stay level and go slowly back down to ground */
+						if (state.rc_signal_lost) {
+							if (state.manual_sas_mode != VEHICLE_MANUAL_SAS_MODE_SIMPLE) {
+								/* Don't reset attitude setpoint in SIMPLE SAS mode, it's handled by position controller. */
 								att_sp.roll_body = 0.0f;
 								att_sp.pitch_body = 0.0f;
 
-								/*
-								 * Only go to failsafe throttle if last known throttle was
-								 * high enough to create some lift to make hovering state likely.
-								 *
-								 * This is to prevent that someone landing, but not disarming his
-								 * multicopter (throttle = 0) does not make it jump up in the air
-								 * if shutting down his remote.
-								 */
-								if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
-									att_sp.thrust = failsafe_throttle;
+								if (state.manual_sas_mode != VEHICLE_MANUAL_SAS_MODE_ALTITUDE) {
+									/* Don't touch throttle in modes with altitude hold, it's handled by position controller.
+									 *
+									 * Only go to failsafe throttle if last known throttle was
+									 * high enough to create some lift to make hovering state likely.
+									 *
+									 * This is to prevent that someone landing, but not disarming his
+									 * multicopter (throttle = 0) does not make it jump up in the air
+									 * if shutting down his remote.
+									 */
+									if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
+										/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
+										param_get(failsafe_throttle_handle, &failsafe_throttle);
+										att_sp.thrust = failsafe_throttle;
 
-								} else {
-									att_sp.thrust = 0.0f;
+									} else {
+										att_sp.thrust = 0.0f;
+									}
 								}
+							}
 
-								/* keep current yaw, do not attempt to go to north orientation,
-								 * since if the pilot regains RC control, he will be lost regarding
-								 * the current orientation.
-								 */
-								if (rc_loss_first_time)
-									att_sp.yaw_body = att.yaw;
+							/* keep current yaw, do not attempt to go to north orientation,
+							 * since if the pilot regains RC control, he will be lost regarding
+							 * the current orientation.
+							 */
+							if (rc_loss_first_time)
+								att_sp.yaw_body = att.yaw;
 
-								rc_loss_first_time = false;
+							rc_loss_first_time = false;
 
-							} else {
-								rc_loss_first_time = true;
+						} else {
+							rc_loss_first_time = true;
 
-								att_sp.roll_body = manual.roll;
-								att_sp.pitch_body = manual.pitch;
+							/* control yaw in all SAS modes */
+							/* set yaw if arming */
+							if (!flag_control_attitude_enabled && state.flag_system_armed) {
+								att_sp.yaw_body = att.yaw;
+							}
 
-								/* set attitude if arming */
-								if (!flag_control_attitude_enabled && state.flag_system_armed) {
-									att_sp.yaw_body = att.yaw;
-								}
+							/* act if stabilization is active or if the (nonsense) direct pass through mode is set */
+							if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS ||
+								state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
 
-								/* act if stabilization is active or if the (nonsense) direct pass through mode is set */
-								if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS ||
-									state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+								if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) {
+									rates_sp.yaw = manual.yaw;
+									control_yaw_position = false;
 
-									if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) {
+								} else {
+									/*
+									 * This mode SHOULD be the default mode, which is:
+									 * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS
+									 *
+									 * However, we fall back to this setting for all other (nonsense)
+									 * settings as well.
+									 */
+
+									/* only move setpoint if manual input is != 0 */
+									if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && (
+											state.manual_sas_mode != VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS ||
+											manual.throttle > 0.3f)) {
 										rates_sp.yaw = manual.yaw;
 										control_yaw_position = false;
+										first_time_after_yaw_speed_control = true;
 
 									} else {
-										/*
-										 * This mode SHOULD be the default mode, which is:
-										 * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS
-										 *
-										 * However, we fall back to this setting for all other (nonsense)
-										 * settings as well.
-										 */
-
-										/* only move setpoint if manual input is != 0 */
-										if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
-											rates_sp.yaw = manual.yaw;
-											control_yaw_position = false;
-											first_time_after_yaw_speed_control = true;
-
-										} else {
-											if (first_time_after_yaw_speed_control) {
-												att_sp.yaw_body = att.yaw;
-												first_time_after_yaw_speed_control = false;
-											}
-
-											control_yaw_position = true;
+										if (first_time_after_yaw_speed_control) {
+											att_sp.yaw_body = att.yaw;
+											first_time_after_yaw_speed_control = false;
 										}
+
+										control_yaw_position = true;
 									}
 								}
-
-								att_sp.thrust = manual.throttle;
-								att_sp.timestamp = hrt_absolute_time();
 							}
 
-							if (motor_test_mode) {
-								printf("testmode");
-								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();
+							if (state.manual_sas_mode != VEHICLE_MANUAL_SAS_MODE_SIMPLE) {
+								/* don't update attitude setpoint in SIMPLE SAS mode */
+								att_sp.roll_body = manual.roll;
+								att_sp.pitch_body = manual.pitch;
+								if (state.manual_sas_mode != VEHICLE_MANUAL_SAS_MODE_ALTITUDE) {
+									/* don't set throttle in alt hold modes */
+									att_sp.thrust = manual.throttle;
+								}
 							}
 
-							/* STEP 2: publish the controller output */
-							orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+							att_sp.timestamp = hrt_absolute_time();
+						}
 
-						} else {
-							/* manual rate inputs, from RC control or joystick */
-							if (state.flag_control_rates_enabled &&
-								state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
-								rates_sp.roll = manual.roll;
-
-								rates_sp.pitch = manual.pitch;
-								rates_sp.yaw = manual.yaw;
-								rates_sp.thrust = manual.throttle;
-								rates_sp.timestamp = hrt_absolute_time();
-							}
+						if (motor_test_mode) {
+							printf("testmode");
+							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 controller output */
+						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+
+					} else {
+						/* manual rate inputs, from RC control or joystick */
+						if (state.flag_control_rates_enabled &&
+							state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
+							rates_sp.roll = manual.roll;
+
+							rates_sp.pitch = manual.pitch;
+							rates_sp.yaw = manual.yaw;
+							rates_sp.thrust = manual.throttle;
+							rates_sp.timestamp = hrt_absolute_time();
 						}
 					}
 				}
diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/apps/multirotor_pos_control/multirotor_pos_control.c
index d2b6685ac..7757a78c1 100644
--- a/apps/multirotor_pos_control/multirotor_pos_control.c
+++ b/apps/multirotor_pos_control/multirotor_pos_control.c
@@ -162,6 +162,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
 	int param_sub = orb_subscribe(ORB_ID(parameter_update));
 	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
 	int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
@@ -186,18 +187,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
 	int paramcheck_counter = 0;
 
 	while (!thread_should_exit) {
-		/* get a local copy of the vehicle state */
 		orb_copy(ORB_ID(vehicle_status), state_sub, &status);
-		/* 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 local position */
-		orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
-		if (status.state_machine == SYSTEM_STATE_AUTO) {
-			/* get a local copy of local position setpoint */
-			orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp);
-		}
 
 		/* check parameters at 1 Hz*/
 		paramcheck_counter++;
@@ -210,26 +200,58 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
 			paramcheck_counter = 0;
 		}
 
-		if (status.state_machine == SYSTEM_STATE_MANUAL) {
-			if (status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ALTITUDE || status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_SIMPLE) {
-				hrt_abstime t = hrt_absolute_time();
-				if (reset_sp_alt) {
-					reset_sp_alt = false;
-					local_pos_sp.z = local_pos.z;
-					alt_integral = manual.throttle;
-					char str[80];
-					sprintf(str, "reset alt setpoint: z = %.2f, throttle = %.2f", local_pos_sp.z, manual.throttle);
-					mavlink_log_info(mavlink_fd, str);
-				}
+		/* Check if controller should act */
+		bool act = status.flag_system_armed && (
+		   		       /* SAS modes */
+				   	   (
+				   		   status.flag_control_manual_enabled &&
+						   status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS && (
+								   status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ALTITUDE ||
+								   status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_SIMPLE
+						   )
+				   	   ) ||
+				   	   /* AUTO mode */
+				   	   status.state_machine == SYSTEM_STATE_AUTO
+				   );
+
+		if (act) {
+			orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
+			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
+			orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
+			if (status.state_machine == SYSTEM_STATE_AUTO) {
+				orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp);
+			}
 
-				float dt;
-				if (t_prev != 0) {
-					dt = (t - t_prev) * 0.000001f;
-				} else {
-					dt = 0.0f;
-				}
-				float err_linear_limit = params.alt_d / params.alt_p * params.alt_rate_max;
-				/* move altitude setpoint by manual controls */
+			hrt_abstime t = hrt_absolute_time();
+			if (reset_sp_alt) {
+				reset_sp_alt = false;
+				local_pos_sp.z = local_pos.z;
+				alt_integral = manual.throttle;
+				char str[80];
+				sprintf(str, "reset alt setpoint: z = %.2f, throttle = %.2f", local_pos_sp.z, manual.throttle);
+				mavlink_log_info(mavlink_fd, str);
+			}
+
+			if (status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_SIMPLE && reset_sp_pos) {
+				reset_sp_pos = false;
+				local_pos_sp.x = local_pos.x;
+				local_pos_sp.y = local_pos.y;
+				char str[80];
+				sprintf(str, "reset pos setpoint: x = %.2f, y = %.2f", local_pos_sp.x, local_pos_sp.y);
+				mavlink_log_info(mavlink_fd, str);
+			}
+
+			float dt;
+			if (t_prev != 0) {
+				dt = (t - t_prev) * 0.000001f;
+			} else {
+				dt = 0.0f;
+			}
+			float err_linear_limit = params.alt_d / params.alt_p * params.alt_rate_max;
+
+			if (status.flag_control_manual_enabled) {
+				/* move altitude setpoint with manual controls */
 				float alt_ctl = manual.throttle - 0.5f;
 				if (fabs(alt_ctl) < alt_ctl_dz) {
 					alt_ctl = 0.0f;
@@ -245,48 +267,46 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
 						local_pos_sp.z = local_pos.z - err_linear_limit;
 				}
 
-				/* PID for altitude */
-				float alt_err = local_pos.z - local_pos_sp.z;
-				/* don't accelerate more than ALT_RATE_MAX, limit error to corresponding value */
-				if (alt_err > err_linear_limit) {
-					alt_err = err_linear_limit;
-				} else if (alt_err < -err_linear_limit) {
-					alt_err = -err_linear_limit;
-				}
-				/* PID for altitude rate */
-				float thrust_ctl_pd = alt_err * params.alt_p + local_pos.vz * params.alt_d;
-				float thrust_ctl = thrust_ctl_pd + alt_integral;
-				if (thrust_ctl < params.thr_min) {
-					thrust_ctl = params.thr_min;
-				} else if (thrust_ctl > params.thr_max) {
-					thrust_ctl = params.thr_max;
-				} else {
-					/* integrate only in linear area (with 20% gap) and not on min/max throttle */
-					if (fabs(thrust_ctl_pd) < err_linear_limit * params.alt_p * 0.8f)
-						alt_integral += thrust_ctl_pd / params.alt_p * params.alt_i * dt;
-				}
 				if (status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_SIMPLE) {
-					// TODO add position controller
-					att_sp.pitch_body = manual.pitch;
-					att_sp.roll_body = manual.roll;
-					att_sp.yaw_body = manual.yaw;
-				} else {
-					att_sp.pitch_body = manual.pitch;
-					att_sp.roll_body = manual.roll;
-					att_sp.yaw_body = manual.yaw;
+					// TODO move position setpoint with manual controls
 				}
-				att_sp.thrust = thrust_ctl;
-				att_sp.timestamp = hrt_absolute_time();
-				/* publish local position setpoint */
-				orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp);
-				/* publish new attitude setpoint */
-				orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-				t_prev = t;
+			}
+
+			/* PID for altitude */
+			float alt_err = local_pos.z - local_pos_sp.z;
+			/* don't accelerate more than ALT_RATE_MAX, limit error to corresponding value */
+			if (alt_err > err_linear_limit) {
+				alt_err = err_linear_limit;
+			} else if (alt_err < -err_linear_limit) {
+				alt_err = -err_linear_limit;
+			}
+			/* P and D components */
+			float thrust_ctl_pd = alt_err * params.alt_p + local_pos.vz * params.alt_d;
+			/* add I component */
+			float thrust_ctl = thrust_ctl_pd + alt_integral;
+			alt_integral += thrust_ctl_pd / params.alt_p * params.alt_i * dt;
+			if (thrust_ctl < params.thr_min) {
+				thrust_ctl = params.thr_min;
+			} else if (thrust_ctl > params.thr_max) {
+				thrust_ctl = params.thr_max;
+			}
+			if (status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_SIMPLE || status.state_machine == SYSTEM_STATE_AUTO) {
+				// TODO add position controller
 			} else {
-				reset_sp_alt = true;
+				reset_sp_pos = true;
+			}
+			att_sp.thrust = thrust_ctl;
+			att_sp.timestamp = hrt_absolute_time();
+			if (status.flag_control_manual_enabled) {
+				/* publish local position setpoint in manual mode */
+				orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp);
 			}
+			/* publish new attitude setpoint */
+			orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+			t_prev = t;
 		} else {
 			reset_sp_alt = true;
+			reset_sp_pos = true;
 		}
 
 		/* run at approximately 50 Hz */