Merged with coordinated turn effort

4 files changed, 52 insertions, 16 deletions

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index 045627700..a3c7df69d 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -113,6 +113,7 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
 
 int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
 		const struct vehicle_attitude_s *att,
+		const float speed_body[],
 		struct vehicle_rates_setpoint_s *rates_sp)
 {
 	static int counter = 0;
@@ -148,13 +149,14 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	/* Pitch (P) */
 
 	/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
-	float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(att_sp->roll_body);
+	float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
 	/* set pitch plus feedforward roll compensation */
 	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + pitch_sp_rollcompensation,
 				 att->pitch, 0, 0);
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
-	//TODO
+	rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
+			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch));
 
 	counter++;
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h
index ca7c14b43..11c932800 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.h
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.h
@@ -41,9 +41,11 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_global_position.h>
 
 int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
 		const struct vehicle_attitude_s *att,
+		const float speed_body[],
 		struct vehicle_rates_setpoint_s *rates_sp);
 
 #endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 9dd34b9ec..ee259f78c 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -58,6 +58,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/debug_key_value.h>
 #include <systemlib/param/param.h>
 #include <systemlib/pid/pid.h>
@@ -135,13 +136,14 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		memset(&att_sp, 0, sizeof(att_sp));
 		struct vehicle_rates_setpoint_s rates_sp;
 		memset(&rates_sp, 0, sizeof(rates_sp));
+		struct vehicle_global_position_s global_pos;
+		memset(&global_pos, 0, sizeof(global_pos));
 		struct manual_control_setpoint_s manual_sp;
 		memset(&manual_sp, 0, sizeof(manual_sp));
 		struct vehicle_status_s vstatus;
 		memset(&vstatus, 0, sizeof(vstatus));
-
-//		static struct debug_key_value_s debug_output;
-//		memset(&debug_output, 0, sizeof(debug_output));
+		struct debug_key_value_s debug_output;
+		memset(&debug_output, 0, sizeof(debug_output));
 
 		/* output structs */
 		struct actuator_controls_s actuators;
@@ -154,18 +156,19 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		}
 		orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
 		orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-//		orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
-//		debug_output.key[0] = '1';
-
+		orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
+		strncpy(debug_output.key, "yaw_rate", sizeof(debug_output.key - 1));
 
 		/* subscribe */
 		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 		int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+		int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 		int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 		int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
 
 		/* Setup of loop */
 		float gyro[3] = {0.0f, 0.0f, 0.0f};
+		float speed_body[3] = {0.0f, 0.0f, 0.0f};
 		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
 
 		while(!thread_should_exit)
@@ -173,9 +176,35 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 			/* wait for a sensor update, check for exit condition every 500 ms */
 			poll(&fds, 1, 500);
 
+			/* Check if there is a new position measurement or  attitude setpoint */
+			bool pos_updated;
+			orb_check(global_pos_sub, &pos_updated);
+			bool att_sp_updated;
+			orb_check(att_sp_sub, &att_sp_updated);
+
 			/* get a local copy of attitude */
 			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
+			if(att_sp_updated)
+				orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
+			if(pos_updated)
+			{
+				orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
+				if(att.R_valid)
+				{
+					speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
+					speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
+					speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
+				}
+				else
+				{
+					speed_body[0] = 0;
+					speed_body[1] = 0;
+					speed_body[2] = 0;
+
+					printf("FW ATT CONTROL: Did not get a valid R\n");
+				}
+			}
+
 			orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
 			orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
 
@@ -184,10 +213,10 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 			gyro[2] = att.yawspeed;
 
 			/* Control */
-
 			if (vstatus.state_machine == SYSTEM_STATE_AUTO) {
+
 				/* attitude control */
-				fixedwing_att_control_attitude(&att_sp, &att, &rates_sp);
+				fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
 				/* publish rate setpoint */
 				orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
 
@@ -219,7 +248,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 					att_sp.timestamp = hrt_absolute_time();
 				}
 
-				fixedwing_att_control_attitude(&att_sp, &att, &rates_sp);
+				fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
 
 				/* publish rate setpoint */
 				orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
@@ -242,6 +271,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 
 			/* publish output */
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+			debug_output.value = rates_sp.yaw;
+			orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
 		}
 
 		printf("[fixedwing_att_control] exiting, stopping all motors.\n");
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index f46761922..0bb54624f 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -170,11 +170,12 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 
 	/* Roll Rate (PI) */
-	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
+	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
 
-
-	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
-	actuators->control[2] = 0.0f;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); 	//XXX TODO disabled for now
+	/* pitch rate (PI) */
+	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
+	/* yaw rate (PI) */
+	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
 
 	counter++;