diff options
author | Julian Oes <joes@student.ethz.ch> | 2012-11-15 11:55:55 -0800 |
---|---|---|
committer | Julian Oes <joes@student.ethz.ch> | 2012-11-15 11:55:55 -0800 |
commit | 33e750602ab384069b08ca17ca6589c08177f7a6 (patch) | |
tree | 8f2dbfe7779fc74436ea4ba243e2929c09d5b2ac /apps/multirotor_att_control/multirotor_att_control_main.c | |
parent | b7c6a11e6739d217e5df1e79b7f80399ff1fd8f8 (diff) | |
parent | 3016ae72a3b3b7d7bf1df937fd62a14f53eace6f (diff) | |
download | px4-firmware-33e750602ab384069b08ca17ca6589c08177f7a6.tar.gz px4-firmware-33e750602ab384069b08ca17ca6589c08177f7a6.tar.bz2 px4-firmware-33e750602ab384069b08ca17ca6589c08177f7a6.zip |
Merge remote-tracking branch 'upstream/master' into io
Fixed Conflicts:
apps/multirotor_att_control/multirotor_att_control_main.c
rc loss failsafe throttle tested
Diffstat (limited to 'apps/multirotor_att_control/multirotor_att_control_main.c')
-rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 319 |
1 files changed, 165 insertions, 154 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index de3a4440b..d2de1a787 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -65,6 +65,7 @@ #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/parameter_update.h> #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> @@ -107,6 +108,7 @@ mc_thread_main(int argc, char *argv[]) /* subscribe to attitude, motor setpoints and system state */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int param_sub = orb_subscribe(ORB_ID(parameter_update)); int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); int state_sub = orb_subscribe(ORB_ID(vehicle_status)); @@ -121,7 +123,10 @@ mc_thread_main(int argc, char *argv[]) * rate-limit the attitude subscription to 200Hz to pace our loop * orb_set_interval(att_sub, 5); */ - struct pollfd fds = { .fd = att_sub, .events = POLLIN }; + struct pollfd fds[2] = { + { .fd = att_sub, .events = POLLIN }, + { .fd = param_sub, .events = POLLIN } + }; /* publish actuator controls */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { @@ -134,7 +139,9 @@ mc_thread_main(int argc, char *argv[]) int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); /* register the perf counter */ - perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control"); + perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control_runtime"); + perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval"); + perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err"); /* welcome user */ printf("[multirotor_att_control] starting\n"); @@ -143,7 +150,6 @@ mc_thread_main(int argc, char *argv[]) bool flag_control_manual_enabled = false; bool flag_control_attitude_enabled = false; bool flag_system_armed = false; - bool man_yaw_zero_once = false; /* prepare the handle for the failsafe throttle */ param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR"); @@ -152,180 +158,185 @@ mc_thread_main(int argc, char *argv[]) while (!thread_should_exit) { /* wait for a sensor update, check for exit condition every 500 ms */ - poll(&fds, 1, 500); + int ret = poll(fds, 2, 500); + + if (ret < 0) { + /* poll error, count it in perf */ + perf_count(mc_err_perf); + } else if (ret == 0) { + /* no return value, ignore */ + } else { + + /* only update parameters if they changed */ + if (fds[1].revents & POLLIN) { + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), param_sub, &update); + + /* update parameters */ + // XXX no params here yet + } - perf_begin(mc_loop_perf); + /* only run controller if attitude changed */ + if (fds[0].revents & POLLIN) { - /* get a local copy of system state */ - bool updated; - orb_check(state_sub, &updated); - if (updated) { - orb_copy(ORB_ID(vehicle_status), state_sub, &state); - } - /* 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 attitude setpoint */ - orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp); - /* get a local copy of rates setpoint */ - orb_check(setpoint_sub, &updated); - if (updated) { - orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp); - } - /* get a local copy of the current sensor values */ - orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); - - - /** STEP 1: Define which input is the dominating control input */ - if (state.flag_control_offboard_enabled) { - /* offboard inputs */ - if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { - rates_sp.roll = offboard_sp.p1; - rates_sp.pitch = offboard_sp.p2; - rates_sp.yaw = offboard_sp.p3; - if (state.offboard_control_signal_lost) { - /* give up in rate mode on signal loss */ - rates_sp.thrust = 0.0f; - } else { - /* no signal loss, normal throttle */ - rates_sp.thrust = offboard_sp.p4; + perf_begin(mc_loop_perf); + + /* get a local copy of system state */ + bool updated; + orb_check(state_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_status), state_sub, &state); + } + /* 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 attitude setpoint */ + orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp); + /* get a local copy of rates setpoint */ + orb_check(setpoint_sub, &updated); + if (updated) { + orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp); + } + /* get a local copy of the current sensor values */ + orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); + + + /** STEP 1: Define which input is the dominating control input */ + if (state.flag_control_offboard_enabled) { + /* offboard inputs */ + if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { + rates_sp.roll = offboard_sp.p1; + rates_sp.pitch = offboard_sp.p2; + rates_sp.yaw = offboard_sp.p3; + rates_sp.thrust = offboard_sp.p4; + // printf("thrust_rate=%8.4f\n",offboard_sp.p4); + rates_sp.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); + } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { + att_sp.roll_body = offboard_sp.p1; + att_sp.pitch_body = offboard_sp.p2; + att_sp.yaw_body = offboard_sp.p3; + att_sp.thrust = offboard_sp.p4; + // printf("thrust_att=%8.4f\n",offboard_sp.p4); + att_sp.timestamp = hrt_absolute_time(); + /* STEP 2: publish the result to the vehicle actuators */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } + + /* decide wether we want rate or position input */ } -// printf("thrust_rate=%8.4f\n",offboard_sp.p4); + else if (state.flag_control_manual_enabled) { + + /* manual inputs, from RC control or joystick */ + if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) { + 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(); - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); - } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { - att_sp.roll_body = offboard_sp.p1; - att_sp.pitch_body = offboard_sp.p2; - att_sp.yaw_body = offboard_sp.p3; - - /* check if control signal is lost */ - if (state.offboard_control_signal_lost) { - /* set failsafe thrust */ + } + + 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; + + /* 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); + att_sp.roll_body = 0.0f; + att_sp.pitch_body = 0.0f; att_sp.thrust = failsafe_throttle; + + /* 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; + + // XXX hard-limit it to prevent ballistic mishaps - this is just supposed to + // slow a crash down, not actually keep the system in-air. + + rc_loss_first_time = false; + } else { - /* no signal loss, normal throttle */ - att_sp.thrust = offboard_sp.p4; + rc_loss_first_time = true; + + att_sp.roll_body = manual.roll; + att_sp.pitch_body = manual.pitch; + + /* only move setpoint if manual input is != 0 */ + // XXX turn into param + if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { + att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f; + } else if (manual.throttle <= 0.3f) { + att_sp.yaw_body = att.yaw; + } + att_sp.thrust = manual.throttle; + att_sp.timestamp = hrt_absolute_time(); } - -// printf("thrust_att=%8.4f\n",offboard_sp.p4); + } + /* STEP 2: publish the result to the vehicle actuators */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + + 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 result to the vehicle actuators */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); } - /* decide wether we want rate or position input */ } - else if (state.flag_control_manual_enabled) { - /* manual inputs, from RC control or joystick */ - - if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) { - 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 (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; + /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ + if (state.flag_control_attitude_enabled) { + multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); } - att_sp.roll_body = manual.roll; - att_sp.pitch_body = manual.pitch; - - /* only move setpoint if manual input is != 0 */ - // XXX turn into param - if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { - att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f; - } else if (manual.throttle <= 0.3f) { - att_sp.yaw_body = att.yaw; - } - att_sp.thrust = manual.throttle; - - // XXX disable this for now until its better checked - - 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); - att_sp.roll_body = 0.0f; - att_sp.pitch_body = 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; - // XXX hard-limit it to prevent ballistic mishaps - this is just supposed to - // slow a crash down, not actually keep the system in-air. - att_sp.thrust = failsafe_throttle; - rc_loss_first_time = false; - } else { - rc_loss_first_time = true; - } - - att_sp.timestamp = hrt_absolute_time(); - } - /* STEP 2: publish the result to the vehicle actuators */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - - 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 result to the vehicle actuators */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - } - - } - - /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ - if (state.flag_control_attitude_enabled) { - multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); - } - + /* measure in what intervals the controller runs */ + perf_count(mc_interval_perf); - if (state.flag_control_rates_enabled) { + float gyro[3]; - float gyro[3]; - - /* get current rate setpoint */ - bool rates_sp_valid = false; - orb_check(rates_sp_sub, &rates_sp_valid); - if (rates_sp_valid) { - orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp); - } + /* get current rate setpoint */ + bool rates_sp_valid = false; + orb_check(rates_sp_sub, &rates_sp_valid); + if (rates_sp_valid) { + orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp); + } - /* apply controller */ - gyro[0] = att.rollspeed; - gyro[1] = att.pitchspeed; - gyro[2] = att.yawspeed; + /* apply controller */ + gyro[0] = att.rollspeed; + gyro[1] = att.pitchspeed; + gyro[2] = att.yawspeed; - multirotor_control_rates(&rates_sp, gyro, &actuators); - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - } + multirotor_control_rates(&rates_sp, gyro, &actuators); + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - /* update state */ - flag_control_attitude_enabled = state.flag_control_attitude_enabled; - flag_control_manual_enabled = state.flag_control_manual_enabled; - flag_system_armed = state.flag_system_armed; + /* update state */ + flag_control_attitude_enabled = state.flag_control_attitude_enabled; + flag_control_manual_enabled = state.flag_control_manual_enabled; + flag_system_armed = state.flag_system_armed; - perf_end(mc_loop_perf); + perf_end(mc_loop_perf); + } /* end of poll call for attitude updates */ + } /* end of poll return value check */ } printf("[multirotor att control] stopping, disarming motors.\n"); |