diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-04 10:56:55 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-04 10:56:55 +0200 |
commit | 2a06b66845542b05e3cad3d21099e33adc213227 (patch) | |
tree | 3b10d28cba955525c8ac37c7d1d348d0a91ac16a /apps/multirotor_att_control/multirotor_att_control_main.c | |
parent | dfae108e6aff6e77eb05def50d99fb5c6d2c28c8 (diff) | |
download | px4-firmware-2a06b66845542b05e3cad3d21099e33adc213227.tar.gz px4-firmware-2a06b66845542b05e3cad3d21099e33adc213227.tar.bz2 px4-firmware-2a06b66845542b05e3cad3d21099e33adc213227.zip |
Fixed inner yaw rate loop
Diffstat (limited to 'apps/multirotor_att_control/multirotor_att_control_main.c')
-rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 124 |
1 files changed, 45 insertions, 79 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 5e492268e..4b386ffd4 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -82,64 +82,6 @@ static orb_advert_t actuator_pub; static struct vehicle_status_s state; -/** - * Perform rate control right after gyro reading - */ -static void *rate_control_thread_main(void *arg) -{ - prctl(PR_SET_NAME, "mc rate control", getpid()); - - struct actuator_controls_s actuators; - - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - - struct pollfd fds = { .fd = att_sub, .events = POLLIN }; - - struct vehicle_attitude_s vehicle_attitude; - struct vehicle_rates_setpoint_s rates_sp; - memset(&rates_sp, 0, sizeof(rates_sp)); - float gyro_lp[3] = {0.0f, 0.0f, 0.0f}; - - while (!thread_should_exit) { - /* rate control at maximum rate */ - /* wait for a sensor update, check for exit condition every 1000 ms */ - int ret = poll(&fds, 1, 1000); - - if (ret < 0) { - /* XXX this is seriously bad - should be an emergency */ - } else if (ret == 0) { - /* XXX this means no sensor data - should be critical or emergency */ - printf("[mc att control] WARNING: Not getting gyro data, no rate control\n"); - } else { - /* get current angular rate */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &vehicle_attitude); - /* 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); - } - - /* perform local lowpass */ - - /* apply controller */ - if (state.flag_control_rates_enabled) { - /* lowpass gyros */ - // XXX - gyro_lp[0] = vehicle_attitude.rollspeed; - gyro_lp[1] = vehicle_attitude.pitchspeed; - gyro_lp[2] = vehicle_attitude.yawspeed; - - multirotor_control_rates(&rates_sp, gyro_lp, &actuators); - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - } - } - } - - return NULL; -} - static int mc_thread_main(int argc, char *argv[]) { @@ -186,6 +128,7 @@ mc_thread_main(int argc, char *argv[]) actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); + 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"); @@ -193,13 +136,6 @@ mc_thread_main(int argc, char *argv[]) /* welcome user */ printf("[multirotor_att_control] starting\n"); - /* ready, spawn pthread */ - pthread_attr_t rate_control_attr; - pthread_attr_init(&rate_control_attr); - pthread_attr_setstacksize(&rate_control_attr, 2048); - pthread_t rate_control_thread; - pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL); - while (!thread_should_exit) { /* wait for a sensor update, check for exit condition every 500 ms */ @@ -232,13 +168,24 @@ mc_thread_main(int argc, char *argv[]) if (state.flag_control_manual_enabled) { /* manual inputs, from RC control or joystick */ - att_sp.roll_body = manual.roll; - att_sp.pitch_body = manual.pitch; - att_sp.yaw_body = manual.yaw; // XXX Hack, remove, switch to yaw rate controller - /* set yaw rate */ - rates_sp.yaw = manual.yaw; - att_sp.thrust = manual.throttle; - att_sp.timestamp = hrt_absolute_time(); + + 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) { + att_sp.roll_body = manual.roll; + att_sp.pitch_body = manual.pitch; + att_sp.yaw_body = manual.yaw; // XXX Hack, remove, switch to yaw rate controller + /* set yaw rate */ + rates_sp.yaw = manual.yaw; + att_sp.thrust = manual.throttle; + 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); @@ -277,12 +224,33 @@ mc_thread_main(int argc, char *argv[]) /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ /* run attitude controller */ - if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) { - multirotor_control_attitude(&att_sp, &att, NULL, &actuators); + // if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) { + // multirotor_control_attitude(&att_sp, &att, NULL, &actuators); + // orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + // } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) { + // multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); + // orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); + // } + + + if (state.flag_control_rates_enabled) { + + float gyro[3] = {0.0f, 0.0f, 0.0f}; + + /* 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; + + multirotor_control_rates(&rates_sp, gyro, &actuators); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) { - multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); } @@ -306,8 +274,6 @@ mc_thread_main(int argc, char *argv[]) perf_print_counter(mc_loop_perf); perf_free(mc_loop_perf); - pthread_join(rate_control_thread, NULL); - fflush(stdout); exit(0); } |