Distinction between yaw position and yaw speed control, just messsed around in the code, untested

3 files changed, 56 insertions, 33 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index d2de1a787..337a45215 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -105,6 +105,7 @@ mc_thread_main(int argc, char *argv[])
 	memset(&rates_sp, 0, sizeof(rates_sp));
 
 	struct actuator_controls_s actuators;
+	memset(&actuators, 0, sizeof(actuators));
 
 	/* subscribe to attitude, motor setpoints and system state */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -151,10 +152,14 @@ mc_thread_main(int argc, char *argv[])
 	bool flag_control_attitude_enabled = false;
 	bool flag_system_armed = false;
 
+	/* store if yaw position or yaw speed has been changed */
+	bool control_yaw_position = true;
+
 	/* prepare the handle for the failsafe throttle */
 	param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR");
 	float failsafe_throttle = 0.0f;
 
+
 	while (!thread_should_exit) {
 
 		/* wait for a sensor update, check for exit condition every 500 ms */
@@ -205,28 +210,27 @@ mc_thread_main(int argc, char *argv[])
 
 				/** 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 */
-						}
+					/* 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 */
+				}
 				else if (state.flag_control_manual_enabled) {
 
 					/* manual inputs, from RC control or joystick */
@@ -277,14 +281,29 @@ mc_thread_main(int argc, char *argv[])
 							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;
+
+							if(manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_POS) {
+								// 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;
+								}
+								control_yaw_position = true;
+							} else if (manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_RATE) {
+								if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
+									rates_sp.yaw = manual.yaw;
+									control_yaw_position = false;
+								} else {
+									att_sp.yaw_body = 0.0f;
+									control_yaw_position = true;
+								}
 							}
+
 							att_sp.thrust = manual.throttle;
 							att_sp.timestamp = hrt_absolute_time();
+
+							//rates_sp.yaw = manual.yaw;
 						}
 					}
 					/* STEP 2: publish the result to the vehicle actuators */
@@ -305,7 +324,10 @@ mc_thread_main(int argc, char *argv[])
 
 				/** 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);
+				 	multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL, control_yaw_position);
+
+
+
 				 	orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
 				}
 
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 8ffa90238..bf908c6dd 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -158,7 +158,7 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
 }
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-		const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators)
+		const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators, bool control_yaw_position)
 {
 	static uint64_t last_run = 0;
 	static uint64_t last_input = 0;
@@ -216,9 +216,10 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
 			att->roll, att->rollspeed, deltaT);
 
-	/* control yaw rate */
-	rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_body), sinf(att->yaw - att_sp->yaw_body)) - (p.yaw_d * att->yawspeed);
-
+	if(control_yaw_position) {
+		/* control yaw rate */
+		rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_body), sinf(att->yaw - att_sp->yaw_body)) - (p.yaw_d * att->yawspeed);
+	}
 	rates_sp->thrust = att_sp->thrust;
 
 	motor_skip_counter++;
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/apps/multirotor_att_control/multirotor_attitude_control.h
index d9d3c0444..f9003e9b4 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.h
+++ b/apps/multirotor_att_control/multirotor_attitude_control.h
@@ -52,6 +52,6 @@
 #include <uORB/topics/actuator_controls.h>
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-	const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators);
+	const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *, bool control_yaw_position);
 
 #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */