Minor cleanups in attitude control

2 files changed, 146 insertions, 119 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 29463d744..fd29e3660 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>
@@ -104,6 +105,7 @@ 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));
@@ -118,7 +120,10 @@ 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++) {
@@ -131,7 +136,9 @@ 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");
@@ -140,143 +147,163 @@ 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;
 
 	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;
-						rates_sp.thrust = offboard_sp.p4;
-//						printf("thrust_rate=%8.4f\n",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 */
+						}
+				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;
-						att_sp.thrust = offboard_sp.p4;
-//						printf("thrust_att=%8.4f\n",offboard_sp.p4);
+					}
+
+					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;
+						}
+
+						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();
+					}
+					/* 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;
+				/* measure in what intervals the controller runs */
+				perf_count(mc_interval_perf);
 
-				/* 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();
-			}
-			/* 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);
-		}
+				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);
+				}
 
-		if (state.flag_control_rates_enabled) {
-
-			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);
-			}
-
-			/* 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");
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 839d56d29..8ffa90238 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -199,9 +199,9 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 
-		/* apply parameters */
-		printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
+		//printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
 
+		/* apply parameters */
 		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
 		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
 	}