Merge branch 'development' of github.com:PX4/Firmware into development

4 files changed, 77 insertions, 34 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 7e390bc6c..ce1e52c1b 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 +152,17 @@ 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;
+
+	/* store if we stopped a yaw movement */
+	bool first_time_after_yaw_speed_control = 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 +213,27 @@ 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 */
@@ -273,13 +280,30 @@ mc_thread_main(int argc, char *argv[])
 							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) {
+							/* set attitude if arming */
+							if (!flag_control_attitude_enabled && state.flag_system_armed) {
 								att_sp.yaw_body = att.yaw;
 							}
+
+							/* only move setpoint if manual input is != 0 */
+
+							if(manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_POS) {
+								if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
+									rates_sp.yaw = manual.yaw;
+									control_yaw_position = false;
+									first_time_after_yaw_speed_control = true;
+								} else {
+									if (first_time_after_yaw_speed_control) {
+										att_sp.yaw_body = att.yaw;
+										first_time_after_yaw_speed_control = false;
+									}
+									control_yaw_position = true;
+								}
+							} else if (manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_RATE) {
+								rates_sp.yaw = manual.yaw;
+								control_yaw_position = false;
+							}
+
 							att_sp.thrust = manual.throttle;
 							att_sp.timestamp = hrt_absolute_time();
 						}
@@ -302,7 +326,8 @@ 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, 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..e94d7c55d 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, bool control_yaw_position)
 {
 	static uint64_t last_run = 0;
 	static uint64_t last_input = 0;
@@ -181,6 +181,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 	static bool initialized = false;
 
+	static float yaw_error;
+
 	/* initialize the pid controllers when the function is called for the first time */
 	if (initialized == false) {
 		parameters_init(&h);
@@ -199,8 +201,6 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 
-		//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);
@@ -216,9 +216,22 @@ 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 */
+
+		/* positive error: rotate to right, negative error, rotate to left (NED frame) */
+		// yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw);
 
+		yaw_error = att_sp->yaw_body - att->yaw;
+
+		if (yaw_error > M_PI_F) {
+			yaw_error -= M_TWOPI_F;
+		} else if (yaw_error < -M_PI_F) {
+			yaw_error += M_TWOPI_F;
+		}
+
+		rates_sp->yaw = p.yaw_p * (yaw_error) - (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..abc94d617 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, bool control_yaw_position);
 
 #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index bbaec3033..93f7085ae 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -209,6 +209,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* control yaw rate */
 	float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
+	/* increase resilience to faulty control inputs */
+	if (!isfinite(yaw_rate_control)) {
+		yaw_rate_control = 0.0f;
+		warnx("rej. NaN ctrl yaw");
+	}
 
 	actuators->control[0] = roll_control;
 	actuators->control[1] = pitch_control;