Cleaned up / simplified position control, attacking pos control implementation next

1 files changed, 205 insertions, 205 deletions

diff --git a/apps/multirotor_pos_control/position_control.c b/apps/multirotor_pos_control/position_control.c
index b98f5bede..9c53a5bf6 100644
--- a/apps/multirotor_pos_control/position_control.c
+++ b/apps/multirotor_pos_control/position_control.c
@@ -1,235 +1,235 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Laurens Mackay <mackayl@student.ethz.ch>
- *           @author Tobias Naegeli <naegelit@student.ethz.ch>
- *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file multirotor_position_control.c
- * Implementation of the position control for a multirotor VTOL
- */
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <math.h>
-#include <stdbool.h>
-#include <float.h>
-#include <systemlib/pid/pid.h>
-
-#include "multirotor_position_control.h"
-
-void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
- const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
- const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp)
-{
-	static PID_t distance_controller;
-
-	static int read_ret;
-	static global_data_position_t position_estimated;
-
-	static uint16_t counter;
-
-	static bool initialized;
-	static uint16_t pm_counter;
-
-	static float lat_next;
-	static float lon_next;
-
-	static float pitch_current;
-
-	static float thrust_total;
-
-
-	if (initialized == false) {
-
-		pid_init(&distance_controller,
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
-			 PID_MODE_DERIVATIV_CALC, 150);//150
-
-//		pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
-//		pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
-
-		thrust_total = 0.0f;
-
-		/* Position initialization */
-		/* Wait for new position estimate */
-		do {
-			read_ret = read_lock_position(&position_estimated);
-		} while (read_ret != 0);
-
-		lat_next = position_estimated.lat;
-		lon_next = position_estimated.lon;
-
-		/* attitude initialization */
-		global_data_lock(&global_data_attitude->access_conf);
-		pitch_current = global_data_attitude->pitch;
-		global_data_unlock(&global_data_attitude->access_conf);
-
-		initialized = true;
-	}
-
-	/* load new parameters with 10Hz */
-	if (counter % 50 == 0) {
-		if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
-			/* check whether new parameters are available */
-			if (global_data_parameter_storage->counter > pm_counter) {
-				pid_set_parameters(&distance_controller,
-						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
-						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
-						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
-						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);
-
-//
-//				pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
-//				pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
-
-				pm_counter = global_data_parameter_storage->counter;
-				printf("Position controller changed pid parameters\n");
-			}
-		}
+// /****************************************************************************
+//  *
+//  *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+//  *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+//  *           @author Laurens Mackay <mackayl@student.ethz.ch>
+//  *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+//  *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
+//  *
+//  * Redistribution and use in source and binary forms, with or without
+//  * modification, are permitted provided that the following conditions
+//  * are met:
+//  *
+//  * 1. Redistributions of source code must retain the above copyright
+//  *    notice, this list of conditions and the following disclaimer.
+//  * 2. Redistributions in binary form must reproduce the above copyright
+//  *    notice, this list of conditions and the following disclaimer in
+//  *    the documentation and/or other materials provided with the
+//  *    distribution.
+//  * 3. Neither the name PX4 nor the names of its contributors may be
+//  *    used to endorse or promote products derived from this software
+//  *    without specific prior written permission.
+//  *
+//  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+//  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+//  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+//  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+//  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+//  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+//  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+//  * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+//  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+//  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+//  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+//  * POSSIBILITY OF SUCH DAMAGE.
+//  *
+//  ****************************************************************************/
+
+// /**
+//  * @file multirotor_position_control.c
+//  * Implementation of the position control for a multirotor VTOL
+//  */
+
+// #include <stdio.h>
+// #include <stdlib.h>
+// #include <stdio.h>
+// #include <stdint.h>
+// #include <math.h>
+// #include <stdbool.h>
+// #include <float.h>
+// #include <systemlib/pid/pid.h>
+
+// #include "multirotor_position_control.h"
+
+// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
+//  const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
+//  const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp)
+// {
+// 	static PID_t distance_controller;
+
+// 	static int read_ret;
+// 	static global_data_position_t position_estimated;
+
+// 	static uint16_t counter;
+
+// 	static bool initialized;
+// 	static uint16_t pm_counter;
+
+// 	static float lat_next;
+// 	static float lon_next;
+
+// 	static float pitch_current;
+
+// 	static float thrust_total;
+
+
+// 	if (initialized == false) {
+
+// 		pid_init(&distance_controller,
+// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
+// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
+// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
+// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
+// 			 PID_MODE_DERIVATIV_CALC, 150);//150
+
+// //		pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
+// //		pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
+
+// 		thrust_total = 0.0f;
+
+// 		/* Position initialization */
+// 		/* Wait for new position estimate */
+// 		do {
+// 			read_ret = read_lock_position(&position_estimated);
+// 		} while (read_ret != 0);
+
+// 		lat_next = position_estimated.lat;
+// 		lon_next = position_estimated.lon;
+
+// 		/* attitude initialization */
+// 		global_data_lock(&global_data_attitude->access_conf);
+// 		pitch_current = global_data_attitude->pitch;
+// 		global_data_unlock(&global_data_attitude->access_conf);
+
+// 		initialized = true;
+// 	}
+
+// 	/* load new parameters with 10Hz */
+// 	if (counter % 50 == 0) {
+// 		if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
+// 			/* check whether new parameters are available */
+// 			if (global_data_parameter_storage->counter > pm_counter) {
+// 				pid_set_parameters(&distance_controller,
+// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
+// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
+// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
+// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);
+
+// //
+// //				pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
+// //				pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
+
+// 				pm_counter = global_data_parameter_storage->counter;
+// 				printf("Position controller changed pid parameters\n");
+// 			}
+// 		}
 
-		global_data_unlock(&global_data_parameter_storage->access_conf);
-	}
+// 		global_data_unlock(&global_data_parameter_storage->access_conf);
+// 	}
 
 
-	/* Wait for new position estimate */
-	do {
-		read_ret = read_lock_position(&position_estimated);
-	} while (read_ret != 0);
+// 	/* Wait for new position estimate */
+// 	do {
+// 		read_ret = read_lock_position(&position_estimated);
+// 	} while (read_ret != 0);
 
-	/* Get next waypoint */ //TODO: add local copy
+// 	/* Get next waypoint */ //TODO: add local copy
 
-	if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
-		lat_next = global_data_position_setpoint->x;
-		lon_next = global_data_position_setpoint->y;
-		global_data_unlock(&global_data_position_setpoint->access_conf);
-	}
+// 	if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
+// 		lat_next = global_data_position_setpoint->x;
+// 		lon_next = global_data_position_setpoint->y;
+// 		global_data_unlock(&global_data_position_setpoint->access_conf);
+// 	}
 
-	/* Get distance to waypoint */
-	float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
-//	if(counter % 5 == 0)
-//		printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
+// 	/* Get distance to waypoint */
+// 	float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
+// //	if(counter % 5 == 0)
+// //		printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
 
-	/* Get bearing to waypoint (direction on earth surface to next waypoint) */
-	float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);
+// 	/* Get bearing to waypoint (direction on earth surface to next waypoint) */
+// 	float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);
 
-	if (counter % 5 == 0)
-		printf("bearing: %.4f\n", bearing);
+// 	if (counter % 5 == 0)
+// 		printf("bearing: %.4f\n", bearing);
 
-	/* Calculate speed in direction of bearing (needed for controller) */
-	float speed_norm = sqrtf(position_estimated.vx  * position_estimated.vx + position_estimated.vy * position_estimated.vy);
-//	if(counter % 5 == 0)
-//		printf("speed_norm: %.4f\n", speed_norm);
-	float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
+// 	/* Calculate speed in direction of bearing (needed for controller) */
+// 	float speed_norm = sqrtf(position_estimated.vx  * position_estimated.vx + position_estimated.vy * position_estimated.vy);
+// //	if(counter % 5 == 0)
+// //		printf("speed_norm: %.4f\n", speed_norm);
+// 	float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
 
-	/* Control Thrust in bearing direction  */
-	float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
-				  CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
+// 	/* Control Thrust in bearing direction  */
+// 	float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
+// 				  CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
 
-//	if(counter % 5 == 0)
-//		printf("horizontal thrust: %.4f\n", horizontal_thrust);
+// //	if(counter % 5 == 0)
+// //		printf("horizontal thrust: %.4f\n", horizontal_thrust);
 
-	/* Get total thrust (from remote for now) */
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; 												//TODO: how should we use the RC_CHANNELS_FUNCTION enum?
-		global_data_unlock(&global_data_rc_channels->access_conf);
-	}
+// 	/* Get total thrust (from remote for now) */
+// 	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
+// 		thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; 												//TODO: how should we use the RC_CHANNELS_FUNCTION enum?
+// 		global_data_unlock(&global_data_rc_channels->access_conf);
+// 	}
 
-	const float max_gas = 500.0f;
-	thrust_total *= max_gas / 20000.0f; //TODO: check this
-	thrust_total += max_gas / 2.0f;
+// 	const float max_gas = 500.0f;
+// 	thrust_total *= max_gas / 20000.0f; //TODO: check this
+// 	thrust_total += max_gas / 2.0f;
 
 
-	if (horizontal_thrust > thrust_total) {
-		horizontal_thrust = thrust_total;
+// 	if (horizontal_thrust > thrust_total) {
+// 		horizontal_thrust = thrust_total;
 
-	} else if (horizontal_thrust < -thrust_total) {
-		horizontal_thrust = -thrust_total;
-	}
+// 	} else if (horizontal_thrust < -thrust_total) {
+// 		horizontal_thrust = -thrust_total;
+// 	}
 
 
 
-	//TODO: maybe we want to add a speed controller later...
+// 	//TODO: maybe we want to add a speed controller later...
 
-	/* Calclulate thrust in east and north direction */
-	float thrust_north = cosf(bearing) * horizontal_thrust;
-	float thrust_east = sinf(bearing) * horizontal_thrust;
+// 	/* Calclulate thrust in east and north direction */
+// 	float thrust_north = cosf(bearing) * horizontal_thrust;
+// 	float thrust_east = sinf(bearing) * horizontal_thrust;
 
-	if (counter % 10 == 0) {
-		printf("thrust north: %.4f\n", thrust_north);
-		printf("thrust east: %.4f\n", thrust_east);
-		fflush(stdout);
-	}
+// 	if (counter % 10 == 0) {
+// 		printf("thrust north: %.4f\n", thrust_north);
+// 		printf("thrust east: %.4f\n", thrust_east);
+// 		fflush(stdout);
+// 	}
 
-	/* Get current attitude */
-	if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
-		pitch_current = global_data_attitude->pitch;
-		global_data_unlock(&global_data_attitude->access_conf);
-	}
+// 	/* Get current attitude */
+// 	if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
+// 		pitch_current = global_data_attitude->pitch;
+// 		global_data_unlock(&global_data_attitude->access_conf);
+// 	}
 
-	/* Get desired pitch & roll */
-	float pitch_desired = 0.0f;
-	float roll_desired = 0.0f;
+// 	/* Get desired pitch & roll */
+// 	float pitch_desired = 0.0f;
+// 	float roll_desired = 0.0f;
 
-	if (thrust_total != 0) {
-		float pitch_fraction = -thrust_north / thrust_total;
-		float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);
+// 	if (thrust_total != 0) {
+// 		float pitch_fraction = -thrust_north / thrust_total;
+// 		float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);
 
-		if (roll_fraction < -1) {
-			roll_fraction = -1;
+// 		if (roll_fraction < -1) {
+// 			roll_fraction = -1;
 
-		} else if (roll_fraction > 1) {
-			roll_fraction = 1;
-		}
+// 		} else if (roll_fraction > 1) {
+// 			roll_fraction = 1;
+// 		}
 
-//		if(counter % 5 == 0)
-//		{
-//			printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
-//			fflush(stdout);
-//		}
+// //		if(counter % 5 == 0)
+// //		{
+// //			printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
+// //			fflush(stdout);
+// //		}
 
-		pitch_desired = asinf(pitch_fraction);
-		roll_desired = asinf(roll_fraction);
-	}
+// 		pitch_desired = asinf(pitch_fraction);
+// 		roll_desired = asinf(roll_fraction);
+// 	}
 
-	att_sp.roll = roll_desired;
-	att_sp.pitch = pitch_desired;
+// 	att_sp.roll = roll_desired;
+// 	att_sp.pitch = pitch_desired;
 
-	counter++;
-}
+// 	counter++;
+// }