working offboard

6 files changed, 78 insertions, 62 deletions

diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index 159a70701..66c58f74f 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -389,9 +389,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 
 					// }
 
-					printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
-					printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
-					printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
+					//printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
+					//printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
+					//printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
 				// 	printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
 				// 	       (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
 				// 	       (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index 1e82bc417..57512bfd5 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -503,7 +503,7 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
 	current_status->flag_control_manual_enabled = true; //XXX
 	/* enable attitude control per default */
-	current_status->flag_control_attitude_enabled = false;
+	current_status->flag_control_attitude_enabled = true;
 	current_status->flag_control_rates_enabled = true;
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
@@ -518,7 +518,7 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
 	current_status->flag_control_manual_enabled = true; //XXX
-	current_status->flag_control_attitude_enabled = false;
+	current_status->flag_control_attitude_enabled = true;
 	current_status->flag_control_rates_enabled = true;
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
@@ -533,7 +533,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
 	current_status->flag_control_manual_enabled = true; //XXX
-	current_status->flag_control_attitude_enabled = false;
+	current_status->flag_control_attitude_enabled = true;
 	current_status->flag_control_rates_enabled = true;
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index c13f462ea..0592d0377 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -889,7 +889,7 @@ static void *uorb_receiveloop(void *arg)
 				/* copy rc channels into local buffer */
 				orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
 				/* Channels are sent in MAVLink main loop at a fixed interval */
-				mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
+			mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
 							 rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi);
 			}
 
@@ -1272,7 +1272,8 @@ void handleMessage(mavlink_message_t *msg)
 	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
 		mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
 		mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
-//		printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", quad_motors_setpoint.target_system, mavlink_system.sysid);
+		//printf("got message\n");
+		//printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode);
 
 		if (mavlink_system.sysid < 4) {
 			/* 
@@ -1282,19 +1283,28 @@ void handleMessage(mavlink_message_t *msg)
 			uint8_t ml_mode = 0;
 			bool ml_armed = false;
 
-			if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
-				ml_armed = true;
-			}
+//			if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
+//				ml_armed = true;
+//			}
 
 			switch (quad_motors_setpoint.mode) {
 				case 0:
+					ml_armed = false;
+
 					break;
 				case 1:
+
 					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
-					break;
+					ml_armed = true;
+
+				break;
 				case 2:
+
+
 					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
-					break;
+					ml_armed = true;
+
+				break;
 				case 3:
 					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
 					break;
@@ -1306,7 +1316,14 @@ void handleMessage(mavlink_message_t *msg)
 			offboard_control_sp.p1 = quad_motors_setpoint.roll[mavlink_system.sysid]   / (float)INT16_MAX;
 			offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid]  / (float)INT16_MAX;
 			offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid]    / (float)INT16_MAX;
-			offboard_control_sp.p4 = quad_motors_setpoint.thrust[mavlink_system.sysid] / (float)UINT16_MAX;
+			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
+			//offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid] ;
+
+			if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
+				ml_armed = false;
+
+			}
+
 			offboard_control_sp.armed = ml_armed;
 			offboard_control_sp.mode = ml_mode;
 
@@ -1720,14 +1737,6 @@ int mavlink_thread_main(int argc, char *argv[])
 	/* all subscriptions are now active, set up initial guess about rate limits */
 	if (baudrate >= 460800) {
 		/* 200 Hz / 5 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 5);
-		/* 200 Hz / 5 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 3);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
-		/* 5 Hz */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
 	} else if (baudrate >= 230400) {
 		/* 200 Hz / 5 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
@@ -1741,13 +1750,13 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
 	} else if (baudrate >= 115200) {
 		/* 50 Hz / 20 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200);
 		/* 20 Hz / 50 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
 		/* 10 Hz / 100 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 100);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
 		/* 1 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000);
 	} else if (baudrate >= 57600) {
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 40f1bbfde..7d5821d3f 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -165,8 +165,30 @@ mc_thread_main(int argc, char *argv[])
 
 
 		/** STEP 1: Define which input is the dominating control input */
-
-		if (state.flag_control_manual_enabled) {
+		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) {
@@ -188,7 +210,7 @@ mc_thread_main(int argc, char *argv[])
 			}
 			/* 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) {
 				att_sp.roll_body = 0.0f;
 				att_sp.pitch_body = 0.0f;
@@ -199,39 +221,19 @@ mc_thread_main(int argc, char *argv[])
 				orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
 			}
 
-		} else 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;
-				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;
-				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 */
 		}
 
 		/** 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);
-		// 	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_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) {
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index 372b378d1..7532dffa2 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -144,6 +144,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	const float rates[], struct actuator_controls_s *actuators)
 {
+	static float roll_control_last=0;
+	static float pitch_control_last=0;
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
 	last_run = hrt_absolute_time();
@@ -172,10 +174,13 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	/* calculate current control outputs */
 	
 	/* control pitch (forward) output */
-	float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch-rates[1]);
+
+	float pitch_control = p.attrate_p * deltaT *(rate_sp->pitch-rates[1])-p.attrate_d*(pitch_control_last);
+	pitch_control_last=pitch_control;
 	/* control roll (left/right) output */
-	float roll_control = p.attrate_p * deltaT * (rate_sp->roll-rates[0]  );
 
+	float roll_control = p.attrate_p * deltaT * (rate_sp->roll-rates[0])-p.attrate_d*(roll_control_last);
+	roll_control_last=roll_control;
 	/* control yaw rate */
 	float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw-rates[2]  );
 
diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c
index e6f2f7e76..52316993e 100644
--- a/apps/sensors/sensor_params.c
+++ b/apps/sensors/sensor_params.c
@@ -56,9 +56,9 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
 
-PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 0.0f);
-PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 0.0f);
-PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 0.0f);
+PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
 
 PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
 PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);