Added base class for fixed wing attitude controller -> still working on it

2 files changed, 174 insertions, 0 deletions

diff --git a/src/modules/fw_att_control/fw_att_control_base.cpp b/src/modules/fw_att_control/fw_att_control_base.cpp
new file mode 100644
index 000000000..4f61f02ef
--- /dev/null
+++ b/src/modules/fw_att_control/fw_att_control_base.cpp
@@ -0,0 +1,50 @@
+/*
+ * fw_att_control_base.cpp
+ *
+ *  Created on: Sep 24, 2014
+ *      Author: roman
+ */
+
+#include "fw_att_control_base.h"
+
+
+FixedwingAttitudeControlBase::FixedwingAttitudeControlBase() :
+
+	_task_should_exit(false),
+	_task_running(false),
+	_control_task(-1),
+
+
+/* performance counters */
+	_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
+	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
+	_nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")),
+/* states */
+	_setpoint_valid(false),
+	_debug(false)
+{
+	/* safely initialize structs */
+	_att = {};
+	_accel = {};
+	_att_sp = {};
+	_manual = {};
+	_airspeed = {};
+	_vcontrol_mode = {};
+	_actuators = {};
+	_actuators_airframe = {};
+	_global_pos = {};
+	_vehicle_status = {};
+
+}
+
+
+
+FixedwingAttitudeControlBase::~FixedwingAttitudeControlBase()
+{
+
+}
+
+void FixedwingAttitudeControlBase::control_attitude()
+{
+
+}
diff --git a/src/modules/fw_att_control/fw_att_control_base.h b/src/modules/fw_att_control/fw_att_control_base.h
new file mode 100644
index 000000000..9a2d9b195
--- /dev/null
+++ b/src/modules/fw_att_control/fw_att_control_base.h
@@ -0,0 +1,124 @@
+/*
+ * fw_att_control_base.h
+ *
+ *  Created on: Sep 24, 2014
+ *      Author: roman
+ */
+
+#ifndef FW_ATT_CONTROL_BASE_H_
+#define FW_ATT_CONTROL_BASE_H_
+
+#include <ecl/attitude_fw/ecl_pitch_controller.h>
+#include <ecl/attitude_fw/ecl_roll_controller.h>
+#include <ecl/attitude_fw/ecl_yaw_controller.h>
+
+#include <uORB/topics/airspeed.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_status.h>
+#include <drivers/drv_accel.h>
+
+#include <systemlib/perf_counter.h>
+
+class FixedwingAttitudeControlBase
+{
+public:
+	/**
+	 * Constructor
+	 */
+	FixedwingAttitudeControlBase();
+
+	/**
+	 * Destructor, also kills the sensors task.
+	 */
+	~FixedwingAttitudeControlBase();
+
+
+protected:
+
+	bool		_task_should_exit;		/**< if true, sensor task should exit */
+	bool		_task_running;			/**< if true, task is running in its mainloop */
+	int		_control_task;			/**< task handle for sensor task */
+
+
+
+	struct vehicle_attitude_s			_att;			/**< vehicle attitude */
+	struct accel_report				_accel;			/**< body frame accelerations */
+	struct vehicle_attitude_setpoint_s		_att_sp;		/**< vehicle attitude setpoint */
+	struct manual_control_setpoint_s		_manual;		/**< r/c channel data */
+	struct airspeed_s				_airspeed;		/**< airspeed */
+	struct vehicle_control_mode_s			_vcontrol_mode;		/**< vehicle control mode */
+	struct actuator_controls_s			_actuators;		/**< actuator control inputs */
+	struct actuator_controls_s			_actuators_airframe;	/**< actuator control inputs */
+	struct vehicle_global_position_s		_global_pos;		/**< global position */
+	struct vehicle_status_s				_vehicle_status;	/**< vehicle status */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
+	perf_counter_t	_nonfinite_output_perf;		/**< performance counter for non finite output */
+
+	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
+	bool		_debug;				/**< if set to true, print debug output */
+
+	struct {
+		float tconst;
+		float p_p;
+		float p_d;
+		float p_i;
+		float p_ff;
+		float p_rmax_pos;
+		float p_rmax_neg;
+		float p_integrator_max;
+		float p_roll_feedforward;
+		float r_p;
+		float r_d;
+		float r_i;
+		float r_ff;
+		float r_integrator_max;
+		float r_rmax;
+		float y_p;
+		float y_i;
+		float y_d;
+		float y_ff;
+		float y_roll_feedforward;
+		float y_integrator_max;
+		float y_coordinated_min_speed;
+		float y_rmax;
+
+		float airspeed_min;
+		float airspeed_trim;
+		float airspeed_max;
+
+		float trim_roll;
+		float trim_pitch;
+		float trim_yaw;
+		float rollsp_offset_deg;			/**< Roll Setpoint Offset in deg */
+		float pitchsp_offset_deg;			/**< Pitch Setpoint Offset in deg */
+		float rollsp_offset_rad;			/**< Roll Setpoint Offset in rad */
+		float pitchsp_offset_rad;			/**< Pitch Setpoint Offset in rad */
+		float man_roll_max;						/**< Max Roll in rad */
+		float man_pitch_max;					/**< Max Pitch in rad */
+
+	}		_parameters;			/**< local copies of interesting parameters */
+
+
+
+
+	ECL_RollController				_roll_ctrl;
+	ECL_PitchController				_pitch_ctrl;
+	ECL_YawController				_yaw_ctrl;
+
+
+
+
+};
+
+
+
+#endif /* FW_ATT_CONTROL_BASE_H_ */