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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-11 16:11:04 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-11 16:11:04 +0100 |
commit | 9c09a9e8d56b69797b64e5fa1f17d2bcf760e2bb (patch) | |
tree | 9fdf579957abce2489e8226d5d334048006fb075 /src/modules/mc_att_control/mc_att_control.cpp | |
parent | 12df129da297e4d4c36d2ed0f7f3571b5fbf7e29 (diff) | |
download | px4-firmware-9c09a9e8d56b69797b64e5fa1f17d2bcf760e2bb.tar.gz px4-firmware-9c09a9e8d56b69797b64e5fa1f17d2bcf760e2bb.tar.bz2 px4-firmware-9c09a9e8d56b69797b64e5fa1f17d2bcf760e2bb.zip |
mc att control: prepare for ros integration, move class into spearate file
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control.cpp')
-rw-r--r-- | src/modules/mc_att_control/mc_att_control.cpp | 403 |
1 files changed, 403 insertions, 0 deletions
diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp new file mode 100644 index 000000000..31cdd99e4 --- /dev/null +++ b/src/modules/mc_att_control/mc_att_control.cpp @@ -0,0 +1,403 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * + * 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 mc_att_control.cpp + * Multicopter attitude controller. + * + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Julian Oes <julian@oes.ch> + * @author Roman Bapst <bapstr@ethz.ch> + */ + +#include "mc_att_control.h" + +#define YAW_DEADZONE 0.05f +#define MIN_TAKEOFF_THRUST 0.2f +#define RATES_I_LIMIT 0.3f + +namespace mc_att_control +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +} + +MulticopterAttitudeControl::MulticopterAttitudeControl() : + MulticopterAttitudeControlBase(), + _task_should_exit(false), + _control_task(-1), + _actuators_0_circuit_breaker_enabled(false), + /* subscriptions */ + _v_att_sub(-1), + _v_att_sp_sub(-1), + _v_control_mode_sub(-1), + _params_sub(-1), + _manual_control_sp_sub(-1), + _armed_sub(-1), + + /* publications */ + _att_sp_pub(-1), + _v_rates_sp_pub(-1), + _actuators_0_pub(-1), + n(), + + /* performance counters */ + _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) + +{ + _params_handles.roll_p = param_find("MC_ROLL_P"); + _params_handles.roll_rate_p = param_find("MC_ROLLRATE_P"); + _params_handles.roll_rate_i = param_find("MC_ROLLRATE_I"); + _params_handles.roll_rate_d = param_find("MC_ROLLRATE_D"); + _params_handles.pitch_p = param_find("MC_PITCH_P"); + _params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P"); + _params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I"); + _params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D"); + _params_handles.yaw_p = param_find("MC_YAW_P"); + _params_handles.yaw_rate_p = param_find("MC_YAWRATE_P"); + _params_handles.yaw_rate_i = param_find("MC_YAWRATE_I"); + _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); + _params_handles.yaw_ff = param_find("MC_YAW_FF"); + _params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX"); + _params_handles.man_roll_max = param_find("MC_MAN_R_MAX"); + _params_handles.man_pitch_max = param_find("MC_MAN_P_MAX"); + _params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX"); + _params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX"); + _params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX"); + _params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX"); + + /* fetch initial parameter values */ + parameters_update(); + + /* + * do subscriptions + */ + // _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + PX4_SUBSCRIBE(n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0); + // _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, 0); + // _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); + PX4_SUBSCRIBE(n, vehicle_rates_setpoint, 0); + // _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + PX4_SUBSCRIBE(n, vehicle_control_mode, 0); + // _params_sub = orb_subscribe(ORB_ID(parameter_update)); + PX4_SUBSCRIBE(n, parameter_update, 0); + // _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + PX4_SUBSCRIBE(n, manual_control_setpoint, 0); + // _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + PX4_SUBSCRIBE(n, actuator_armed, 0); + +} + +MulticopterAttitudeControl::~MulticopterAttitudeControl() +{ + if (_control_task != -1) { + /* task wakes up every 100ms or so at the longest */ + _task_should_exit = true; + + /* wait for a second for the task to quit at our request */ + unsigned i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_control_task); + break; + } + } while (_control_task != -1); + } + + // mc_att_control::g_control = nullptr; +} + +int +MulticopterAttitudeControl::parameters_update() +{ + float v; + + /* roll gains */ + param_get(_params_handles.roll_p, &v); + _params.att_p(0) = v; + param_get(_params_handles.roll_rate_p, &v); + _params.rate_p(0) = v; + param_get(_params_handles.roll_rate_i, &v); + _params.rate_i(0) = v; + param_get(_params_handles.roll_rate_d, &v); + _params.rate_d(0) = v; + + /* pitch gains */ + param_get(_params_handles.pitch_p, &v); + _params.att_p(1) = v; + param_get(_params_handles.pitch_rate_p, &v); + _params.rate_p(1) = v; + param_get(_params_handles.pitch_rate_i, &v); + _params.rate_i(1) = v; + param_get(_params_handles.pitch_rate_d, &v); + _params.rate_d(1) = v; + + /* yaw gains */ + param_get(_params_handles.yaw_p, &v); + _params.att_p(2) = v; + param_get(_params_handles.yaw_rate_p, &v); + _params.rate_p(2) = v; + param_get(_params_handles.yaw_rate_i, &v); + _params.rate_i(2) = v; + param_get(_params_handles.yaw_rate_d, &v); + _params.rate_d(2) = v; + + param_get(_params_handles.yaw_ff, &_params.yaw_ff); + param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max); + _params.yaw_rate_max = math::radians(_params.yaw_rate_max); + + /* manual control scale */ + param_get(_params_handles.man_roll_max, &_params.man_roll_max); + param_get(_params_handles.man_pitch_max, &_params.man_pitch_max); + param_get(_params_handles.man_yaw_max, &_params.man_yaw_max); + _params.man_roll_max = math::radians(_params.man_roll_max); + _params.man_pitch_max = math::radians(_params.man_pitch_max); + _params.man_yaw_max = math::radians(_params.man_yaw_max); + + /* acro control scale */ + param_get(_params_handles.acro_roll_max, &v); + _params.acro_rate_max(0) = math::radians(v); + param_get(_params_handles.acro_pitch_max, &v); + _params.acro_rate_max(1) = math::radians(v); + param_get(_params_handles.acro_yaw_max, &v); + _params.acro_rate_max(2) = math::radians(v); + + _actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY); + + return OK; +} + +void +MulticopterAttitudeControl::parameter_update_poll() +{ + bool updated; + + /* Check HIL state if vehicle status has changed */ + orb_check(_params_sub, &updated); + + if (updated) { + struct parameter_update_s param_update; + orb_copy(ORB_ID(parameter_update), _params_sub, ¶m_update); + parameters_update(); + } +} + +void +MulticopterAttitudeControl::vehicle_control_mode_poll() +{ + bool updated; + + /* Check HIL state if vehicle status has changed */ + orb_check(_v_control_mode_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode); + } +} + +void +MulticopterAttitudeControl::vehicle_manual_poll() +{ + bool updated; + + /* get pilots inputs */ + orb_check(_manual_control_sp_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp); + } +} + +void +MulticopterAttitudeControl::vehicle_attitude_setpoint_poll() +{ + /* check if there is a new setpoint */ + bool updated; + orb_check(_v_att_sp_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp); + } +} + +void +MulticopterAttitudeControl::vehicle_rates_setpoint_poll() +{ + /* check if there is a new setpoint */ + bool updated; + orb_check(_v_rates_sp_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp); + } +} + +void +MulticopterAttitudeControl::arming_status_poll() +{ + /* check if there is a new setpoint */ + bool updated; + orb_check(_armed_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); + } +} + + +void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) { + + perf_begin(_loop_perf); + + /* run controller on attitude changes */ + static uint64_t last_run = 0; + float dt = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + + /* guard against too small (< 2ms) and too large (> 20ms) dt's */ + if (dt < 0.002f) { + dt = 0.002f; + + } else if (dt > 0.02f) { + dt = 0.02f; + } + + /* copy attitude topic */ + orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att); + + /* check for updates in other topics */ + parameter_update_poll(); + vehicle_control_mode_poll(); + arming_status_poll(); + vehicle_manual_poll(); + + if (_v_control_mode.flag_control_attitude_enabled) { + control_attitude(dt); + + /* publish the attitude setpoint if needed */ + if (_publish_att_sp) { + _v_att_sp.timestamp = hrt_absolute_time(); + + if (_att_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, + &_v_att_sp); + + } else { + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), + &_v_att_sp); + } + } + + /* publish attitude rates setpoint */ + _v_rates_sp.roll = _rates_sp(0); + _v_rates_sp.pitch = _rates_sp(1); + _v_rates_sp.yaw = _rates_sp(2); + _v_rates_sp.thrust = _thrust_sp; + _v_rates_sp.timestamp = hrt_absolute_time(); + + if (_v_rates_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp); + + } else { + _v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp); + } + + } else { + /* attitude controller disabled, poll rates setpoint topic */ + if (_v_control_mode.flag_control_manual_enabled) { + /* manual rates control - ACRO mode */ + _rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, + _manual_control_sp.r).emult(_params.acro_rate_max); + _thrust_sp = _manual_control_sp.z; + + /* reset yaw setpoint after ACRO */ + _reset_yaw_sp = true; + + /* publish attitude rates setpoint */ + _v_rates_sp.roll = _rates_sp(0); + _v_rates_sp.pitch = _rates_sp(1); + _v_rates_sp.yaw = _rates_sp(2); + _v_rates_sp.thrust = _thrust_sp; + _v_rates_sp.timestamp = hrt_absolute_time(); + + if (_v_rates_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp); + + } else { + _v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp); + } + + } else { + /* attitude controller disabled, poll rates setpoint topic */ + vehicle_rates_setpoint_poll(); + _rates_sp(0) = _v_rates_sp.roll; + _rates_sp(1) = _v_rates_sp.pitch; + _rates_sp(2) = _v_rates_sp.yaw; + _thrust_sp = _v_rates_sp.thrust; + } + } + + if (_v_control_mode.flag_control_rates_enabled) { + control_attitude_rates(dt); + + /* publish actuator controls */ + _actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f; + _actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f; + _actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f; + _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; + _actuators.timestamp = hrt_absolute_time(); + + if (!_actuators_0_circuit_breaker_enabled) { + if (_actuators_0_pub > 0) { + orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); + + } else { + _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); + } + } + } +} |