mc att control: prepare for ros integration, move class into spearate file

1 files changed, 174 insertions, 0 deletions

diff --git a/src/modules/mc_att_control/mc_att_control.h b/src/modules/mc_att_control/mc_att_control.h
new file mode 100644
index 000000000..48df88771
--- /dev/null
+++ b/src/modules/mc_att_control/mc_att_control.h
@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   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.h
+ * 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>
+ *
+ * The controller has two loops: P loop for angular error and PD loop for angular rate error.
+ * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
+ * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
+ * so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
+ * These two approaches fused seamlessly with weight depending on angular error.
+ * When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
+ * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
+ * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
+ */
+
+#include <px4.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <drivers/drv_hrt.h>
+#include <arch/board/board.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/circuit_breaker.h>
+#include <lib/mathlib/mathlib.h>
+#include <lib/geo/geo.h>
+
+#include "mc_att_control_base.h"
+
+class MulticopterAttitudeControl :
+	public MulticopterAttitudeControlBase
+{
+public:
+	/**
+	 * Constructor
+	 */
+	MulticopterAttitudeControl();
+
+	/**
+	 * Destructor, also kills the sensors task.
+	 */
+	~MulticopterAttitudeControl();
+
+	void  handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg);
+
+	void spin() { n.spin(); }
+
+private:
+	bool		_task_should_exit;			/**< if true, sensor task should exit */
+	int		_control_task;				/**< task handle for sensor task */
+	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
+
+
+	int		_v_att_sub;				/**< vehicle attitude subscription */
+	int		_v_att_sp_sub;			/**< vehicle attitude setpoint subscription */
+	int		_v_rates_sp_sub;		/**< vehicle rates setpoint subscription */
+	int		_v_control_mode_sub;	/**< vehicle control mode subscription */
+	int		_params_sub;			/**< parameter updates subscription */
+	int		_manual_control_sp_sub;	/**< manual control setpoint subscription */
+	int		_armed_sub;				/**< arming status subscription */
+
+	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
+	orb_advert_t	_v_rates_sp_pub;		/**< rate setpoint publication */
+	orb_advert_t	_actuators_0_pub;		/**< attitude actuator controls publication */
+
+	px4::NodeHandle n;
+
+	struct {
+		param_t roll_p;
+		param_t roll_rate_p;
+		param_t roll_rate_i;
+		param_t roll_rate_d;
+		param_t pitch_p;
+		param_t pitch_rate_p;
+		param_t pitch_rate_i;
+		param_t pitch_rate_d;
+		param_t yaw_p;
+		param_t yaw_rate_p;
+		param_t yaw_rate_i;
+		param_t yaw_rate_d;
+		param_t yaw_ff;
+		param_t yaw_rate_max;
+
+		param_t man_roll_max;
+		param_t man_pitch_max;
+		param_t man_yaw_max;
+		param_t acro_roll_max;
+		param_t acro_pitch_max;
+		param_t acro_yaw_max;
+	}		_params_handles;		/**< handles for interesting parameters */
+
+	perf_counter_t _loop_perf; /**< loop performance counter */
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int			parameters_update();
+
+	/**
+	 * Check for parameter update and handle it.
+	 */
+	void		parameter_update_poll();
+
+	/**
+	 * Check for changes in vehicle control mode.
+	 */
+	void		vehicle_control_mode_poll();
+
+	/**
+	 * Check for changes in manual inputs.
+	 */
+	void		vehicle_manual_poll();
+
+	/**
+	 * Check for attitude setpoint updates.
+	 */
+	void		vehicle_attitude_setpoint_poll();
+
+	/**
+	 * Check for rates setpoint updates.
+	 */
+	void		vehicle_rates_setpoint_poll();
+
+	/**
+	 * Check for arming status updates.
+	 */
+	void		arming_status_poll();
+
+};
+