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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 16:12:15 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 16:12:22 +0100 |
commit | 5876ff11ec90ca8dee22ee0509ffaec2b561d2fd (patch) | |
tree | 02b1ab3af4fa259206314556448609b340373f7a /src/modules/mc_att_control/mc_att_control_main.cpp | |
parent | 941ff05720b4ba8c282a84e1f8933469ae7fc39e (diff) | |
download | px4-firmware-5876ff11ec90ca8dee22ee0509ffaec2b561d2fd.tar.gz px4-firmware-5876ff11ec90ca8dee22ee0509ffaec2b561d2fd.tar.bz2 px4-firmware-5876ff11ec90ca8dee22ee0509ffaec2b561d2fd.zip |
mc att control multiplatform alongside normal mc att control
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp')
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 942 |
1 files changed, 888 insertions, 54 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 080f0ed65..67ae90877 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -38,9 +38,6 @@ * @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. @@ -52,91 +49,928 @@ * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers. */ +#include <nuttx/config.h> +#include <stdio.h> +#include <stdlib.h> #include <string.h> -#include <cstdlib> -#include "mc_att_control.h" +#include <unistd.h> +#include <errno.h> +#include <math.h> +#include <poll.h> +#include <drivers/drv_hrt.h> +#include <arch/board/board.h> +#include <uORB/uORB.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/vehicle_status.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/parameter_update.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> -static bool thread_running = false; /**< Deamon status flag */ -static int daemon_task; /**< Handle of deamon task / thread */ -namespace px4 +/** + * Multicopter attitude control app start / stop handling function + * + * @ingroup apps + */ +extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]); + +#define YAW_DEADZONE 0.05f +#define MIN_TAKEOFF_THRUST 0.2f +#define RATES_I_LIMIT 0.3f + +class MulticopterAttitudeControl { -bool task_should_exit = false; +public: + /** + * Constructor + */ + MulticopterAttitudeControl(); + + /** + * Destructor, also kills the main task + */ + ~MulticopterAttitudeControl(); + + /** + * Start the multicopter attitude control task. + * + * @return OK on success. + */ + int start(); + +private: + + bool _task_should_exit; /**< if true, task_main() should exit */ + int _control_task; /**< task handle */ + + 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 */ + int _vehicle_status_sub; /**< vehicle 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 */ + + orb_id_t _rates_sp_id; /**< pointer to correct rates setpoint uORB metadata structure */ + orb_id_t _actuators_id; /**< pointer to correct actuator controls0 uORB metadata structure */ + + bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ + + struct vehicle_attitude_s _v_att; /**< vehicle attitude */ + struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */ + struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */ + struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */ + struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */ + struct actuator_controls_s _actuators; /**< actuator controls */ + struct actuator_armed_s _armed; /**< actuator arming status */ + struct vehicle_status_s _vehicle_status; /**< vehicle status */ + + perf_counter_t _loop_perf; /**< loop performance counter */ + + math::Vector<3> _rates_prev; /**< angular rates on previous step */ + math::Vector<3> _rates_sp; /**< angular rates setpoint */ + math::Vector<3> _rates_int; /**< angular rates integral error */ + float _thrust_sp; /**< thrust setpoint */ + math::Vector<3> _att_control; /**< attitude control vector */ + + math::Matrix<3, 3> _I; /**< identity matrix */ + + bool _reset_yaw_sp; /**< reset yaw setpoint flag */ + + 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 */ + + struct { + math::Vector<3> att_p; /**< P gain for angular error */ + math::Vector<3> rate_p; /**< P gain for angular rate error */ + math::Vector<3> rate_i; /**< I gain for angular rate error */ + math::Vector<3> rate_d; /**< D gain for angular rate error */ + float yaw_ff; /**< yaw control feed-forward */ + float yaw_rate_max; /**< max yaw rate */ + + float man_roll_max; + float man_pitch_max; + float man_yaw_max; + math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */ + + } _params; + + /** + * 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(); + + /** + * Attitude controller. + */ + void control_attitude(float dt); + + /** + * Attitude rates controller. + */ + void control_attitude_rates(float dt); + + /** + * Check for vehicle status updates. + */ + void vehicle_status_poll(); + + /** + * Shim for calling task_main from task_create. + */ + static void task_main_trampoline(int argc, char *argv[]); + + /** + * Main attitude control task. + */ + void task_main(); +}; + +namespace mc_att_control +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +MulticopterAttitudeControl *g_control; } -using namespace px4; +MulticopterAttitudeControl::MulticopterAttitudeControl() : + + _task_should_exit(false), + _control_task(-1), + +/* 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), + _vehicle_status_sub(-1), + +/* publications */ + _att_sp_pub(-1), + _v_rates_sp_pub(-1), + _actuators_0_pub(-1), + _rates_sp_id(0), + _actuators_id(0), -PX4_MAIN_FUNCTION(mc_att_control); -void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) { - PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp); + _actuators_0_circuit_breaker_enabled(false), + +/* performance counters */ + _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) + +{ + memset(&_v_att, 0, sizeof(_v_att)); + memset(&_v_att_sp, 0, sizeof(_v_att_sp)); + memset(&_v_rates_sp, 0, sizeof(_v_rates_sp)); + memset(&_manual_control_sp, 0, sizeof(_manual_control_sp)); + memset(&_v_control_mode, 0, sizeof(_v_control_mode)); + memset(&_actuators, 0, sizeof(_actuators)); + memset(&_armed, 0, sizeof(_armed)); + memset(&_vehicle_status, 0, sizeof(_vehicle_status)); + _vehicle_status.is_rotary_wing = true; + + _params.att_p.zero(); + _params.rate_p.zero(); + _params.rate_i.zero(); + _params.rate_d.zero(); + _params.yaw_ff = 0.0f; + _params.yaw_rate_max = 0.0f; + _params.man_roll_max = 0.0f; + _params.man_pitch_max = 0.0f; + _params.man_yaw_max = 0.0f; + _params.acro_rate_max.zero(); + + _rates_prev.zero(); + _rates_sp.zero(); + _rates_int.zero(); + _thrust_sp = 0.0f; + _att_control.zero(); + + _I.identity(); + + _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(); } +MulticopterAttitudeControl::~MulticopterAttitudeControl() +{ + if (_control_task != -1) { + /* task wakes up every 100ms or so at the longest */ + _task_should_exit = true; -#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__)) -/** - * Multicopter attitude control app start / stop handling function - * - * @ingroup apps + /* 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 if parameters have 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 if vehicle control mode 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::vehicle_status_poll() +{ + /* check if there is new status information */ + bool vehicle_status_updated; + orb_check(_vehicle_status_sub, &vehicle_status_updated); + + if (vehicle_status_updated) { + orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); + /* set correct uORB ID, depending on if vehicle is VTOL or not */ + if (!_rates_sp_id) { + if (_vehicle_status.is_vtol) { + _rates_sp_id = ORB_ID(mc_virtual_rates_setpoint); + _actuators_id = ORB_ID(actuator_controls_virtual_mc); + } else { + _rates_sp_id = ORB_ID(vehicle_rates_setpoint); + _actuators_id = ORB_ID(actuator_controls_0); + } + } + } +} + +/* + * Attitude controller. + * Input: 'manual_control_setpoint' and 'vehicle_attitude_setpoint' topics (depending on mode) + * Output: '_rates_sp' vector, '_thrust_sp', 'vehicle_attitude_setpoint' topic (for manual modes) */ +void +MulticopterAttitudeControl::control_attitude(float dt) +{ + float yaw_sp_move_rate = 0.0f; + bool publish_att_sp = false; + + if (_v_control_mode.flag_control_manual_enabled) { + /* manual input, set or modify attitude setpoint */ + + if (_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_climb_rate_enabled) { + /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ + vehicle_attitude_setpoint_poll(); + } + + if (!_v_control_mode.flag_control_climb_rate_enabled) { + /* pass throttle directly if not in altitude stabilized mode */ + _v_att_sp.thrust = _manual_control_sp.z; + publish_att_sp = true; + } -extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]) + if (!_armed.armed) { + /* reset yaw setpoint when disarmed */ + _reset_yaw_sp = true; + } + + /* move yaw setpoint in all modes */ + if (_v_att_sp.thrust < 0.1f) { + // TODO + //if (_status.condition_landed) { + /* reset yaw setpoint if on ground */ + // reset_yaw_sp = true; + //} + } else { + /* move yaw setpoint */ + yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max; + _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); + float yaw_offs_max = _params.man_yaw_max / _params.att_p(2); + float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw); + if (yaw_offs < - yaw_offs_max) { + _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max); + + } else if (yaw_offs > yaw_offs_max) { + _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max); + } + _v_att_sp.R_valid = false; + publish_att_sp = true; + } + + /* reset yaw setpint to current position if needed */ + if (_reset_yaw_sp) { + _reset_yaw_sp = false; + _v_att_sp.yaw_body = _v_att.yaw; + _v_att_sp.R_valid = false; + publish_att_sp = true; + } + + if (!_v_control_mode.flag_control_velocity_enabled) { + /* update attitude setpoint if not in position control mode */ + _v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max; + _v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max; + _v_att_sp.R_valid = false; + publish_att_sp = true; + } + + } else { + /* in non-manual mode use 'vehicle_attitude_setpoint' topic */ + vehicle_attitude_setpoint_poll(); + + /* reset yaw setpoint after non-manual control mode */ + _reset_yaw_sp = true; + } + + _thrust_sp = _v_att_sp.thrust; + + /* construct attitude setpoint rotation matrix */ + math::Matrix<3, 3> R_sp; + + if (_v_att_sp.R_valid) { + /* rotation matrix in _att_sp is valid, use it */ + R_sp.set(&_v_att_sp.R_body[0]); + + } else { + /* rotation matrix in _att_sp is not valid, use euler angles instead */ + R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body); + + /* copy rotation matrix back to setpoint struct */ + memcpy(&_v_att_sp.R_body[0], &R_sp.data[0], sizeof(_v_att_sp.R_body)); + _v_att_sp.R_valid = true; + } + + /* publish the attitude setpoint if needed */ + if (publish_att_sp && _vehicle_status.is_rotary_wing) { + _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); + } + } + + /* rotation matrix for current state */ + math::Matrix<3, 3> R; + R.set(_v_att.R); + + /* all input data is ready, run controller itself */ + + /* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */ + math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2)); + math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2)); + + /* axis and sin(angle) of desired rotation */ + math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z); + + /* calculate angle error */ + float e_R_z_sin = e_R.length(); + float e_R_z_cos = R_z * R_sp_z; + + /* calculate weight for yaw control */ + float yaw_w = R_sp(2, 2) * R_sp(2, 2); + + /* calculate rotation matrix after roll/pitch only rotation */ + math::Matrix<3, 3> R_rp; + + if (e_R_z_sin > 0.0f) { + /* get axis-angle representation */ + float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos); + math::Vector<3> e_R_z_axis = e_R / e_R_z_sin; + + e_R = e_R_z_axis * e_R_z_angle; + + /* cross product matrix for e_R_axis */ + math::Matrix<3, 3> e_R_cp; + e_R_cp.zero(); + e_R_cp(0, 1) = -e_R_z_axis(2); + e_R_cp(0, 2) = e_R_z_axis(1); + e_R_cp(1, 0) = e_R_z_axis(2); + e_R_cp(1, 2) = -e_R_z_axis(0); + e_R_cp(2, 0) = -e_R_z_axis(1); + e_R_cp(2, 1) = e_R_z_axis(0); + + /* rotation matrix for roll/pitch only rotation */ + R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos)); + + } else { + /* zero roll/pitch rotation */ + R_rp = R; + } + + /* R_rp and R_sp has the same Z axis, calculate yaw error */ + math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0)); + math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0)); + e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w; + + if (e_R_z_cos < 0.0f) { + /* for large thrust vector rotations use another rotation method: + * calculate angle and axis for R -> R_sp rotation directly */ + math::Quaternion q; + q.from_dcm(R.transposed() * R_sp); + math::Vector<3> e_R_d = q.imag(); + e_R_d.normalize(); + e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0)); + + /* use fusion of Z axis based rotation and direct rotation */ + float direct_w = e_R_z_cos * e_R_z_cos * yaw_w; + e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w; + } + + /* calculate angular rates setpoint */ + _rates_sp = _params.att_p.emult(e_R); + + /* limit yaw rate */ + _rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max); + + /* feed forward yaw setpoint rate */ + _rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff; +} + +/* + * Attitude rates controller. + * Input: '_rates_sp' vector, '_thrust_sp' + * Output: '_att_control' vector + */ +void +MulticopterAttitudeControl::control_attitude_rates(float dt) { - if (argc < 1) { - errx(1, "usage: mc_att_control {start|stop|status}"); + /* reset integral if disarmed */ + if (!_armed.armed || !_vehicle_status.is_rotary_wing) { + _rates_int.zero(); } - if (!strcmp(argv[1], "start")) { + /* current body angular rates */ + math::Vector<3> rates; + rates(0) = _v_att.rollspeed; + rates(1) = _v_att.pitchspeed; + rates(2) = _v_att.yawspeed; + + /* angular rates error */ + math::Vector<3> rates_err = _rates_sp - rates; + _att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int; + _rates_prev = rates; + + /* update integral only if not saturated on low limit */ + if (_thrust_sp > MIN_TAKEOFF_THRUST) { + for (int i = 0; i < 3; i++) { + if (fabsf(_att_control(i)) < _thrust_sp) { + float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt; + + if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && + _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) { + _rates_int(i) = rate_i; + } + } + } + } +} + +void +MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[]) +{ + mc_att_control::g_control->task_main(); +} + +void +MulticopterAttitudeControl::task_main() +{ - if (thread_running) { - warnx("already running"); - /* this is not an error */ - exit(0); + /* + * do subscriptions + */ + _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); + _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + _params_sub = orb_subscribe(ORB_ID(parameter_update)); + _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + + /* initialize parameters cache */ + parameters_update(); + + /* wakeup source: vehicle attitude */ + struct pollfd fds[1]; + + fds[0].fd = _v_att_sub; + fds[0].events = POLLIN; + + while (!_task_should_exit) { + + /* wait for up to 100ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + /* timed out - periodic check for _task_should_exit */ + if (pret == 0) + continue; + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + /* sleep a bit before next try */ + usleep(100000); + continue; + } + + perf_begin(_loop_perf); + + /* run controller on attitude changes */ + if (fds[0].revents & POLLIN) { + 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(); + vehicle_status_poll(); + + if (_v_control_mode.flag_control_attitude_enabled) { + control_attitude(dt); + + /* 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(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp); + + } else if (_rates_sp_id) { + _v_rates_sp_pub = orb_advertise(_rates_sp_id, &_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(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp); + + } else if (_rates_sp_id) { + _v_rates_sp_pub = orb_advertise(_rates_sp_id, &_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(_actuators_id, _actuators_0_pub, &_actuators); + + } else if (_actuators_id) { + _actuators_0_pub = orb_advertise(_actuators_id, &_actuators); + } + + } + } } - task_should_exit = false; + perf_end(_loop_perf); + } + + warnx("exit"); + + _control_task = -1; + _exit(0); +} + +int +MulticopterAttitudeControl::start() +{ + ASSERT(_control_task == -1); - daemon_task = task_spawn_cmd("mc_att_control", + /* start the task */ + _control_task = task_spawn_cmd("mc_att_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 3000, - mc_att_control_task_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + 2000, + (main_t)&MulticopterAttitudeControl::task_main_trampoline, + nullptr); + + if (_control_task < 0) { + warn("task start failed"); + return -errno; + } + + return OK; +} + +int mc_att_control_main(int argc, char *argv[]) +{ + if (argc < 1) + errx(1, "usage: mc_att_control {start|stop|status}"); + + if (!strcmp(argv[1], "start")) { + + if (mc_att_control::g_control != nullptr) + errx(1, "already running"); + + mc_att_control::g_control = new MulticopterAttitudeControl; + + if (mc_att_control::g_control == nullptr) + errx(1, "alloc failed"); + + if (OK != mc_att_control::g_control->start()) { + delete mc_att_control::g_control; + mc_att_control::g_control = nullptr; + err(1, "start failed"); + } exit(0); } if (!strcmp(argv[1], "stop")) { - task_should_exit = true; + if (mc_att_control::g_control == nullptr) + errx(1, "not running"); + + delete mc_att_control::g_control; + mc_att_control::g_control = nullptr; exit(0); } if (!strcmp(argv[1], "status")) { - if (thread_running) { - warnx("is running"); + if (mc_att_control::g_control) { + errx(0, "running"); } else { - warnx("not started"); + errx(1, "not running"); } - - exit(0); } warnx("unrecognized command"); return 1; } -#endif - -PX4_MAIN_FUNCTION(mc_att_control) -{ - px4::init(argc, argv, "mc_att_control"); - - PX4_INFO("starting"); - MulticopterAttitudeControl attctl; - thread_running = true; - attctl.spin(); - - PX4_INFO("exiting."); - thread_running = false; - return 0; -} - - |