Added rotation matrix based vector controller

1 files changed, 692 insertions, 0 deletions

diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp
new file mode 100644
index 000000000..f3f8235f0
--- /dev/null
+++ b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp
@@ -0,0 +1,692 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	Lorenz Meier
+ *
+ * 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_vector_main.c
+ * Implementation of a multicopter attitude controller based on desired thrust vector.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Please refer to the library files for the authors and acknowledgements of
+ * the used control library functions.
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_accel.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.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_status.h>
+#include <uORB/topics/parameter_update.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <mathlib/mathlib.h>
+
+//#include <ecl/attitude_mc/ecl_mc_att_control_vector.h>
+#include "ecl_mc_att_control_vector.h"
+
+/**
+ * Multicopter attitude control app start / stop handling function
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int mc_att_control_vector_main(int argc, char *argv[]);
+
+class MulticopterAttitudeControl
+{
+public:
+	/**
+	 * Constructor
+	 */
+	MulticopterAttitudeControl();
+
+	/**
+	 * Destructor, also kills the sensors task.
+	 */
+	~MulticopterAttitudeControl();
+
+	/**
+	 * Start the sensors task.
+	 *
+	 * @return		OK on success.
+	 */
+	int		start();
+
+private:
+
+	bool		_task_should_exit;		/**< if true, sensor task should exit */
+	int		_control_task;			/**< task handle for sensor task */
+
+	int		_att_sub;			/**< vehicle attitude subscription */
+	int		_accel_sub;			/**< accelerometer subscription */
+	int		_att_sp_sub;			/**< vehicle attitude setpoint */
+	int		_attitude_sub;			/**< raw rc channels data subscription */
+	int		_airspeed_sub;			/**< airspeed subscription */
+	int		_vstatus_sub;			/**< vehicle status subscription */
+	int 		_params_sub;			/**< notification of parameter updates */
+	int 		_manual_sub;			/**< notification of manual control updates */
+	int		_arming_sub;			/**< arming status of outputs */
+
+	orb_advert_t	_rate_sp_pub;			/**< rate setpoint publication */
+	orb_advert_t	_actuators_0_pub;		/**< actuator control group 0 setpoint */
+
+	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_status_s				_vstatus;		/**< vehicle status */
+	struct actuator_controls_s			_actuators;		/**< actuator control inputs */
+	struct actuator_armed_s				_arming;		/**< actuator arming status */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
+	bool		_airspeed_valid;		/**< flag if the airspeed measurement is valid */
+
+	// ECL_L1_Pos_Control				_att_control;
+
+	struct {
+		float yaw_p;
+		float yaw_i;
+		float yaw_d;
+		float yaw_imax;
+
+		float att_p;
+		float att_i;
+		float att_d;
+		float att_imax;
+
+		float att_rate_p;
+
+		float yaw_rate_p;
+	}		_parameters;			/**< local copies of interesting parameters */
+
+	struct {
+		param_t yaw_p;
+		param_t yaw_i;
+		param_t yaw_d;
+		param_t yaw_imax;
+
+		param_t att_p;
+		param_t att_i;
+		param_t att_d;
+		param_t att_imax;
+
+		param_t att_rate_p;
+
+		param_t yaw_rate_p;
+	}		_parameter_handles;		/**< handles for interesting parameters */
+
+
+	ECL_MCAttControlVector				_att_control;
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int		parameters_update();
+
+	/**
+	 * Update control outputs
+	 *
+	 */
+	void		control_update();
+
+	/**
+	 * Check for changes in vehicle status.
+	 */
+	void		vehicle_status_poll();
+
+	/**
+	 * Check for changes in manual inputs.
+	 */
+	void		vehicle_manual_poll();
+
+
+	/**
+	 * Check for airspeed updates.
+	 */
+	bool		vehicle_airspeed_poll();
+
+	/**
+	 * Check for accel updates.
+	 */
+	void		vehicle_accel_poll();
+
+	/**
+	 * Check for set triplet updates.
+	 */
+	void		vehicle_setpoint_poll();
+
+	/**
+	 * Check for arming status updates.
+	 */
+	void		arming_status_poll();
+
+	/**
+	 * Shim for calling task_main from task_create.
+	 */
+	static void	task_main_trampoline(int argc, char *argv[]);
+
+	/**
+	 * Main sensor collection task.
+	 */
+	void		task_main() __attribute__((noreturn));
+};
+
+namespace att_control
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+MulticopterAttitudeControl	*g_control;
+}
+
+MulticopterAttitudeControl::MulticopterAttitudeControl() :
+
+	_task_should_exit(false),
+	_control_task(-1),
+
+/* subscriptions */
+	_att_sub(-1),
+	_accel_sub(-1),
+	_airspeed_sub(-1),
+	_vstatus_sub(-1),
+	_params_sub(-1),
+	_manual_sub(-1),
+	_arming_sub(-1),
+
+/* publications */
+	_rate_sp_pub(-1),
+	_actuators_0_pub(-1),
+
+/* performance counters */
+	_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
+/* states */
+	_setpoint_valid(false),
+	_airspeed_valid(false)
+{
+	_parameter_handles.yaw_p	=	param_find("MC_YAWPOS_P");
+	_parameter_handles.yaw_i	=	param_find("MC_YAWPOS_I");
+	_parameter_handles.yaw_d	=	param_find("MC_YAWPOS_D");
+	_parameter_handles.yaw_imax	=	param_find("MC_YAWPOS_IMAX");
+
+	_parameter_handles.att_p	= 	param_find("MC_ATT_P");
+	_parameter_handles.att_i	= 	param_find("MC_ATT_I");
+	_parameter_handles.att_d	= 	param_find("MC_ATT_D");
+	_parameter_handles.att_imax	= 	param_find("MC_ATT_IMAX");
+
+	_parameter_handles.att_rate_p	= 	param_find("MC_ATTRATE_P");
+	_parameter_handles.yaw_rate_p	= 	param_find("MC_YAWRATE_P");
+
+	/* 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;
+
+		/* 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);
+	}
+
+	att_control::g_control = nullptr;
+}
+
+int
+MulticopterAttitudeControl::parameters_update()
+{
+
+	//param_get(_parameter_handles.tconst, &(_parameters.tconst));
+
+	param_get(_parameter_handles.yaw_p, &(_parameters.yaw_p));
+	param_get(_parameter_handles.yaw_i, &(_parameters.yaw_i));
+	param_get(_parameter_handles.yaw_d, &(_parameters.yaw_d));
+	param_get(_parameter_handles.yaw_imax, &(_parameters.yaw_imax));
+
+	param_get(_parameter_handles.att_p, &(_parameters.att_p));
+	param_get(_parameter_handles.att_i, &(_parameters.att_i));
+	param_get(_parameter_handles.att_d, &(_parameters.att_d));
+	param_get(_parameter_handles.att_imax, &(_parameters.att_imax));
+
+	param_get(_parameter_handles.yaw_rate_p, &(_parameters.yaw_rate_p));
+
+	param_get(_parameter_handles.att_rate_p, &(_parameters.att_rate_p));
+
+	/* class control parameters */
+	// _att_ctrl.set_tau(_parameters.p_tconst);
+	// _att_ctrl.set_k_p(math::radians(_parameters.p_p));
+	// _att_ctrl.set_k_i(math::radians(_parameters.p_i));
+	// _att_ctrl.set_k_d(math::radians(_parameters.p_d));
+
+	return OK;
+}
+
+void
+MulticopterAttitudeControl::vehicle_status_poll()
+{
+	bool vstatus_updated;
+
+	/* Check HIL state if vehicle status has changed */
+	orb_check(_vstatus_sub, &vstatus_updated);
+
+	if (vstatus_updated) {
+
+		orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_manual_poll()
+{
+	bool manual_updated;
+
+	/* get pilots inputs */
+	orb_check(_manual_sub, &manual_updated);
+
+	if (manual_updated) {
+
+		orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
+	}
+}
+
+bool
+MulticopterAttitudeControl::vehicle_airspeed_poll()
+{
+	/* check if there is a new position */
+	bool airspeed_updated;
+	orb_check(_airspeed_sub, &airspeed_updated);
+
+	if (airspeed_updated) {
+		orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
+		return true;
+	}
+
+	return false;
+}
+
+void
+MulticopterAttitudeControl::vehicle_accel_poll()
+{
+	/* check if there is a new position */
+	bool accel_updated;
+	orb_check(_accel_sub, &accel_updated);
+
+	if (accel_updated) {
+		orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_setpoint_poll()
+{
+	/* check if there is a new setpoint */
+	bool att_sp_updated;
+	orb_check(_att_sp_sub, &att_sp_updated);
+
+	if (att_sp_updated) {
+		orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
+		_setpoint_valid = true;
+	}
+}
+
+void
+MulticopterAttitudeControl::arming_status_poll()
+{
+	/* check if there is a new setpoint */
+	bool arming_updated;
+	orb_check(_arming_sub, &arming_updated);
+
+	if (arming_updated) {
+		orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming);
+	}
+}
+
+void
+MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
+{
+	att_control::g_control->task_main();
+}
+
+void
+MulticopterAttitudeControl::task_main()
+{
+
+	/* inform about start */
+	warnx("Initializing..");
+	fflush(stdout);
+
+	/*
+	 * do subscriptions
+	 */
+	_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
+	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+	_params_sub = orb_subscribe(ORB_ID(parameter_update));
+	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
+
+	/* rate limit vehicle status updates to 5Hz */
+	orb_set_interval(_vstatus_sub, 200);
+	orb_set_interval(_att_sub, 100);
+
+	parameters_update();
+
+	/* initialize values of critical structs until first regular update */
+	_arming.armed = false;
+
+	/* get an initial update for all sensor and status data */
+	(void)vehicle_airspeed_poll();
+	vehicle_setpoint_poll();
+	vehicle_accel_poll();
+	vehicle_status_poll();
+	vehicle_manual_poll();
+	arming_status_poll();
+
+	/* wakeup source(s) */
+	struct pollfd fds[2];
+
+	/* Setup of loop */
+	fds[0].fd = _params_sub;
+	fds[0].events = POLLIN;
+	fds[1].fd = _att_sub;
+	fds[1].events = POLLIN;
+
+	while (!_task_should_exit) {
+
+		/* wait for up to 500ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+
+		/* timed out - periodic check for _task_should_exit, etc. */
+		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);
+			continue;
+		}
+
+		perf_begin(_loop_perf);
+
+		/* only update parameters if they changed */
+		if (fds[0].revents & POLLIN) {
+			/* read from param to clear updated flag */
+			struct parameter_update_s update;
+			orb_copy(ORB_ID(parameter_update), _params_sub, &update);
+
+			/* update parameters from storage */
+			parameters_update();
+		}
+
+		/* only run controller if attitude changed */
+		if (fds[1].revents & POLLIN) {
+
+
+			static uint64_t last_run = 0;
+			float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+			last_run = hrt_absolute_time();
+
+			/* guard against too large deltaT's */
+			if (deltaT > 1.0f)
+				deltaT = 0.01f;
+
+			/* load local copies */
+			orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
+
+			_airspeed_valid = vehicle_airspeed_poll();
+
+			vehicle_setpoint_poll();
+
+			vehicle_accel_poll();
+
+			/* check vehicle status for changes to publication state */
+			vehicle_status_poll();
+
+			/* check for arming status changes */
+			arming_status_poll();
+
+			vehicle_manual_poll();
+
+			/* lock integrator until armed */
+			bool lock_integrator;
+			if (_arming.armed) {
+				lock_integrator = false;
+			} else {
+				lock_integrator = true;
+			}
+
+			/* decide if in auto or full manual control */
+			float roll_sp, pitch_sp;
+			float throttle_sp = 0.0f;
+			float yaw_sp = 0.0f;
+
+			if (_vstatus.state_machine == SYSTEM_STATE_MANUAL ||
+				(_vstatus.state_machine == SYSTEM_STATE_STABILIZED)) {
+
+				/*
+				 * Scale down roll and pitch as the setpoints are radians
+				 * and a typical remote can only do 45 degrees, the mapping is
+				 * -1..+1 to -45..+45 degrees or -0.75..+0.75 radians.
+				 * 
+				 * With this mapping the stick angle is a 1:1 representation of
+				 * the commanded attitude. If more than 45 degrees are desired,
+				 * a scaling parameter can be applied to the remote.
+				 */
+				roll_sp = _manual.roll * 0.75f;
+				pitch_sp = _manual.pitch * 0.75f;
+				yaw_sp = _manual.yaw;
+				throttle_sp = _manual.throttle;
+
+			} else if (_vstatus.state_machine == SYSTEM_STATE_AUTO) {
+
+					roll_sp = _att_sp.roll_body;
+					pitch_sp = _att_sp.pitch_body;
+					yaw_sp = _att_sp.yaw_body;
+					throttle_sp = _att_sp.thrust;
+			}
+
+			// XXX take rotation matrix directly from att_sp for auto mode
+			math::Vector3 F_des(roll_sp, pitch_sp, yaw_sp);
+
+			math::Vector3 rates_des;
+
+			math::Dcm R_nb(_att.R);
+			math::Vector3 angular_rates(_att.rollspeed, _att.pitchspeed, _att.yawspeed);
+
+			_att_control.control(deltaT, R_nb, _att.yaw, F_des,
+                                _parameters.att_p, _parameters.att_d, _parameters.att_i,
+                                angular_rates, rates_des, throttle_sp);
+
+			float roll_out = _parameters.att_rate_p * rates_des(0);
+			float pitch_out = _parameters.att_rate_p * rates_des(1);
+			float yaw_out = _parameters.yaw_rate_p * rates_des(2);
+			
+			_actuators.control[0] = (isfinite(roll_out)) ? roll_out : 0.0f;
+			_actuators.control[1] = (isfinite(pitch_out)) ? pitch_out : 0.0f;
+			_actuators.control[2] = (isfinite(yaw_out)) ? yaw_out : 0.0f;
+
+			/* throttle passed through */
+			_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
+
+			/*
+			 * Lazily publish the rate setpoint (for analysis, the actuators are published below)
+			 * only once available
+			 */
+			vehicle_rates_setpoint_s rates_sp;
+			rates_sp.roll = rates_des(0);
+			rates_sp.pitch = rates_des(1);
+			rates_sp.yaw = rates_des(2);
+
+			rates_sp.timestamp = hrt_absolute_time();
+
+			if (_rate_sp_pub > 0) {
+				/* publish the attitude setpoint */
+				orb_publish(ORB_ID(vehicle_rates_setpoint), _actuators_0_pub, &rates_sp);
+
+			} else {
+				/* advertise and publish */
+				_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
+			}
+
+			/* lazily publish the setpoint only once available */
+			_actuators.timestamp = hrt_absolute_time();
+
+			if (_actuators_0_pub > 0) {
+				/* publish the attitude setpoint */
+				orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
+
+			} else {
+				/* advertise and publish */
+				_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
+			}
+
+		}
+
+		perf_end(_loop_perf);
+	}
+
+	warnx("exiting.\n");
+
+	_control_task = -1;
+	_exit(0);
+}
+
+int
+MulticopterAttitudeControl::start()
+{
+	ASSERT(_control_task == -1);
+
+	/* start the task */
+	_control_task = task_spawn_cmd("mc_att_control_vector",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2048,
+				       (main_t)&MulticopterAttitudeControl::task_main_trampoline,
+				       nullptr);
+
+	if (_control_task < 0) {
+		warn("task start failed");
+		return -errno;
+	}
+
+	return OK;
+}
+
+int mc_att_control_vector_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		errx(1, "usage: mc_att_control_vector {start|stop|status}");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (att_control::g_control != nullptr)
+			errx(1, "already running");
+
+		att_control::g_control = new MulticopterAttitudeControl;
+
+		if (att_control::g_control == nullptr)
+			errx(1, "alloc failed");
+
+		if (OK != att_control::g_control->start()) {
+			delete att_control::g_control;
+			att_control::g_control = nullptr;
+			err(1, "start failed");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		if (att_control::g_control == nullptr)
+			errx(1, "not running");
+
+		delete att_control::g_control;
+		att_control::g_control = nullptr;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (att_control::g_control) {
+			errx(0, "running");
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	warnx("unrecognized command");
+	return 1;
+}