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author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-19 08:43:16 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-19 08:43:16 +0200 |
commit | 3370ceceaf706dda0856888b09c1086e8bf79c8d (patch) | |
tree | 7a273bfa22e722ee150719560d653452320c839e /src/modules/multirotor_att_control/multirotor_att_control_main.c | |
parent | ffc2a8b7a358a2003e5ed548c41878b33e7aa726 (diff) | |
download | px4-firmware-3370ceceaf706dda0856888b09c1086e8bf79c8d.tar.gz px4-firmware-3370ceceaf706dda0856888b09c1086e8bf79c8d.tar.bz2 px4-firmware-3370ceceaf706dda0856888b09c1086e8bf79c8d.zip |
vehicle_control_mode.flag_armed added, reset integrals in multirotor_att_control when disarmed
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_att_control_main.c')
-rw-r--r-- | src/modules/multirotor_att_control/multirotor_att_control_main.c | 33 |
1 files changed, 14 insertions, 19 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 5cad667f6..c057ef364 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -142,16 +142,13 @@ mc_thread_main(int argc, char *argv[]) perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err"); /* welcome user */ - printf("[multirotor_att_control] starting\n"); + warnx("starting"); /* store last control mode to detect mode switches */ bool flag_control_manual_enabled = false; bool flag_control_attitude_enabled = false; - /* store if yaw position or yaw speed has been changed */ bool control_yaw_position = true; - - /* store if we stopped a yaw movement */ bool reset_yaw_sp = true; /* prepare the handle for the failsafe throttle */ @@ -211,8 +208,7 @@ mc_thread_main(int argc, char *argv[]) /* get a local copy of the current sensor values */ orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); - - /** STEP 1: Define which input is the dominating control input */ + /* define which input is the dominating control input */ if (control_mode.flag_control_offboard_enabled) { /* offboard inputs */ if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { @@ -220,7 +216,6 @@ mc_thread_main(int argc, char *argv[]) rates_sp.pitch = offboard_sp.p2; rates_sp.yaw = offboard_sp.p3; rates_sp.thrust = offboard_sp.p4; -// printf("thrust_rate=%8.4f\n",offboard_sp.p4); rates_sp.timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); @@ -229,13 +224,11 @@ mc_thread_main(int argc, char *argv[]) att_sp.pitch_body = offboard_sp.p2; att_sp.yaw_body = offboard_sp.p3; att_sp.thrust = offboard_sp.p4; -// printf("thrust_att=%8.4f\n",offboard_sp.p4); att_sp.timestamp = hrt_absolute_time(); /* STEP 2: publish the result to the vehicle actuators */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); } - } else if (control_mode.flag_control_manual_enabled) { /* direct manual input */ if (control_mode.flag_control_attitude_enabled) { @@ -265,7 +258,7 @@ mc_thread_main(int argc, char *argv[]) * multicopter (throttle = 0) does not make it jump up in the air * if shutting down his remote. */ - if (isfinite(manual.throttle) && manual.throttle > 0.2f) { + if (isfinite(manual.throttle) && manual.throttle > 0.2f) { // TODO use landed status instead of throttle /* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */ param_get(failsafe_throttle_handle, &failsafe_throttle); att_sp.thrust = failsafe_throttle; @@ -305,7 +298,6 @@ mc_thread_main(int argc, char *argv[]) att_sp.yaw_body = att.yaw; reset_yaw_sp = false; } - control_yaw_position = true; } @@ -347,22 +339,25 @@ mc_thread_main(int argc, char *argv[]) } } - /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ - if (control_mode.flag_control_attitude_enabled) { - multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position); + /* check if we should we reset integrals */ + bool reset_integral = !control_mode.flag_armed || att_sp.thrust < 0.1f; // TODO use landed status instead of throttle + /* run attitude controller if needed */ + if (control_mode.flag_control_attitude_enabled) { + multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, reset_integral); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); } /* measure in what intervals the controller runs */ perf_count(mc_interval_perf); + /* run rates controller if needed */ if (control_mode.flag_control_rates_enabled) { /* get current rate setpoint */ - bool rates_sp_valid = false; - orb_check(rates_sp_sub, &rates_sp_valid); + bool rates_sp_updated = false; + orb_check(rates_sp_sub, &rates_sp_updated); - if (rates_sp_valid) { + if (rates_sp_updated) { orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp); } @@ -371,7 +366,7 @@ mc_thread_main(int argc, char *argv[]) rates[0] = att.rollspeed; rates[1] = att.pitchspeed; rates[2] = att.yawspeed; - multirotor_control_rates(&rates_sp, rates, &actuators); + multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral); } else { /* rates controller disabled, set actuators to zero for safety */ actuators.control[0] = 0.0f; @@ -391,7 +386,7 @@ mc_thread_main(int argc, char *argv[]) } /* end of poll return value check */ } - printf("[multirotor att control] stopping, disarming motors.\n"); + warnx("stopping, disarming motors"); /* kill all outputs */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) |