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author | tumbili <bapstr@ethz.ch> | 2015-02-03 09:24:41 +0100 |
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committer | tumbili <bapstr@ethz.ch> | 2015-02-07 17:36:21 +0100 |
commit | 1a6dd7d02e5e8b507ab0381fa3530cc3569d8713 (patch) | |
tree | 7cca648b044bd146d2b36aa5dd959403c4c9cf18 /src | |
parent | b25808467c62adbc7ac1089e920263ee12fb65fd (diff) | |
download | px4-firmware-1a6dd7d02e5e8b507ab0381fa3530cc3569d8713.tar.gz px4-firmware-1a6dd7d02e5e8b507ab0381fa3530cc3569d8713.tar.bz2 px4-firmware-1a6dd7d02e5e8b507ab0381fa3530cc3569d8713.zip |
removed attitude setpoint generation from mc_att_controller and moved to mc_pos_controller
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 100 | ||||
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_params.c | 29 | ||||
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 74 | ||||
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_params.c | 29 |
4 files changed, 99 insertions, 133 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 f20bba52e..a0d76b0a6 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -547,104 +547,13 @@ MulticopterAttitudeControl::vehicle_status_poll() 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; - } - - 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; - } + vehicle_attitude_setpoint_poll(); _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); - } - } + R_sp.set(_v_att_sp.R_body); /* rotation matrix for current state */ math::Matrix<3, 3> R; @@ -720,7 +629,7 @@ MulticopterAttitudeControl::control_attitude(float dt) _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; + _rates_sp(2) += _v_att_sp.yaw_sp_move_rate * yaw_w * _params.yaw_ff; } /* @@ -860,9 +769,6 @@ MulticopterAttitudeControl::task_main() _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); diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 819847b40..302551959 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -188,35 +188,6 @@ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f); PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f); /** - * Max manual roll - * - * @unit deg - * @min 0.0 - * @max 90.0 - * @group Multicopter Attitude Control - */ -PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f); - -/** - * Max manual pitch - * - * @unit deg - * @min 0.0 - * @max 90.0 - * @group Multicopter Attitude Control - */ -PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f); - -/** - * Max manual yaw rate - * - * @unit deg/s - * @min 0.0 - * @group Multicopter Attitude Control - */ -PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f); - -/** * Max acro roll rate * * @unit deg/s diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index b9692ffbf..aafc56c87 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -163,6 +163,10 @@ private: param_t tilt_max_air; param_t land_speed; param_t tilt_max_land; + param_t man_roll_max; + param_t man_pitch_max; + param_t man_yaw_max; + param_t mc_att_yaw_p; } _params_handles; /**< handles for interesting parameters */ struct { @@ -171,6 +175,10 @@ private: float tilt_max_air; float land_speed; float tilt_max_land; + float man_roll_max; + float man_pitch_max; + float man_yaw_max; + float mc_att_yaw_p; math::Vector<3> pos_p; math::Vector<3> vel_p; @@ -353,6 +361,10 @@ MulticopterPositionControl::MulticopterPositionControl() : _params_handles.tilt_max_air = param_find("MPC_TILTMAX_AIR"); _params_handles.land_speed = param_find("MPC_LAND_SPEED"); _params_handles.tilt_max_land = param_find("MPC_TILTMAX_LND"); + _params_handles.man_roll_max = param_find("MPC_MAN_R_MAX"); + _params_handles.man_pitch_max = param_find("MPC_MAN_P_MAX"); + _params_handles.man_yaw_max = param_find("MPC_MAN_Y_MAX"); + _params_handles.mc_att_yaw_p = param_find("MC_YAW_P"); /* fetch initial parameter values */ parameters_update(true); @@ -438,6 +450,17 @@ MulticopterPositionControl::parameters_update(bool force) _params.vel_ff(2) = v; _params.sp_offs_max = _params.vel_max.edivide(_params.pos_p) * 2.0f; + + /* mc attitude control parameters*/ + /* 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); + param_get(_params_handles.mc_att_yaw_p,&v); + _params.mc_att_yaw_p = v; } return OK; @@ -901,6 +924,7 @@ MulticopterPositionControl::task_main() bool reset_int_z = true; bool reset_int_z_manual = false; bool reset_int_xy = true; + bool reset_yaw_sp = false; bool was_armed = false; hrt_abstime t_prev = 0; @@ -948,6 +972,11 @@ MulticopterPositionControl::task_main() was_armed = _control_mode.flag_armed; + /* check if should reset yaw setpoint for manual attitude control */ + if(!_arming.armed || !_control_mode.flag_control_manual_enabled || (!_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_manual_enabled)) { + reset_yaw_sp = true; + } + update_ref(); if (_control_mode.flag_control_altitude_enabled || @@ -1300,13 +1329,6 @@ MulticopterPositionControl::task_main() _att_sp.timestamp = hrt_absolute_time(); - /* publish attitude setpoint */ - if (_att_sp_pub > 0) { - orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); - - } else { - _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); - } } else { reset_int_z = true; @@ -1322,6 +1344,44 @@ MulticopterPositionControl::task_main() reset_int_xy = true; } + if(!_control_mode.flag_control_velocity_enabled) { + /* generate attitude setpoint from manual controls */ + + /* move yaw setpoint */ + float yaw_sp_move_rate = _manual.r * _params.man_yaw_max; + _att_sp.yaw_body = _wrap_pi(_att_sp.yaw_body + yaw_sp_move_rate * dt); + float yaw_offs_max = _params.man_yaw_max / _params.mc_att_yaw_p; + float yaw_offs = _wrap_pi(_att_sp.yaw_body - _att.yaw); + if (yaw_offs < - yaw_offs_max) { + _att_sp.yaw_body = _wrap_pi(_att.yaw - yaw_offs_max); + + } else if (yaw_offs > yaw_offs_max) { + _att_sp.yaw_body = _wrap_pi(_att.yaw + yaw_offs_max); + } + + /* reset yaw setpoint to current position if needed */ + if (reset_yaw_sp) { + reset_yaw_sp = false; + _att_sp.yaw_body = _att.yaw; + } + + _att_sp.roll_body = _manual.y * _params.man_roll_max; + _att_sp.pitch_body = -_manual.x * _params.man_pitch_max; + _att_sp.thrust = _control_mode.flag_control_altitude_enabled ? _att_sp.thrust : _manual.z; + _att_sp.yaw_sp_move_rate = yaw_sp_move_rate; + math::Matrix<3,3> R_sp; + R_sp.from_euler(_att_sp.roll_body,_att_sp.pitch_body,_att_sp.yaw_body); + memcpy(&_att_sp.R_body[0], R_sp.data, sizeof(_att_sp.R_body)); + _att_sp.timestamp = hrt_absolute_time(); + } + /* publish attitude setpoint */ + if (_att_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); + + } else { + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); + } + /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ reset_int_z_manual = _control_mode.flag_armed && _control_mode.flag_control_manual_enabled && !_control_mode.flag_control_climb_rate_enabled; } diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 05ab5769b..fc73b31f5 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -208,3 +208,32 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f); */ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); +/** + * Max manual roll + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX, 35.0f); + +/** + * Max manual pitch + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f); + +/** + * Max manual yaw rate + * + * @unit deg/s + * @min 0.0 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 120.0f); + |