removed attitude setpoint generation from mc_att_controller and moved to mc_pos_controller

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);
+