diff options
-rw-r--r-- | src/modules/multirotor_att_control/multirotor_att_control_main.c | 397 |
1 files changed, 198 insertions, 199 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 04582f2a4..44f8f664b 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -89,18 +89,18 @@ static int mc_thread_main(int argc, char *argv[]) { /* declare and safely initialize all structs */ - struct vehicle_control_mode_s control_mode; - memset(&control_mode, 0, sizeof(control_mode)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); struct vehicle_attitude_setpoint_s att_sp; memset(&att_sp, 0, sizeof(att_sp)); - struct manual_control_setpoint_s manual; - memset(&manual, 0, sizeof(manual)); - struct sensor_combined_s raw; - memset(&raw, 0, sizeof(raw)); struct offboard_control_setpoint_s offboard_sp; memset(&offboard_sp, 0, sizeof(offboard_sp)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); + struct manual_control_setpoint_s manual; + memset(&manual, 0, sizeof(manual)); + struct sensor_combined_s sensor; + memset(&sensor, 0, sizeof(sensor)); struct vehicle_rates_setpoint_s rates_sp; memset(&rates_sp, 0, sizeof(rates_sp)); struct vehicle_status_s status; @@ -108,29 +108,16 @@ mc_thread_main(int argc, char *argv[]) struct actuator_controls_s actuators; memset(&actuators, 0, sizeof(actuators)); - /* subscribe to attitude, motor setpoints and system state */ - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int param_sub = orb_subscribe(ORB_ID(parameter_update)); - int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); - int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); - int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - int status_sub = orb_subscribe(ORB_ID(vehicle_status)); - - /* - * Do not rate-limit the loop to prevent aliasing - * if rate-limiting would be desired later, the line below would - * enable it. - * - * rate-limit the attitude subscription to 200Hz to pace our loop - * orb_set_interval(att_sub, 5); - */ - struct pollfd fds[2] = { - { .fd = att_sub, .events = POLLIN }, - { .fd = param_sub, .events = POLLIN } - }; + /* subscribe */ + int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); + int vehicle_attitude_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + int offboard_control_setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); + int vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); + int vehicle_rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); + int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); /* publish actuator controls */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { @@ -146,233 +133,246 @@ mc_thread_main(int argc, char *argv[]) perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval"); perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err"); - /* welcome user */ warnx("starting"); /* store last control mode to detect mode switches */ bool control_yaw_position = true; bool reset_yaw_sp = true; + struct pollfd fds[1] = { + { .fd = vehicle_attitude_sub, .events = POLLIN }, + }; + while (!thread_should_exit) { /* wait for a sensor update, check for exit condition every 500 ms */ - int ret = poll(fds, 2, 500); + int ret = poll(fds, 1, 500); if (ret < 0) { /* poll error, count it in perf */ perf_count(mc_err_perf); - } else if (ret == 0) { - /* no return value, ignore */ - } else { + } else if (ret > 0) { + /* only run controller if attitude changed */ + perf_begin(mc_loop_perf); - /* only update parameters if they changed */ - if (fds[1].revents & POLLIN) { - /* read from param to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), param_sub, &update); + /* attitude */ + orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); + + bool updated; + + /* parameters */ + orb_check(parameter_update_sub, &updated); + if (updated) { + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update); /* update parameters */ } - /* only run controller if attitude changed */ - if (fds[0].revents & POLLIN) { + /* control mode */ + orb_check(vehicle_control_mode_sub, &updated); - perf_begin(mc_loop_perf); + if (updated) { + orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sub, &control_mode); + } - /* get a local copy of system state */ - bool updated; - orb_check(control_mode_sub, &updated); + /* manual control setpoint */ + orb_check(manual_control_setpoint_sub, &updated); - if (updated) { - orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); - } + if (updated) { + orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual); + } - /* get a local copy of manual setpoint */ - orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); - /* get a local copy of attitude */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - /* get a local copy of attitude setpoint */ - orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp); - /* get a local copy of rates setpoint */ - orb_check(setpoint_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp); - } + /* attitude setpoint */ + orb_check(vehicle_attitude_setpoint_sub, &updated); - /* get a local copy of status */ - orb_check(status_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp); + } - if (updated) { - orb_copy(ORB_ID(vehicle_status), status_sub, &status); - } + /* offboard control setpoint */ + orb_check(offboard_control_setpoint_sub, &updated); - /* get a local copy of the current sensor values */ - orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); + if (updated) { + orb_copy(ORB_ID(offboard_control_setpoint), offboard_control_setpoint_sub, &offboard_sp); + } - /* set flag to safe value */ - control_yaw_position = true; + /* vehicle status */ + orb_check(vehicle_status_sub, &updated); - /* reset yaw setpoint if not armed */ - if (!control_mode.flag_armed) { - reset_yaw_sp = true; - } + if (updated) { + orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status); + } - /* 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) { - rates_sp.roll = offboard_sp.p1; - rates_sp.pitch = offboard_sp.p2; - rates_sp.yaw = offboard_sp.p3; - rates_sp.thrust = offboard_sp.p4; - rates_sp.timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); + /* sensors */ + orb_check(sensor_combined_sub, &updated); - } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { - att_sp.roll_body = offboard_sp.p1; - att_sp.pitch_body = offboard_sp.p2; - att_sp.yaw_body = offboard_sp.p3; - att_sp.thrust = offboard_sp.p4; - att_sp.timestamp = hrt_absolute_time(); - /* publish the result to the vehicle actuators */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - } + if (updated) { + orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); + } - /* reset yaw setpoint after offboard control */ - reset_yaw_sp = true; + /* set flag to safe value */ + control_yaw_position = true; - } else if (control_mode.flag_control_manual_enabled) { - /* manual input */ - if (control_mode.flag_control_attitude_enabled) { - /* control attitude, update attitude setpoint depending on mode */ - if (att_sp.thrust < 0.1f) { - /* no thrust, don't try to control yaw */ - rates_sp.yaw = 0.0f; - control_yaw_position = false; + /* reset yaw setpoint if not armed */ + if (!control_mode.flag_armed) { + reset_yaw_sp = true; + } - if (status.condition_landed) { - /* reset yaw setpoint if on ground */ - reset_yaw_sp = true; - } + /* 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) { + rates_sp.roll = offboard_sp.p1; + rates_sp.pitch = offboard_sp.p2; + rates_sp.yaw = offboard_sp.p3; + rates_sp.thrust = offboard_sp.p4; + rates_sp.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); - } else { - /* only move yaw setpoint if manual input is != 0 */ - if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) { - /* control yaw rate */ - control_yaw_position = false; - rates_sp.yaw = manual.yaw; - reset_yaw_sp = true; // has no effect on control, just for beautiful log - - } else { - control_yaw_position = true; - } - } + } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { + att_sp.roll_body = offboard_sp.p1; + att_sp.pitch_body = offboard_sp.p2; + att_sp.yaw_body = offboard_sp.p3; + att_sp.thrust = offboard_sp.p4; + att_sp.timestamp = hrt_absolute_time(); + /* publish the result to the vehicle actuators */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } - if (!control_mode.flag_control_velocity_enabled) { - /* update attitude setpoint if not in position control mode */ - att_sp.roll_body = manual.roll; - att_sp.pitch_body = manual.pitch; + /* reset yaw setpoint after offboard control */ + reset_yaw_sp = true; - if (!control_mode.flag_control_climb_rate_enabled) { - /* pass throttle directly if not in altitude control mode */ - att_sp.thrust = manual.throttle; - } + } else if (control_mode.flag_control_manual_enabled) { + /* manual input */ + if (control_mode.flag_control_attitude_enabled) { + /* control attitude, update attitude setpoint depending on mode */ + if (att_sp.thrust < 0.1f) { + /* no thrust, don't try to control yaw */ + rates_sp.yaw = 0.0f; + control_yaw_position = false; + + if (status.condition_landed) { + /* reset yaw setpoint if on ground */ + reset_yaw_sp = true; } - /* reset yaw setpint to current position if needed */ - if (reset_yaw_sp) { - att_sp.yaw_body = att.yaw; - reset_yaw_sp = false; - } + } else { + /* only move yaw setpoint if manual input is != 0 */ + if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) { + /* control yaw rate */ + control_yaw_position = false; + rates_sp.yaw = manual.yaw; + reset_yaw_sp = true; // has no effect on control, just for beautiful log - if (motor_test_mode) { - printf("testmode"); - att_sp.roll_body = 0.0f; - att_sp.pitch_body = 0.0f; - att_sp.yaw_body = 0.0f; - att_sp.thrust = 0.1f; + } else { + control_yaw_position = true; } + } - att_sp.timestamp = hrt_absolute_time(); - - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + if (!control_mode.flag_control_velocity_enabled) { + /* update attitude setpoint if not in position control mode */ + att_sp.roll_body = manual.roll; + att_sp.pitch_body = manual.pitch; - } else { - /* manual rate inputs (ACRO), from RC control or joystick */ - if (control_mode.flag_control_rates_enabled) { - rates_sp.roll = manual.roll; - rates_sp.pitch = manual.pitch; - rates_sp.yaw = manual.yaw; - rates_sp.thrust = manual.throttle; - rates_sp.timestamp = hrt_absolute_time(); + if (!control_mode.flag_control_climb_rate_enabled) { + /* pass throttle directly if not in altitude control mode */ + att_sp.thrust = manual.throttle; } + } + + /* reset yaw setpint to current position if needed */ + if (reset_yaw_sp) { + att_sp.yaw_body = att.yaw; + reset_yaw_sp = false; + } - /* reset yaw setpoint after ACRO */ - reset_yaw_sp = true; + if (motor_test_mode) { + printf("testmode"); + att_sp.roll_body = 0.0f; + att_sp.pitch_body = 0.0f; + att_sp.yaw_body = 0.0f; + att_sp.thrust = 0.1f; } + att_sp.timestamp = hrt_absolute_time(); + + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } else { - if (!control_mode.flag_control_auto_enabled) { - /* no control, try to stay on place */ - if (!control_mode.flag_control_velocity_enabled) { - /* no velocity control, reset attitude setpoint */ - att_sp.roll_body = 0.0f; - att_sp.pitch_body = 0.0f; - att_sp.timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - } + /* manual rate inputs (ACRO), from RC control or joystick */ + if (control_mode.flag_control_rates_enabled) { + rates_sp.roll = manual.roll; + rates_sp.pitch = manual.pitch; + rates_sp.yaw = manual.yaw; + rates_sp.thrust = manual.throttle; + rates_sp.timestamp = hrt_absolute_time(); } - /* reset yaw setpoint after non-manual control */ + /* reset yaw setpoint after ACRO */ reset_yaw_sp = true; } - /* 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); + } else { + if (!control_mode.flag_control_auto_enabled) { + /* no control, try to stay on place */ + if (!control_mode.flag_control_velocity_enabled) { + /* no velocity control, reset attitude setpoint */ + att_sp.roll_body = 0.0f; + att_sp.pitch_body = 0.0f; + att_sp.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } } - /* measure in what intervals the controller runs */ - perf_count(mc_interval_perf); + /* reset yaw setpoint after non-manual control */ + reset_yaw_sp = true; + } - /* run rates controller if needed */ - if (control_mode.flag_control_rates_enabled) { - /* get current rate setpoint */ - bool rates_sp_updated = false; - orb_check(rates_sp_sub, &rates_sp_updated); + /* 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 - if (rates_sp_updated) { - orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp); - } + /* 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); + } - /* apply controller */ - float rates[3]; - rates[0] = att.rollspeed; - rates[1] = att.pitchspeed; - rates[2] = att.yawspeed; - multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral); + /* measure in what intervals the controller runs */ + perf_count(mc_interval_perf); - } else { - /* rates controller disabled, set actuators to zero for safety */ - actuators.control[0] = 0.0f; - actuators.control[1] = 0.0f; - actuators.control[2] = 0.0f; - actuators.control[3] = 0.0f; + /* run rates controller if needed */ + if (control_mode.flag_control_rates_enabled) { + /* get current rate setpoint */ + bool rates_sp_updated = false; + orb_check(vehicle_rates_setpoint_sub, &rates_sp_updated); + + if (rates_sp_updated) { + orb_copy(ORB_ID(vehicle_rates_setpoint), vehicle_rates_setpoint_sub, &rates_sp); } - actuators.timestamp = hrt_absolute_time(); - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + /* apply controller */ + float rates[3]; + rates[0] = att.rollspeed; + rates[1] = att.pitchspeed; + rates[2] = att.yawspeed; + multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral); + + } else { + /* rates controller disabled, set actuators to zero for safety */ + actuators.control[0] = 0.0f; + actuators.control[1] = 0.0f; + actuators.control[2] = 0.0f; + actuators.control[3] = 0.0f; + } + + actuators.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - perf_end(mc_loop_perf); - } /* end of poll call for attitude updates */ - } /* end of poll return value check */ + perf_end(mc_loop_perf); + } } warnx("stopping, disarming motors"); @@ -383,10 +383,9 @@ mc_thread_main(int argc, char *argv[]) orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - - close(att_sub); - close(control_mode_sub); - close(manual_sub); + close(vehicle_attitude_sub); + close(vehicle_control_mode_sub); + close(manual_control_setpoint_sub); close(actuator_pub); close(att_sp_pub); |