diff options
| -rw-r--r-- | apps/fixedwing_att_control/Makefile (renamed from apps/fixedwing_control2/Makefile) | 2 | ||||
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_main.c (renamed from apps/fixedwing_control2/fixedwing_control2.c) | 30 | ||||
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.c (renamed from apps/fixedwing_control2/fixedwing_control2_rate.c) | 30 | ||||
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.h (renamed from apps/fixedwing_control2/fixedwing_control2_rate.h) | 11 | ||||
| -rw-r--r-- | apps/fixedwing_pos_control/Makefile | 45 | ||||
| -rw-r--r-- | apps/fixedwing_pos_control/fixedwing_pos_control_main.c | 208 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/nsh/appconfig | 3 |
7 files changed, 299 insertions, 30 deletions
diff --git a/apps/fixedwing_control2/Makefile b/apps/fixedwing_att_control/Makefile index 0db19875a..01465fa9e 100644 --- a/apps/fixedwing_control2/Makefile +++ b/apps/fixedwing_att_control/Makefile @@ -35,7 +35,7 @@ # Fixedwing Control application # -APPNAME = fixedwing_control2 +APPNAME = fixedwing_att_control PRIORITY = SCHED_PRIORITY_MAX - 30 STACKSIZE = 2048 diff --git a/apps/fixedwing_control2/fixedwing_control2.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 773074289..4680147a1 100644 --- a/apps/fixedwing_control2/fixedwing_control2.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -32,7 +32,7 @@ * ****************************************************************************/ /** - * @file fixedwing_control2.c + * @file fixedwing_att_control.c * Implementation of a fixed wing attitude controller. */ @@ -62,18 +62,18 @@ #include <systemlib/geo/geo.h> #include <systemlib/systemlib.h> -#include <fixedwing_control2_rate.h> +#include <fixedwing_att_control_rate.h> /* Prototypes */ /** * Deamon management function. */ -__EXPORT int fixedwing_control2_main(int argc, char *argv[]); +__EXPORT int fixedwing_att_control_main(int argc, char *argv[]); /** * Mainloop of deamon. */ -int fixedwing_control2_thread_main(int argc, char *argv[]); +int fixedwing_att_control_thread_main(int argc, char *argv[]); /** * Print the correct usage. @@ -86,7 +86,7 @@ static bool thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ /* Main Thread */ -int fixedwing_control2_thread_main(int argc, char *argv[]) +int fixedwing_att_control_thread_main(int argc, char *argv[]) { /* read arguments */ bool verbose = false; @@ -98,7 +98,7 @@ int fixedwing_control2_thread_main(int argc, char *argv[]) } /* welcome user */ - printf("[fixedwing control2] started\n"); + printf("[fixedwing att_control] started\n"); /* declare and safely initialize all structs */ struct vehicle_attitude_s att; @@ -145,7 +145,7 @@ int fixedwing_control2_thread_main(int argc, char *argv[]) rates_sp.yaw = 0.0f; /* Attitude Rate Control */ - fixedwing_control2_rates(&rates_sp, gyro, &actuators); + fixedwing_att_control_rates(&rates_sp, gyro, &actuators); //REMOVEME XXX actuators.control[3] = 0.7f; @@ -153,7 +153,7 @@ int fixedwing_control2_thread_main(int argc, char *argv[]) orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); } - printf("[fixedwing_control2] exiting, stopping all motors.\n"); + printf("[fixedwing_att_control] exiting, stopping all motors.\n"); thread_running = false; /* kill all outputs */ @@ -179,7 +179,7 @@ usage(const char *reason) { if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: fixedwing_control2 {start|stop|status}\n\n"); + fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n"); exit(1); } @@ -191,7 +191,7 @@ usage(const char *reason) * The actual stack size should be set in the call * to task_create(). */ -int fixedwing_control2_main(int argc, char *argv[]) +int fixedwing_att_control_main(int argc, char *argv[]) { if (argc < 1) usage("missing command"); @@ -199,17 +199,17 @@ int fixedwing_control2_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("fixedwing_control2 already running\n"); + printf("fixedwing_att_control already running\n"); /* this is not an error */ exit(0); } thread_should_exit = false; - deamon_task = task_spawn("fixedwing_control2", + deamon_task = task_spawn("fixedwing_att_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 20, 4096, - fixedwing_control2_thread_main, + fixedwing_att_control_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); thread_running = true; exit(0); @@ -222,9 +222,9 @@ int fixedwing_control2_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tfixedwing_control2 is running\n"); + printf("\tfixedwing_att_control is running\n"); } else { - printf("\tfixedwing_control2 not started\n"); + printf("\tfixedwing_att_control not started\n"); } exit(0); } diff --git a/apps/fixedwing_control2/fixedwing_control2_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 9c6f9d591..d00909104 100644 --- a/apps/fixedwing_control2/fixedwing_control2_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -32,9 +32,10 @@ * ****************************************************************************/ /** - * @file fixedwing_control2.c + * @file fixedwing_att_control_rate.c * Implementation of a fixed wing attitude controller. */ +#include <fixedwing_att_control_rate.h> #include <nuttx/config.h> #include <stdio.h> @@ -53,14 +54,14 @@ #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/actuator_controls.h> #include <systemlib/param/param.h> #include <systemlib/pid/pid.h> #include <systemlib/geo/geo.h> #include <systemlib/systemlib.h> + + struct fw_rate_control_params { param_t yawrate_p; @@ -97,6 +98,9 @@ static int parameters_init(struct fw_rate_control_params *h) h->attrate_awu = param_find("MC_ATTRATE_AWU"); h->attrate_lim = param_find("MC_ATTRATE_LIM"); +// if(h->attrate_i == PARAM_INVALID) +// printf("FATAL MC_ATTRATE_I does not exist\n"); + return OK; } @@ -114,11 +118,12 @@ static int parameters_update(const struct fw_rate_control_params *h, struct fw_r param_get(h->attrate_awu, &(p->attrate_awu)); param_get(h->attrate_lim, &(p->attrate_lim)); + p->attrate_i = 0.01f; //TODO: as long as the parameter is not implemented + return OK; } - -int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp, +int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, const float rates[], struct actuator_controls_s *actuators) { @@ -128,23 +133,30 @@ int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp, static struct fw_rate_control_params p; static struct fw_rate_control_params h; + static PID_t roll_rate_controller; + + static uint64_t last_run = 0; + const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + if(!initialized) { parameters_init(&h); parameters_update(&h, &p); + pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu, PID_MODE_DERIVATIV_SET); //D part set to 0 because the controller layout is with a PI rate controller initialized = true; } /* load new parameters with lower rate */ if (counter % 2500 == 0) { /* update parameters from storage */ + pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu); parameters_update(&h, &p); - printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p); } - /* Roll Rate */ - float roll_error = rate_sp->roll - rates[0]; - actuators->control[0] =p.attrate_p*roll_error; + /* Roll Rate (PI) */ + float roll_rate_error = rate_sp->roll - rates[0]; + actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);; actuators->control[1] = 0; diff --git a/apps/fixedwing_control2/fixedwing_control2_rate.h b/apps/fixedwing_att_control/fixedwing_att_control_rate.h index 39aa54abe..2023353eb 100644 --- a/apps/fixedwing_control2/fixedwing_control2_rate.h +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.h @@ -35,11 +35,14 @@ /* @file Main system state machine definition */ -#ifndef FIXEDWING_CONTROL2_RATE_H_ -#define FIXEDWING_CONTROL2_RATE_H_ +#ifndef FIXEDWING_ATT_CONTROL_RATE_H_ +#define FIXEDWING_ATT_CONTROL_RATE_H_ -int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp, +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/actuator_controls.h> + +int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, const float rates[], struct actuator_controls_s *actuators); -#endif /* FIXEDWING_CONTROL2_RATE_H_ */ +#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */ diff --git a/apps/fixedwing_pos_control/Makefile b/apps/fixedwing_pos_control/Makefile new file mode 100644 index 000000000..bce391f49 --- /dev/null +++ b/apps/fixedwing_pos_control/Makefile @@ -0,0 +1,45 @@ +############################################################################ +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# +# 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. +# +############################################################################ + +# +# Fixedwing Control application +# + +APPNAME = fixedwing_pos_control +PRIORITY = SCHED_PRIORITY_MAX - 30 +STACKSIZE = 2048 + +INCLUDES = $(TOPDIR)/../mavlink/include/mavlink + +include $(APPDIR)/mk/app.mk + diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c new file mode 100644 index 000000000..892da5f09 --- /dev/null +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -0,0 +1,208 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Ivan Ovinnikov <oivan@ethz.ch> + * + * 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 fixedwing_pos_control.c + * Implementation of a fixed wing attitude controller. + */ + +#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 <arch/board/up_hrt.h> +#include <arch/board/board.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_global_position_setpoint.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 <systemlib/param/param.h> +#include <systemlib/pid/pid.h> +#include <systemlib/geo/geo.h> +#include <systemlib/systemlib.h> + +/* Prototypes */ +/** + * Deamon management function. + */ +__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int fixedwing_pos_control_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +/* Variables */ +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ + +/* Main Thread */ +int fixedwing_pos_control_thread_main(int argc, char *argv[]) +{ + /* read arguments */ + bool verbose = false; + + for (int i = 1; i < argc; i++) { + if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { + verbose = true; + } + } + + /* welcome user */ + printf("[fixedwing att_control] started\n"); + + /* declare and safely initialize all structs */ + + + /* output structs */ + struct vehicle_attitude_setpoint_s attitude_setpoint; + memset(&attitude_setpoint, 0, sizeof(attitude_setpoint)); + + /* publish attitude setpoint */ + + attitude_setpoint.roll_body = 0.0f; + attitude_setpoint.pitch_body = 0.0f; + attitude_setpoint.yaw_body = 0.0f; + orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); + + + +// /* subscribe to attitude (for attitude rate) and rate septoint */ +// + + /* Setup of loop */ +// struct pollfd fds = { .fd = att_sub, .events = POLLIN }; + + while(!thread_should_exit) + { + /* wait for a sensor update, check for exit condition every 500 ms */ +// poll(&fds, 1, 500); + sleep(500); //TODO removeme, this is for testing only + + /* Control */ + + + orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); + } + + printf("[fixedwing_pos_control] exiting.\n"); + thread_running = false; + + + close(attitude_setpoint_pub); + + fflush(stdout); + exit(0); + + return 0; + +} + +/* Startup Functions */ + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int fixedwing_pos_control_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("fixedwing_pos_control already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("fixedwing_pos_control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 20, + 4096, + fixedwing_pos_control_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + thread_running = true; + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tfixedwing_pos_control is running\n"); + } else { + printf("\tfixedwing_pos_control not started\n"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + + + diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 96a587131..4fe8f39c1 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -78,7 +78,8 @@ CONFIGURED_APPS += multirotor_att_control CONFIGURED_APPS += multirotor_pos_control CONFIGURED_APPS += px4/attitude_estimator_bm CONFIGURED_APPS += fixedwing_control -CONFIGURED_APPS += fixedwing_control2 +CONFIGURED_APPS += fixedwing_att_control +CONFIGURED_APPS += fixedwing_pos_control CONFIGURED_APPS += position_estimator CONFIGURED_APPS += attitude_estimator_ekf CONFIGURED_APPS += px4/ground_estimator |