diff options
-rw-r--r-- | apps/controllib/fixedwing.cpp | 10 | ||||
-rw-r--r-- | apps/controllib/fixedwing.hpp | 6 | ||||
-rw-r--r-- | apps/examples/control_demo/params.c | 14 | ||||
-rw-r--r-- | apps/mavlink/mavlink_receiver.c | 122 |
4 files changed, 17 insertions, 135 deletions
diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp index 6309a1225..7be38015c 100644 --- a/apps/controllib/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp @@ -156,9 +156,9 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par _theLimit(this, "THE"), _vLimit(this, "V"), - // altitude/roc hold + // altitude/climb rate hold _h2Thr(this, "H2THR"), - _roc2Thr(this, "ROC2THR"), + _cr2Thr(this, "CR2THR"), // guidance block _guide(this, ""), @@ -170,7 +170,7 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par _trimV(this, "TRIM_V"), /* FWB_ specific trim velocity (full name : FWB_TRIM_V) */ _vCmd(this, "V_CMD"), - _rocMax(this, "ROC_MAX"), + _crMax(this, "CR_MAX"), _attPoll(), _lastPosCmd(), _timeStamp(0) @@ -301,8 +301,8 @@ void BlockMultiModeBacksideAutopilot::update() // pitch channel -> rate of climb // TODO, might want to put a gain on this, otherwise commanding // from +1 -> -1 m/s for rate of climb - //float dThrottle = _roc2Thr.update( - //_rocMax.get()*_manual.pitch - _pos.vz); + //float dThrottle = _cr2Thr.update( + //_crMax.get()*_manual.pitch - _pos.vz); // roll channel -> bank angle float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax()); diff --git a/apps/controllib/fixedwing.hpp b/apps/controllib/fixedwing.hpp index c908ea237..53d0cf893 100644 --- a/apps/controllib/fixedwing.hpp +++ b/apps/controllib/fixedwing.hpp @@ -311,9 +311,9 @@ private: BlockLimit _theLimit; BlockLimit _vLimit; - // altitude/ roc hold + // altitude/ climb rate hold BlockPID _h2Thr; - BlockPID _roc2Thr; + BlockPID _cr2Thr; // guidance BlockWaypointGuidance _guide; @@ -325,7 +325,7 @@ private: BlockParam<float> _trimThr; BlockParam<float> _trimV; BlockParam<float> _vCmd; - BlockParam<float> _rocMax; + BlockParam<float> _crMax; struct pollfd _attPoll; vehicle_global_position_setpoint_s _lastPosCmd; diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c index cce38c3ec..db30af416 100644 --- a/apps/examples/control_demo/params.c +++ b/apps/examples/control_demo/params.c @@ -59,14 +59,14 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity // rate of climb // this is what rate of climb is commanded (in m/s) // when the pitch stick is fully defelcted in simple mode -PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f); +PARAM_DEFINE_FLOAT(FWB_CR_MAX, 1.0f); -// rate of climb -> thr -PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // rate of climb to throttle PID -PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f); +// climb rate -> thr +PARAM_DEFINE_FLOAT(FWB_CR2THR_P, 0.01f); // rate of climb to throttle PID +PARAM_DEFINE_FLOAT(FWB_CR2THR_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_I_MAX, 0.0f); PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1) PARAM_DEFINE_FLOAT(FWB_TRIM_V, 12.0f); // trim velocity, m/s diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index 22c2fcdad..2ebfc5a10 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -308,82 +308,6 @@ handle_message(mavlink_message_t *msg) uint64_t timestamp = hrt_absolute_time(); - /* TODO, set ground_press/ temp during calib */ - static const float ground_press = 1013.25f; // mbar - static const float ground_tempC = 21.0f; - static const float ground_alt = 0.0f; - static const float T0 = 273.15; - static const float R = 287.05f; - static const float g = 9.806f; - - if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) { - - mavlink_raw_imu_t imu; - mavlink_msg_raw_imu_decode(msg, &imu); - - /* packet counter */ - static uint16_t hil_counter = 0; - static uint16_t hil_frames = 0; - static uint64_t old_timestamp = 0; - - /* sensors general */ - hil_sensors.timestamp = imu.time_usec; - - /* hil gyro */ - static const float mrad2rad = 1.0e-3f; - hil_sensors.gyro_counter = hil_counter; - hil_sensors.gyro_raw[0] = imu.xgyro; - hil_sensors.gyro_raw[1] = imu.ygyro; - hil_sensors.gyro_raw[2] = imu.zgyro; - hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad; - hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad; - hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad; - - /* accelerometer */ - hil_sensors.accelerometer_counter = hil_counter; - static const float mg2ms2 = 9.8f / 1000.0f; - hil_sensors.accelerometer_raw[0] = imu.xacc; - hil_sensors.accelerometer_raw[1] = imu.yacc; - hil_sensors.accelerometer_raw[2] = imu.zacc; - hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc; - hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc; - hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc; - hil_sensors.accelerometer_mode = 0; // TODO what is this? - hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 - - /* adc */ - hil_sensors.adc_voltage_v[0] = 0; - hil_sensors.adc_voltage_v[1] = 0; - hil_sensors.adc_voltage_v[2] = 0; - - /* magnetometer */ - float mga2ga = 1.0e-3f; - hil_sensors.magnetometer_counter = hil_counter; - hil_sensors.magnetometer_raw[0] = imu.xmag; - hil_sensors.magnetometer_raw[1] = imu.ymag; - hil_sensors.magnetometer_raw[2] = imu.zmag; - hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga; - hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga; - hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga; - hil_sensors.magnetometer_range_ga = 32.7f; // int16 - hil_sensors.magnetometer_mode = 0; // TODO what is this - hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; - - /* publish */ - orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); - - // increment counters - hil_counter += 1 ; - hil_frames += 1 ; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil imu at %d hz\n", hil_frames/10); - old_timestamp = timestamp; - hil_frames = 0; - } - } - if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) { mavlink_highres_imu_t imu; @@ -437,13 +361,9 @@ handle_message(mavlink_message_t *msg) hil_sensors.magnetometer_mode = 0; // TODO what is this hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; + /* baro */ hil_sensors.baro_pres_mbar = imu.abs_pressure; - - float tempC = imu.temperature; - float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; - float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / imu.abs_pressure); - - hil_sensors.baro_alt_meter = h; + hil_sensors.baro_alt_meter = imu.pressure_alt; hil_sensors.baro_temp_celcius = imu.temperature; hil_sensors.gyro_counter = hil_counter; @@ -516,44 +436,6 @@ handle_message(mavlink_message_t *msg) } } - if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) { - - mavlink_raw_pressure_t press; - mavlink_msg_raw_pressure_decode(msg, &press); - - /* packet counter */ - static uint16_t hil_counter = 0; - static uint16_t hil_frames = 0; - static uint64_t old_timestamp = 0; - - /* sensors general */ - hil_sensors.timestamp = press.time_usec; - - /* baro */ - - float tempC = press.temperature / 100.0f; - float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; - float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs); - hil_sensors.baro_counter = hil_counter; - hil_sensors.baro_pres_mbar = press.press_abs; - hil_sensors.baro_alt_meter = h; - hil_sensors.baro_temp_celcius = tempC; - - /* publish */ - orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); - - // increment counters - hil_counter += 1 ; - hil_frames += 1 ; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil pressure at %d hz\n", hil_frames/10); - old_timestamp = timestamp; - hil_frames = 0; - } - } - if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) { mavlink_hil_state_t hil_state; |