diff options
7 files changed, 29 insertions, 29 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ab7d2e6cf..7d74e0cfe 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1235,8 +1235,9 @@ int commander_thread_main(int argc, char *argv[]) } /* publish control mode */ - if (navigation_state_changed) { + if (navigation_state_changed || arming_state_changed) { /* publish new navigation state */ + control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic control_mode.counter++; control_mode.timestamp = t1; orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); 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 5cad667f6..c057ef364 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -142,16 +142,13 @@ mc_thread_main(int argc, char *argv[]) perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err"); /* welcome user */ - printf("[multirotor_att_control] starting\n"); + warnx("starting"); /* store last control mode to detect mode switches */ bool flag_control_manual_enabled = false; bool flag_control_attitude_enabled = false; - /* store if yaw position or yaw speed has been changed */ bool control_yaw_position = true; - - /* store if we stopped a yaw movement */ bool reset_yaw_sp = true; /* prepare the handle for the failsafe throttle */ @@ -211,8 +208,7 @@ mc_thread_main(int argc, char *argv[]) /* get a local copy of the current sensor values */ orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); - - /** STEP 1: Define which input is the dominating control input */ + /* 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) { @@ -220,7 +216,6 @@ mc_thread_main(int argc, char *argv[]) rates_sp.pitch = offboard_sp.p2; rates_sp.yaw = offboard_sp.p3; rates_sp.thrust = offboard_sp.p4; -// printf("thrust_rate=%8.4f\n",offboard_sp.p4); rates_sp.timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); @@ -229,13 +224,11 @@ mc_thread_main(int argc, char *argv[]) att_sp.pitch_body = offboard_sp.p2; att_sp.yaw_body = offboard_sp.p3; att_sp.thrust = offboard_sp.p4; -// printf("thrust_att=%8.4f\n",offboard_sp.p4); att_sp.timestamp = hrt_absolute_time(); /* STEP 2: publish the result to the vehicle actuators */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); } - } else if (control_mode.flag_control_manual_enabled) { /* direct manual input */ if (control_mode.flag_control_attitude_enabled) { @@ -265,7 +258,7 @@ mc_thread_main(int argc, char *argv[]) * multicopter (throttle = 0) does not make it jump up in the air * if shutting down his remote. */ - if (isfinite(manual.throttle) && manual.throttle > 0.2f) { + if (isfinite(manual.throttle) && manual.throttle > 0.2f) { // TODO use landed status instead of throttle /* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */ param_get(failsafe_throttle_handle, &failsafe_throttle); att_sp.thrust = failsafe_throttle; @@ -305,7 +298,6 @@ mc_thread_main(int argc, char *argv[]) att_sp.yaw_body = att.yaw; reset_yaw_sp = false; } - control_yaw_position = true; } @@ -347,22 +339,25 @@ mc_thread_main(int argc, char *argv[]) } } - /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ - if (control_mode.flag_control_attitude_enabled) { - multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position); + /* 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); } /* measure in what intervals the controller runs */ perf_count(mc_interval_perf); + /* run rates controller if needed */ if (control_mode.flag_control_rates_enabled) { /* get current rate setpoint */ - bool rates_sp_valid = false; - orb_check(rates_sp_sub, &rates_sp_valid); + bool rates_sp_updated = false; + orb_check(rates_sp_sub, &rates_sp_updated); - if (rates_sp_valid) { + if (rates_sp_updated) { orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp); } @@ -371,7 +366,7 @@ mc_thread_main(int argc, char *argv[]) rates[0] = att.rollspeed; rates[1] = att.pitchspeed; rates[2] = att.yawspeed; - multirotor_control_rates(&rates_sp, rates, &actuators); + multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral); } else { /* rates controller disabled, set actuators to zero for safety */ actuators.control[0] = 0.0f; @@ -391,7 +386,7 @@ mc_thread_main(int argc, char *argv[]) } /* end of poll return value check */ } - printf("[multirotor att control] stopping, disarming motors.\n"); + warnx("stopping, disarming motors"); /* kill all outputs */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 8f19c6a4b..12d16f7c7 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -166,7 +166,7 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc } void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position) + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position, bool reset_integral) { static uint64_t last_run = 0; static uint64_t last_input = 0; @@ -210,13 +210,13 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); } - /* reset integral if on ground */ - if (att_sp->thrust < 0.1f) { + /* reset integrals if needed */ + if (reset_integral) { pid_reset_integral(&pitch_controller); pid_reset_integral(&roll_controller); + //TODO pid_reset_integral(&yaw_controller); } - /* calculate current control outputs */ /* control pitch (forward) output */ @@ -229,6 +229,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s if (control_yaw_position) { /* control yaw rate */ + // TODO use pid lib /* positive error: rotate to right, negative error, rotate to left (NED frame) */ // yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw); diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.h b/src/modules/multirotor_att_control/multirotor_attitude_control.h index e78f45c47..431a435f7 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.h +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.h @@ -60,6 +60,6 @@ #include <uORB/topics/actuator_controls.h> void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position); + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position, bool reset_integral); #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */ diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index e58d357d5..0a336be47 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -152,7 +152,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru } void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators) + const float rates[], struct actuator_controls_s *actuators, bool reset_integral) { static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; @@ -193,10 +193,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f); } - /* reset integral if on ground */ - if (rate_sp->thrust < 0.01f) { + /* reset integrals if needed */ + if (reset_integral) { pid_reset_integral(&pitch_rate_controller); pid_reset_integral(&roll_rate_controller); + // TODO pid_reset_integral(&yaw_rate_controller); } /* control pitch (forward) output */ diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h index 362b5ed86..ca7794c59 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.h +++ b/src/modules/multirotor_att_control/multirotor_rate_control.h @@ -59,6 +59,6 @@ #include <uORB/topics/actuator_controls.h> void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators); + const float rates[], struct actuator_controls_s *actuators, bool reset_integral); #endif /* MULTIROTOR_RATE_CONTROL_H_ */ diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index fe169c6e6..67aeac372 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -64,6 +64,8 @@ struct vehicle_control_mode_s uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ + bool flag_armed; + bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ // XXX needs yet to be set by state machine helper |