diff options
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_apps | 2 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v1_default.mk | 2 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v2_default.mk | 2 | ||||
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp (renamed from src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp) | 17 | ||||
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_params.c | 53 | ||||
-rw-r--r-- | src/modules/mc_att_control/module.mk (renamed from src/modules/mc_att_control_vector/module.mk) | 8 | ||||
-rw-r--r-- | src/modules/mc_att_control_vector/mc_att_control_vector_params.c | 20 |
7 files changed, 64 insertions, 40 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps index 4e0d68147..96fe32c8a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_apps +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -16,7 +16,7 @@ position_estimator_inav start # # Start attitude control # -mc_att_control_vector start +mc_att_control start # # Start position control diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index e8c0ef981..51be7e1a1 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -82,7 +82,7 @@ MODULES += modules/position_estimator_inav # MODULES += modules/fw_pos_control_l1 MODULES += modules/fw_att_control -MODULES += modules/mc_att_control_vector +MODULES += modules/mc_att_control MODULES += modules/mc_pos_control #MODULES += examples/flow_position_control #MODULES += examples/flow_speed_control diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 9dd052a4b..ab05d4e3d 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -85,7 +85,7 @@ MODULES += examples/flow_position_estimator #MODULES += modules/segway # XXX Needs GCC 4.7 fix MODULES += modules/fw_pos_control_l1 MODULES += modules/fw_att_control -MODULES += modules/mc_att_control_vector +MODULES += modules/mc_att_control MODULES += modules/mc_pos_control # diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 239bd5570..93974c742 100644 --- a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * Author: Tobias Naegeli <naegelit@student.ethz.ch> * Lorenz Meier <lm@inf.ethz.ch> * Anton Babushkin <anton.babushkin@me.com> @@ -35,17 +35,8 @@ ****************************************************************************/ /** - * @file mc_att_control_vector_main.c + * @file mc_att_control_main.c * Implementation of a multicopter attitude controller based on desired rotation matrix. - * - * References - * [1] Daniel Mellinger and Vijay Kumar, "Minimum Snap Trajectory Generation and Control for Quadrotors", - * http://www.seas.upenn.edu/~dmel/mellingerICRA11.pdf - * - * @author Tobias Naegeli <naegelit@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <anton.babushkin@me.com> - * */ #include <nuttx/config.h> @@ -82,7 +73,7 @@ * * @ingroup apps */ -extern "C" __EXPORT int mc_att_control_vector_main(int argc, char *argv[]); +extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]); #define MIN_TAKEOFF_THROTTLE 0.3f #define YAW_DEADZONE 0.01f @@ -698,7 +689,7 @@ MulticopterAttitudeControl::start() return OK; } -int mc_att_control_vector_main(int argc, char *argv[]) +int mc_att_control_main(int argc, char *argv[]) { if (argc < 1) errx(1, "usage: mc_att_control_vector {start|stop|status}"); diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c new file mode 100644 index 000000000..299cef6c8 --- /dev/null +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -0,0 +1,53 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * Author: @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * + * 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 mc_att_control_params.c + * Parameters for multicopter attitude controller. + */ + +#include <systemlib/param/param.h> + +PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f); +PARAM_DEFINE_FLOAT(MC_YAW_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f); +PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); diff --git a/src/modules/mc_att_control_vector/module.mk b/src/modules/mc_att_control/module.mk index de0675df8..64b876f69 100644 --- a/src/modules/mc_att_control_vector/module.mk +++ b/src/modules/mc_att_control/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2013, 2014 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 @@ -35,7 +35,7 @@ # Multirotor attitude controller (vector based, no Euler singularities) # -MODULE_COMMAND = mc_att_control_vector +MODULE_COMMAND = mc_att_control -SRCS = mc_att_control_vector_main.cpp \ - mc_att_control_vector_params.c +SRCS = mc_att_control_main.cpp \ + mc_att_control_params.c diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_params.c b/src/modules/mc_att_control_vector/mc_att_control_vector_params.c deleted file mode 100644 index 613d1945b..000000000 --- a/src/modules/mc_att_control_vector/mc_att_control_vector_params.c +++ /dev/null @@ -1,20 +0,0 @@ -/* - * mc_att_control_vector_params.c - * - * Created on: 26.12.2013 - * Author: ton - */ - -#include <systemlib/param/param.h> - -/* multicopter attitude controller parameters */ -PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 2.0f); -PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f); -PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); |