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Diffstat (limited to 'apps/controllib/fixedwing.hpp')
| -rw-r--r-- | apps/controllib/fixedwing.hpp | 342 |
1 files changed, 0 insertions, 342 deletions
diff --git a/apps/controllib/fixedwing.hpp b/apps/controllib/fixedwing.hpp deleted file mode 100644 index 281cbb4cb..000000000 --- a/apps/controllib/fixedwing.hpp +++ /dev/null @@ -1,342 +0,0 @@ -/**************************************************************************** - * - * 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. - * - ****************************************************************************/ - -/** - * @file fixedwing.h - * - * Controller library code - */ - -#pragma once - -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/vehicle_status.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/parameter_update.h> - -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <math.h> - -#include <drivers/drv_hrt.h> -#include <poll.h> - -#include "blocks.hpp" -#include "block/UOrbSubscription.hpp" -#include "block/UOrbPublication.hpp" - -extern "C" { -#include <systemlib/geo/geo.h> -} - -namespace control -{ - -namespace fixedwing -{ - -/** - * BlockYawDamper - * - * This block has more explations to help new developers - * add their own blocks. It includes a limited explanation - * of some C++ basics. - * - * Block: The generic class describing a typical block as you - * would expect in Simulink or ScicosLab. A block can have - * parameters. It cannot have other blocks. - * - * SuperBlock: A superblock is a block that can have other - * blocks. It has methods that manage the blocks beneath it. - * - * BlockYawDamper inherits from SuperBlock publically, this - * means that any public function in SuperBlock are public within - * BlockYawDamper and may be called from outside the - * class methods. Any protected function within block - * are private to the class and may not be called from - * outside this class. Protected should be preferred - * where possible to public as it is important to - * limit access to the bare minimum to prevent - * accidental errors. - */ -class __EXPORT BlockYawDamper : public SuperBlock -{ -private: - /** - * Declaring other blocks used by this block - * - * In this section we declare all child blocks that - * this block is composed of. They are private - * members so only this block has direct access to - * them. - */ - BlockLowPass _rLowPass; - BlockHighPass _rWashout; - BlockP _r2Rdr; - - /** - * Declaring output values and accessors - * - * If we have any output values for the block we - * declare them here. Output can be directly returned - * through the update function, but outputs should be - * declared here if the information will likely be requested - * again, or if there are multiple outputs. - * - * You should only be able to set outputs from this block, - * so the outputs are declared in the private section. - * A get accessor is provided - * in the public section for other blocks to get the - * value of the output. - */ - float _rudder; -public: - /** - * BlockYawDamper Constructor - * - * The job of the constructor is to initialize all - * parameter in this block and initialize all child - * blocks. Note also, that the output values must be - * initialized here. The order of the members in the - * member initialization list should follow the - * order in which they are declared within the class. - * See the private member declarations above. - * - * Block Construction - * - * All blocks are constructed with their parent block - * and their name. This allows parameters within the - * block to construct a fully qualified name from - * concatenating the two. If the name provided to the - * block is "", then the block will use the parent - * name as it's name. This is useful in cases where - * you have a block that has parameters "MIN", "MAX", - * such as BlockLimit and you do not want an extra name - * to qualify them since the parent block has no "MIN", - * "MAX" parameters. - * - * Block Parameter Construction - * - * Block parameters are named constants, they are - * constructed using: - * BlockParam::BlockParam(Block * parent, const char * name) - * This funciton takes both a parent block and a name. - * The constructore then uses the parent name and the name of - * the paramter to ask the px4 param library if it has any - * parameters with this name. If it does, a handle to the - * parameter is retrieved. - * - * Block/ BlockParam Naming - * - * When desigining new blocks, the naming of the parameters and - * blocks determines the fully qualified name of the parameters - * within the ground station, so it is important to choose - * short, easily understandable names. Again, when a name of - * "" is passed, the parent block name is used as the value to - * prepend to paramters names. - */ - BlockYawDamper(SuperBlock *parent, const char *name); - /** - * Block deconstructor - * - * It is always a good idea to declare a virtual - * deconstructor so that upon calling delete from - * a class derived from this, all of the - * deconstructors all called, the derived class first, and - * then the base class - */ - virtual ~BlockYawDamper(); - - /** - * Block update function - * - * The job of the update function is to compute the output - * values for the block. In a simple block with one output, - * the output may be returned directly. If the output is - * required frequenly by other processses, it might be a - * good idea to declare a member to store the temporary - * variable. - */ - void update(float rCmd, float r); - - /** - * Rudder output value accessor - * - * This is a public accessor function, which means that the - * private value _rudder is returned to anyone calling - * BlockYawDamper::getRudder(). Note thate a setRudder() is - * not provided, this is because the updateParams() call - * for a block provides the mechanism for updating the - * paramter. - */ - float getRudder() { return _rudder; } -}; - -/** - * Stability augmentation system. - * Aircraft Control and Simulation, Stevens and Lewis, pg. 292, 299 - */ -class __EXPORT BlockStabilization : public SuperBlock -{ -private: - BlockYawDamper _yawDamper; - BlockLowPass _pLowPass; - BlockLowPass _qLowPass; - BlockP _p2Ail; - BlockP _q2Elv; - float _aileron; - float _elevator; -public: - BlockStabilization(SuperBlock *parent, const char *name); - virtual ~BlockStabilization(); - void update(float pCmd, float qCmd, float rCmd, - float p, float q, float r); - float getAileron() { return _aileron; } - float getElevator() { return _elevator; } - float getRudder() { return _yawDamper.getRudder(); } -}; - -/** - * Frontside/ Backside Control Systems - * - * Frontside : - * velocity error -> throttle - * altitude error -> elevator - * - * Backside : - * velocity error -> elevator - * altitude error -> throttle - * - * Backside control systems are more resilient at - * slow speeds on the back-side of the power - * required curve/ landing etc. Less performance - * than frontside at high speeds. - */ - -/** - * Waypoint Guidance block - */ -class __EXPORT BlockWaypointGuidance : public SuperBlock -{ -private: - BlockLimitSym _xtYawLimit; - BlockP _xt2Yaw; - float _psiCmd; -public: - BlockWaypointGuidance(SuperBlock *parent, const char *name); - virtual ~BlockWaypointGuidance(); - void update(vehicle_global_position_s &pos, - vehicle_attitude_s &att, - vehicle_global_position_setpoint_s &posCmd, - vehicle_global_position_setpoint_s &lastPosCmd); - float getPsiCmd() { return _psiCmd; } -}; - -/** - * UorbEnabledAutopilot - */ -class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock -{ -protected: - // subscriptions - UOrbSubscription<vehicle_attitude_s> _att; - UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd; - UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd; - UOrbSubscription<vehicle_global_position_s> _pos; - UOrbSubscription<vehicle_global_position_setpoint_s> _posCmd; - UOrbSubscription<manual_control_setpoint_s> _manual; - UOrbSubscription<vehicle_status_s> _status; - UOrbSubscription<parameter_update_s> _param_update; - // publications - UOrbPublication<actuator_controls_s> _actuators; -public: - BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name); - virtual ~BlockUorbEnabledAutopilot(); -}; - -/** - * Multi-mode Autopilot - */ -class __EXPORT BlockMultiModeBacksideAutopilot : public BlockUorbEnabledAutopilot -{ -private: - // stabilization - BlockStabilization _stabilization; - - // heading hold - BlockP _psi2Phi; - BlockP _phi2P; - BlockLimitSym _phiLimit; - - // velocity hold - BlockPID _v2Theta; - BlockPID _theta2Q; - BlockLimit _theLimit; - BlockLimit _vLimit; - - // altitude/ roc hold - BlockPID _h2Thr; - BlockPID _roc2Thr; - - // guidance - BlockWaypointGuidance _guide; - - // block params - BlockParam<float> _trimAil; - BlockParam<float> _trimElv; - BlockParam<float> _trimRdr; - BlockParam<float> _trimThr; - BlockParam<float> _vCmd; - BlockParam<float> _rocMax; - - struct pollfd _attPoll; - vehicle_global_position_setpoint_s _lastPosCmd; - enum {CH_AIL, CH_ELV, CH_RDR, CH_THR}; - uint64_t _timeStamp; -public: - BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name); - void update(); - virtual ~BlockMultiModeBacksideAutopilot(); -}; - - -} // namespace fixedwing - -} // namespace control - |