diff options
Diffstat (limited to 'apps/multirotor_att_control/multirotor_att_control_main.c')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 81 |
1 files changed, 53 insertions, 28 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 7e390bc6c..ce1e52c1b 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -105,6 +105,7 @@ mc_thread_main(int argc, char *argv[]) memset(&rates_sp, 0, sizeof(rates_sp)); struct actuator_controls_s actuators; + memset(&actuators, 0, sizeof(actuators)); /* subscribe to attitude, motor setpoints and system state */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); @@ -151,10 +152,17 @@ mc_thread_main(int argc, char *argv[]) bool flag_control_attitude_enabled = false; bool flag_system_armed = false; + /* store if yaw position or yaw speed has been changed */ + bool control_yaw_position = true; + + /* store if we stopped a yaw movement */ + bool first_time_after_yaw_speed_control = true; + /* prepare the handle for the failsafe throttle */ param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR"); float failsafe_throttle = 0.0f; + while (!thread_should_exit) { /* wait for a sensor update, check for exit condition every 500 ms */ @@ -205,28 +213,27 @@ mc_thread_main(int argc, char *argv[]) /** STEP 1: Define which input is the dominating control input */ if (state.flag_control_offboard_enabled) { - /* offboard inputs */ - if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { - rates_sp.roll = offboard_sp.p1; - 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); - } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { - att_sp.roll_body = offboard_sp.p1; - 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); - } - - /* decide wether we want rate or position input */ - } + /* offboard inputs */ + if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { + rates_sp.roll = offboard_sp.p1; + 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); + } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { + att_sp.roll_body = offboard_sp.p1; + 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); + } + /* decide wether we want rate or position input */ + } else if (state.flag_control_manual_enabled) { /* manual inputs, from RC control or joystick */ @@ -273,13 +280,30 @@ mc_thread_main(int argc, char *argv[]) att_sp.roll_body = manual.roll; att_sp.pitch_body = manual.pitch; - /* only move setpoint if manual input is != 0 */ - // XXX turn into param - if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { - att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f; - } else if (manual.throttle <= 0.3f) { + /* set attitude if arming */ + if (!flag_control_attitude_enabled && state.flag_system_armed) { att_sp.yaw_body = att.yaw; } + + /* only move setpoint if manual input is != 0 */ + + if(manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_POS) { + if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { + rates_sp.yaw = manual.yaw; + control_yaw_position = false; + first_time_after_yaw_speed_control = true; + } else { + if (first_time_after_yaw_speed_control) { + att_sp.yaw_body = att.yaw; + first_time_after_yaw_speed_control = false; + } + control_yaw_position = true; + } + } else if (manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_RATE) { + rates_sp.yaw = manual.yaw; + control_yaw_position = false; + } + att_sp.thrust = manual.throttle; att_sp.timestamp = hrt_absolute_time(); } @@ -302,7 +326,8 @@ mc_thread_main(int argc, char *argv[]) /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ if (state.flag_control_attitude_enabled) { - multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); + multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position); + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); } |