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Diffstat (limited to 'src/modules/controllib/fixedwing.cpp')
| -rw-r--r-- | src/modules/controllib/fixedwing.cpp | 379 |
1 files changed, 0 insertions, 379 deletions
diff --git a/src/modules/controllib/fixedwing.cpp b/src/modules/controllib/fixedwing.cpp deleted file mode 100644 index 77b2ac806..000000000 --- a/src/modules/controllib/fixedwing.cpp +++ /dev/null @@ -1,379 +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.cpp - * - * Controller library code - */ - -#include "fixedwing.hpp" - -namespace control -{ - -namespace fixedwing -{ - -BlockYawDamper::BlockYawDamper(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _rLowPass(this, "R_LP"), - _rWashout(this, "R_HP"), - _r2Rdr(this, "R2RDR"), - _rudder(0) -{ -} - -BlockYawDamper::~BlockYawDamper() {}; - -void BlockYawDamper::update(float rCmd, float r, float outputScale) -{ - _rudder = outputScale*_r2Rdr.update(rCmd - - _rWashout.update(_rLowPass.update(r))); -} - -BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _yawDamper(this, ""), - _pLowPass(this, "P_LP"), - _qLowPass(this, "Q_LP"), - _p2Ail(this, "P2AIL"), - _q2Elv(this, "Q2ELV"), - _aileron(0), - _elevator(0) -{ -} - -BlockStabilization::~BlockStabilization() {}; - -void BlockStabilization::update(float pCmd, float qCmd, float rCmd, - float p, float q, float r, float outputScale) -{ - _aileron = outputScale*_p2Ail.update( - pCmd - _pLowPass.update(p)); - _elevator = outputScale*_q2Elv.update( - qCmd - _qLowPass.update(q)); - _yawDamper.update(rCmd, r, outputScale); -} - -BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _xtYawLimit(this, "XT2YAW"), - _xt2Yaw(this, "XT2YAW"), - _psiCmd(0) -{ -} - -BlockWaypointGuidance::~BlockWaypointGuidance() {}; - -void BlockWaypointGuidance::update(vehicle_global_position_s &pos, - vehicle_attitude_s &att, - vehicle_global_position_setpoint_s &posCmd, - vehicle_global_position_setpoint_s &lastPosCmd) -{ - - // heading to waypoint - float psiTrack = get_bearing_to_next_waypoint( - (double)pos.lat / (double)1e7d, - (double)pos.lon / (double)1e7d, - (double)posCmd.lat / (double)1e7d, - (double)posCmd.lon / (double)1e7d); - - // cross track - struct crosstrack_error_s xtrackError; - get_distance_to_line(&xtrackError, - (double)pos.lat / (double)1e7d, - (double)pos.lon / (double)1e7d, - (double)lastPosCmd.lat / (double)1e7d, - (double)lastPosCmd.lon / (double)1e7d, - (double)posCmd.lat / (double)1e7d, - (double)posCmd.lon / (double)1e7d); - - _psiCmd = _wrap_2pi(psiTrack - - _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance))); -} - -BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - // subscriptions - _att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20), - _attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20), - _ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20), - _pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20), - _posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20), - _manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20), - _status(&getSubscriptions(), ORB_ID(vehicle_status), 20), - _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz - // publications - _actuators(&getPublications(), ORB_ID(actuator_controls_0)) -{ -} - -BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {}; - -BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) : - BlockUorbEnabledAutopilot(parent, name), - _stabilization(this, ""), // no name needed, already unique - - // heading hold - _psi2Phi(this, "PSI2PHI"), - _phi2P(this, "PHI2P"), - _phiLimit(this, "PHI_LIM"), - - // velocity hold - _v2Theta(this, "V2THE"), - _theta2Q(this, "THE2Q"), - _theLimit(this, "THE"), - _vLimit(this, "V"), - - // altitude/climb rate hold - _h2Thr(this, "H2THR"), - _cr2Thr(this, "CR2THR"), - - // guidance block - _guide(this, ""), - - _trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */ - _trimElv(this, "TRIM_PITCH", false), /* general pitch trim */ - _trimRdr(this, "TRIM_YAW", false), /* general yaw trim */ - _trimThr(this, "TRIM_THR"), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */ - _trimV(this, "TRIM_V"), /* FWB_ specific trim velocity (full name : FWB_TRIM_V) */ - - _vCmd(this, "V_CMD"), - _crMax(this, "CR_MAX"), - _attPoll(), - _lastPosCmd(), - _timeStamp(0) -{ - _attPoll.fd = _att.getHandle(); - _attPoll.events = POLLIN; -} - -void BlockMultiModeBacksideAutopilot::update() -{ - // wait for a sensor update, check for exit condition every 100 ms - if (poll(&_attPoll, 1, 100) < 0) return; // poll error - - uint64_t newTimeStamp = hrt_absolute_time(); - float dt = (newTimeStamp - _timeStamp) / 1.0e6f; - _timeStamp = newTimeStamp; - - // check for sane values of dt - // to prevent large control responses - if (dt > 1.0f || dt < 0) return; - - // set dt for all child blocks - setDt(dt); - - // store old position command before update if new command sent - if (_posCmd.updated()) { - _lastPosCmd = _posCmd.getData(); - } - - // check for new updates - if (_param_update.updated()) updateParams(); - - // get new information from subscriptions - updateSubscriptions(); - - // default all output to zero unless handled by mode - for (unsigned i = 4; i < NUM_ACTUATOR_CONTROLS; i++) - _actuators.control[i] = 0.0f; - - // only update guidance in auto mode - if (_status.state_machine == SYSTEM_STATE_AUTO) { - // update guidance - _guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current); - } - - // XXX handle STABILIZED (loiter on spot) as well - // once the system switches from manual or auto to stabilized - // the setpoint should update to loitering around this position - - // handle autopilot modes - if (_status.state_machine == SYSTEM_STATE_AUTO || - _status.state_machine == SYSTEM_STATE_STABILIZED) { - - // update guidance - _guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current); - - // calculate velocity, XXX should be airspeed, but using ground speed for now - // for the purpose of control we will limit the velocity feedback between - // the min/max velocity - float v = _vLimit.update(sqrtf( - _pos.vx * _pos.vx + - _pos.vy * _pos.vy + - _pos.vz * _pos.vz)); - - // limit velocity command between min/max velocity - float vCmd = _vLimit.update(_vCmd.get()); - - // altitude hold - float dThrottle = _h2Thr.update(_posCmd.current.altitude - _pos.alt); - - // heading hold - float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw); - float phiCmd = _phiLimit.update(_psi2Phi.update(psiError)); - float pCmd = _phi2P.update(phiCmd - _att.roll); - - // velocity hold - // negative sign because nose over to increase speed - float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v)); - float qCmd = _theta2Q.update(thetaCmd - _att.pitch); - - // yaw rate cmd - float rCmd = 0; - - // stabilization - float velocityRatio = _trimV.get()/v; - float outputScale = velocityRatio*velocityRatio; - // this term scales the output based on the dynamic pressure change from trim - _stabilization.update(pCmd, qCmd, rCmd, - _att.rollspeed, _att.pitchspeed, _att.yawspeed, - outputScale); - - // output - _actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get(); - _actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get(); - _actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get(); - _actuators.control[CH_THR] = dThrottle + _trimThr.get(); - - // XXX limit throttle to manual setting (safety) for now. - // If it turns out to be confusing, it can be removed later once - // a first binary release can be targeted. - // This is not a hack, but a design choice. - - /* do not limit in HIL */ - if (!_status.flag_hil_enabled) { - /* limit to value of manual throttle */ - _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? - _actuators.control[CH_THR] : _manual.throttle; - } - - } else if (_status.state_machine == SYSTEM_STATE_MANUAL) { - - if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { - _actuators.control[CH_AIL] = _manual.roll; - _actuators.control[CH_ELV] = _manual.pitch; - _actuators.control[CH_RDR] = _manual.yaw; - _actuators.control[CH_THR] = _manual.throttle; - - } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { - - // calculate velocity, XXX should be airspeed, but using ground speed for now - // for the purpose of control we will limit the velocity feedback between - // the min/max velocity - float v = _vLimit.update(sqrtf( - _pos.vx * _pos.vx + - _pos.vy * _pos.vy + - _pos.vz * _pos.vz)); - - // 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 = _cr2Thr.update( - //_crMax.get()*_manual.pitch - _pos.vz); - - // roll channel -> bank angle - float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax()); - float pCmd = _phi2P.update(phiCmd - _att.roll); - - // throttle channel -> velocity - // negative sign because nose over to increase speed - float vCmd = _vLimit.update(_manual.throttle * - (_vLimit.getMax() - _vLimit.getMin()) + - _vLimit.getMin()); - float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v)); - float qCmd = _theta2Q.update(thetaCmd - _att.pitch); - - // yaw rate cmd - float rCmd = 0; - - // stabilization - _stabilization.update(pCmd, qCmd, rCmd, - _att.rollspeed, _att.pitchspeed, _att.yawspeed); - - // output - _actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get(); - _actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get(); - _actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get(); - - // currently using manual throttle - // XXX if you enable this watch out, vz might be very noisy - //_actuators.control[CH_THR] = dThrottle + _trimThr.get(); - _actuators.control[CH_THR] = _manual.throttle; - - // XXX limit throttle to manual setting (safety) for now. - // If it turns out to be confusing, it can be removed later once - // a first binary release can be targeted. - // This is not a hack, but a design choice. - - /* do not limit in HIL */ - if (!_status.flag_hil_enabled) { - /* limit to value of manual throttle */ - _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? - _actuators.control[CH_THR] : _manual.throttle; - } - } - - // body rates controller, disabled for now - else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) { - - _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw, - _att.rollspeed, _att.pitchspeed, _att.yawspeed); - - _actuators.control[CH_AIL] = _stabilization.getAileron(); - _actuators.control[CH_ELV] = _stabilization.getElevator(); - _actuators.control[CH_RDR] = _stabilization.getRudder(); - _actuators.control[CH_THR] = _manual.throttle; - } - } - - // update all publications - updatePublications(); -} - -BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot() -{ - // send one last publication when destroyed, setting - // all output to zero - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) - _actuators.control[i] = 0.0f; - - updatePublications(); -} - -} // namespace fixedwing - -} // namespace control - |