diff options
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 119 |
1 files changed, 72 insertions, 47 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 17b1028f9..f139c25f4 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -108,14 +108,14 @@ private: bool _task_should_exit; /**< if true, sensor task should exit */ int _control_task; /**< task handle for sensor task */ - int _att_sub; /**< vehicle attitude subscription */ - int _accel_sub; /**< accelerometer subscription */ + int _att_sub; /**< vehicle attitude subscription */ + int _accel_sub; /**< accelerometer subscription */ int _att_sp_sub; /**< vehicle attitude setpoint */ int _attitude_sub; /**< raw rc channels data subscription */ int _airspeed_sub; /**< airspeed subscription */ int _vcontrol_mode_sub; /**< vehicle status subscription */ - int _params_sub; /**< notification of parameter updates */ - int _manual_sub; /**< notification of manual control updates */ + int _params_sub; /**< notification of parameter updates */ + int _manual_sub; /**< notification of manual control updates */ int _global_pos_sub; /**< global position subscription */ orb_advert_t _rate_sp_pub; /**< rate setpoint publication */ @@ -123,20 +123,19 @@ private: orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */ orb_advert_t _actuators_1_pub; /**< actuator control group 1 setpoint (Airframe) */ - struct vehicle_attitude_s _att; /**< vehicle attitude */ - struct accel_report _accel; /**< body frame accelerations */ + struct vehicle_attitude_s _att; /**< vehicle attitude */ + struct accel_report _accel; /**< body frame accelerations */ struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ struct manual_control_setpoint_s _manual; /**< r/c channel data */ - struct airspeed_s _airspeed; /**< airspeed */ - struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */ + struct airspeed_s _airspeed; /**< airspeed */ + struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */ struct actuator_controls_s _actuators; /**< actuator control inputs */ - struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */ - struct vehicle_global_position_s _global_pos; /**< global position */ + struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */ + struct vehicle_global_position_s _global_pos; /**< global position */ perf_counter_t _loop_perf; /**< loop performance counter */ bool _setpoint_valid; /**< flag if the position control setpoint is valid */ - bool _airspeed_valid; /**< flag if the airspeed measurement is valid */ struct { float tconst; @@ -166,6 +165,15 @@ private: float airspeed_min; float airspeed_trim; float airspeed_max; + + float trim_roll; + float trim_pitch; + float trim_yaw; + float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */ + float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */ + float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */ + float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */ + } _parameters; /**< local copies of interesting parameters */ struct { @@ -197,6 +205,12 @@ private: param_t airspeed_min; param_t airspeed_trim; param_t airspeed_max; + + param_t trim_roll; + param_t trim_pitch; + param_t trim_yaw; + param_t rollsp_offset_deg; + param_t pitchsp_offset_deg; } _parameter_handles; /**< handles for interesting parameters */ @@ -230,7 +244,7 @@ private: /** * Check for airspeed updates. */ - bool vehicle_airspeed_poll(); + void vehicle_airspeed_poll(); /** * Check for accel updates. @@ -293,19 +307,18 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), /* states */ - _setpoint_valid(false), - _airspeed_valid(false) + _setpoint_valid(false) { /* safely initialize structs */ - _att = {0}; - _accel = {0}; - _att_sp = {0}; - _manual = {0}; - _airspeed = {0}; - _vcontrol_mode = {0}; - _actuators = {0}; - _actuators_airframe = {0}; - _global_pos = {0}; + _att = {}; + _accel = {}; + _att_sp = {}; + _manual = {}; + _airspeed = {}; + _vcontrol_mode = {}; + _actuators = {}; + _actuators_airframe = {}; + _global_pos = {}; _parameter_handles.tconst = param_find("FW_ATT_TC"); @@ -335,6 +348,12 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN"); + _parameter_handles.trim_roll = param_find("TRIM_ROLL"); + _parameter_handles.trim_pitch = param_find("TRIM_PITCH"); + _parameter_handles.trim_yaw = param_find("TRIM_YAW"); + _parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF"); + _parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF"); + /* fetch initial parameter values */ parameters_update(); } @@ -395,6 +414,15 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim)); param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max)); + param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll)); + param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch)); + param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw)); + param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg)); + param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg)); + _parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg); + _parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg); + + /* pitch control parameters */ _pitch_ctrl.set_time_constant(_parameters.tconst); _pitch_ctrl.set_k_p(_parameters.p_p); @@ -452,7 +480,7 @@ FixedwingAttitudeControl::vehicle_manual_poll() } } -bool +void FixedwingAttitudeControl::vehicle_airspeed_poll() { /* check if there is a new position */ @@ -462,10 +490,7 @@ FixedwingAttitudeControl::vehicle_airspeed_poll() if (airspeed_updated) { orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed); // warnx("airspeed poll: ind: %.4f, true: %.4f", _airspeed.indicated_airspeed_m_s, _airspeed.true_airspeed_m_s); - return true; } - - return false; } void @@ -539,7 +564,7 @@ FixedwingAttitudeControl::task_main() parameters_update(); /* get an initial update for all sensor and status data */ - (void)vehicle_airspeed_poll(); + vehicle_airspeed_poll(); vehicle_setpoint_poll(); vehicle_accel_poll(); vehicle_control_mode_poll(); @@ -596,7 +621,7 @@ FixedwingAttitudeControl::task_main() /* load local copies */ orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); - _airspeed_valid = vehicle_airspeed_poll(); + vehicle_airspeed_poll(); vehicle_setpoint_poll(); @@ -636,9 +661,9 @@ FixedwingAttitudeControl::task_main() float airspeed; /* if airspeed is smaller than min, the sensor is not giving good readings */ - if (!_airspeed_valid || - (_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) || - !isfinite(_airspeed.indicated_airspeed_m_s)) { + if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) || + !isfinite(_airspeed.indicated_airspeed_m_s) || + hrt_elapsed_time(&_airspeed.timestamp) > 1e6) { airspeed = _parameters.airspeed_trim; } else { @@ -648,13 +673,13 @@ FixedwingAttitudeControl::task_main() float airspeed_scaling = _parameters.airspeed_trim / airspeed; //warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling); - float roll_sp = 0.0f; - float pitch_sp = 0.0f; + float roll_sp = _parameters.rollsp_offset_rad; + float pitch_sp = _parameters.pitchsp_offset_rad; float throttle_sp = 0.0f; if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) { - roll_sp = _att_sp.roll_body; - pitch_sp = _att_sp.pitch_body; + roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad; + pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad; throttle_sp = _att_sp.thrust; /* reset integrals where needed */ @@ -670,9 +695,13 @@ FixedwingAttitudeControl::task_main() * With this mapping the stick angle is a 1:1 representation of * the commanded attitude. If more than 45 degrees are desired, * a scaling parameter can be applied to the remote. + * + * The trim gets subtracted here from the manual setpoint to get + * the intended attitude setpoint. Later, after the rate control step the + * trim is added again to the control signal. */ - roll_sp = _manual.roll * 0.75f; - pitch_sp = _manual.pitch * 0.75f; + roll_sp = (_manual.roll - _parameters.trim_roll) * 0.75f + _parameters.rollsp_offset_rad; + pitch_sp = (_manual.pitch - _parameters.trim_pitch) * 0.75f + _parameters.pitchsp_offset_rad; throttle_sp = _manual.throttle; _actuators.control[4] = _manual.flaps; @@ -685,7 +714,7 @@ FixedwingAttitudeControl::task_main() att_sp.timestamp = hrt_absolute_time(); att_sp.roll_body = roll_sp; att_sp.pitch_body = pitch_sp; - att_sp.yaw_body = 0.0f; + att_sp.yaw_body = 0.0f - _parameters.trim_yaw; att_sp.thrust = throttle_sp; /* lazily publish the setpoint only once available */ @@ -719,12 +748,12 @@ FixedwingAttitudeControl::task_main() speed_body_u, speed_body_v, speed_body_w, _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude - /* Run attitude RATE controllers which need the desired attitudes from above */ + /* Run attitude RATE controllers which need the desired attitudes from above, add trim */ float roll_u = _roll_ctrl.control_bodyrate(_att.pitch, _att.rollspeed, _att.yawspeed, _yaw_ctrl.get_desired_rate(), _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); - _actuators.control[0] = (isfinite(roll_u)) ? roll_u : 0.0f; + _actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll; if (!isfinite(roll_u)) { warnx("roll_u %.4f", roll_u); } @@ -733,7 +762,7 @@ FixedwingAttitudeControl::task_main() _att.pitchspeed, _att.yawspeed, _yaw_ctrl.get_desired_rate(), _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); - _actuators.control[1] = (isfinite(pitch_u)) ? pitch_u : 0.0f; + _actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch; if (!isfinite(pitch_u)) { warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f", pitch_u, _yaw_ctrl.get_desired_rate(), airspeed, airspeed_scaling, roll_sp, pitch_sp, _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate(), _att_sp.roll_body); @@ -743,7 +772,7 @@ FixedwingAttitudeControl::task_main() _att.pitchspeed, _att.yawspeed, _pitch_ctrl.get_desired_rate(), _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); - _actuators.control[2] = (isfinite(yaw_u)) ? yaw_u : 0.0f; + _actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw; if (!isfinite(yaw_u)) { warnx("yaw_u %.4f", yaw_u); } @@ -757,10 +786,6 @@ FixedwingAttitudeControl::task_main() warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", roll_sp, pitch_sp); } - // warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown", - // airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1], - // _actuators.control[2], _actuators.control[3]); - /* * Lazily publish the rate setpoint (for analysis, the actuators are published below) * only once available |