diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_base.cpp')
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.cpp | 120 |
1 files changed, 10 insertions, 110 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp index baf2bfe65..d21deb715 100644 --- a/src/modules/mc_att_control/mc_att_control_base.cpp +++ b/src/modules/mc_att_control/mc_att_control_base.cpp @@ -31,7 +31,7 @@ /** * @file mc_att_control_base.h - * + * * @author Roman Bapst <bapstr@ethz.ch> * */ @@ -47,13 +47,12 @@ using namespace std; #endif MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() : + _task_should_exit(false), + _control_task(-1), - _task_should_exit(false), _control_task(-1), - - _actuators_0_circuit_breaker_enabled(false), + _actuators_0_circuit_breaker_enabled(false), - /* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) + _publish_att_sp(false) { memset(&_v_att, 0, sizeof(_v_att)); @@ -82,38 +81,14 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() : _att_control.zero(); _I.identity(); - - // setup standard gains - _params.att_p(0) = 5.0; - _params.rate_p(0) = 0.05; - _params.rate_i(0) = 0.0; - _params.rate_d(0) = 0.003; - /* pitch gains */ - _params.att_p(1) = 5.0; - _params.rate_p(1) = 0.05; - _params.rate_i(1) = 0.0; - _params.rate_d(1) = 0.003; - /* yaw gains */ - _params.att_p(2) = 2.8; - _params.rate_p(2) = 0.2; - _params.rate_i(2) = 0.1; - _params.rate_d(2) = 0.0; - _params.yaw_rate_max = 0.5; - _params.yaw_ff = 0.5; - _params.man_roll_max = 0.6; - _params.man_pitch_max = 0.6; - _params.man_yaw_max = 0.6; } MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() { } -void MulticopterAttitudeControlBase::vehicle_attitude_setpoint_poll() { -} - void MulticopterAttitudeControlBase::control_attitude(float dt) { float yaw_sp_move_rate = 0.0f; - bool publish_att_sp = false; + _publish_att_sp = false; if (_v_control_mode.flag_control_manual_enabled) { /* manual input, set or modify attitude setpoint */ @@ -127,7 +102,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { if (!_v_control_mode.flag_control_climb_rate_enabled) { /* pass throttle directly if not in altitude stabilized mode */ _v_att_sp.thrust = _manual_control_sp.z; - publish_att_sp = true; + _publish_att_sp = true; } if (!_armed.armed) { @@ -156,7 +131,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max); } _v_att_sp.R_valid = false; - publish_att_sp = true; + _publish_att_sp = true; } /* reset yaw setpint to current position if needed */ @@ -164,7 +139,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { _reset_yaw_sp = false; _v_att_sp.yaw_body = _v_att.yaw; _v_att_sp.R_valid = false; - publish_att_sp = true; + _publish_att_sp = true; } if (!_v_control_mode.flag_control_velocity_enabled) { @@ -173,7 +148,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { _v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max; _v_att_sp.R_valid = false; - publish_att_sp = true; + _publish_att_sp = true; } } else { @@ -204,20 +179,6 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { _v_att_sp.R_valid = true; } -// /* publish the attitude setpoint if needed */ -// if (publish_att_sp) { -// _v_att_sp.timestamp = hrt_absolute_time(); -// -// if (_att_sp_pub > 0) { -// orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, -// &_v_att_sp); -// -// } else { -// _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), -// &_v_att_sp); -// } -// } - /* rotation matrix for current state */ math::Matrix<3, 3> R; R.set(_v_att.R); @@ -340,64 +301,3 @@ void MulticopterAttitudeControlBase::set_actuator_controls() { _actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f; _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; } - -void MulticopterAttitudeControlBase::set_attitude(const Eigen::Quaternion<double> attitude) { - math::Quaternion quat; - quat(0) = (float)attitude.w(); - quat(1) = (float)attitude.x(); - quat(2) = (float)attitude.y(); - quat(3) = (float)attitude.z(); - - _v_att.q[0] = quat(0); - _v_att.q[1] = quat(1); - _v_att.q[2] = quat(2); - _v_att.q[3] = quat(3); - - math::Matrix<3,3> Rot = quat.to_dcm(); - _v_att.R[0][0] = Rot(0,0); - _v_att.R[1][0] = Rot(1,0); - _v_att.R[2][0] = Rot(2,0); - _v_att.R[0][1] = Rot(0,1); - _v_att.R[1][1] = Rot(1,1); - _v_att.R[2][1] = Rot(2,1); - _v_att.R[0][2] = Rot(0,2); - _v_att.R[1][2] = Rot(1,2); - _v_att.R[2][2] = Rot(2,2); - - _v_att.R_valid = true; -} - -void MulticopterAttitudeControlBase::set_attitude_rates(const Eigen::Vector3d& angular_rate) { - // check if this is consistent !!! - _v_att.rollspeed = angular_rate(0); - _v_att.pitchspeed = angular_rate(1); - _v_att.yawspeed = angular_rate(2); -} - -void MulticopterAttitudeControlBase::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) { - _v_att_sp.roll_body = control_attitude_thrust_reference(0); - _v_att_sp.pitch_body = control_attitude_thrust_reference(1); - _v_att_sp.yaw_body = control_attitude_thrust_reference(2); - _v_att_sp.thrust = (control_attitude_thrust_reference(3) -30)*(-1)/30; - - // setup rotation matrix - math::Matrix<3,3> Rot_sp; - Rot_sp.from_euler(_v_att_sp.roll_body,_v_att_sp.pitch_body,_v_att_sp.yaw_body); - _v_att_sp.R_body[0][0] = Rot_sp(0,0); - _v_att_sp.R_body[1][0] = Rot_sp(1,0); - _v_att_sp.R_body[2][0] = Rot_sp(2,0); - _v_att_sp.R_body[0][1] = Rot_sp(0,1); - _v_att_sp.R_body[1][1] = Rot_sp(1,1); - _v_att_sp.R_body[2][1] = Rot_sp(2,1); - _v_att_sp.R_body[0][2] = Rot_sp(0,2); - _v_att_sp.R_body[1][2] = Rot_sp(1,2); - _v_att_sp.R_body[2][2] = Rot_sp(2,2); -} - -void MulticopterAttitudeControlBase::get_mixer_input(Eigen::Vector4d& motor_inputs) { - motor_inputs(0) = _actuators.control[0]; - motor_inputs(1) = _actuators.control[1]; - motor_inputs(2) = _actuators.control[2]; - motor_inputs(3) = _actuators.control[3]; -} - |