diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 945 |
1 files changed, 53 insertions, 892 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 0702e6378..4188c7880 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -38,6 +38,9 @@ * @author Tobias Naegeli <naegelit@student.ethz.ch> * @author Lorenz Meier <lm@inf.ethz.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Julian Oes <julian@oes.ch> + * @author Roman Bapst <bapstr@ethz.ch> * * The controller has two loops: P loop for angular error and PD loop for angular rate error. * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch. @@ -49,933 +52,91 @@ * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers. */ -#include <nuttx/config.h> -#include <stdio.h> -#include <stdlib.h> #include <string.h> -#include <unistd.h> -#include <errno.h> -#include <math.h> -#include <poll.h> -#include <drivers/drv_hrt.h> -#include <arch/board/board.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_control_mode.h> -#include <uORB/topics/vehicle_status.h> -#include <uORB/topics/actuator_armed.h> -#include <uORB/topics/parameter_update.h> -#include <systemlib/param/param.h> -#include <systemlib/err.h> -#include <systemlib/perf_counter.h> -#include <systemlib/systemlib.h> -#include <systemlib/circuit_breaker.h> -#include <lib/mathlib/mathlib.h> -#include <lib/geo/geo.h> +#include <cstdlib> +#include "mc_att_control.h" -/** - * Multicopter attitude control app start / stop handling function - * - * @ingroup apps - */ -extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]); - -#define YAW_DEADZONE 0.05f -#define MIN_TAKEOFF_THRUST 0.2f -#define RATES_I_LIMIT 0.3f - -class MulticopterAttitudeControl -{ -public: - /** - * Constructor - */ - MulticopterAttitudeControl(); - - /** - * Destructor, also kills the main task - */ - ~MulticopterAttitudeControl(); - - /** - * Start the multicopter attitude control task. - * - * @return OK on success. - */ - int start(); - -private: - - bool _task_should_exit; /**< if true, task_main() should exit */ - int _control_task; /**< task handle */ - - int _v_att_sub; /**< vehicle attitude subscription */ - int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */ - int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */ - int _v_control_mode_sub; /**< vehicle control mode subscription */ - int _params_sub; /**< parameter updates subscription */ - int _manual_control_sp_sub; /**< manual control setpoint subscription */ - int _armed_sub; /**< arming status subscription */ - int _vehicle_status_sub; /**< vehicle status subscription */ - - orb_advert_t _att_sp_pub; /**< attitude setpoint publication */ - orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */ - orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */ - - orb_id_t _rates_sp_id; // pointer to correct rates setpoint uORB metadata structure - orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure - - bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ - - struct vehicle_attitude_s _v_att; /**< vehicle attitude */ - struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */ - struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */ - struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */ - struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */ - struct actuator_controls_s _actuators; /**< actuator controls */ - struct actuator_armed_s _armed; /**< actuator arming status */ - struct vehicle_status_s _vehicle_status; /**< vehicle status */ - - perf_counter_t _loop_perf; /**< loop performance counter */ - - math::Vector<3> _rates_prev; /**< angular rates on previous step */ - math::Vector<3> _rates_sp; /**< angular rates setpoint */ - math::Vector<3> _rates_int; /**< angular rates integral error */ - float _thrust_sp; /**< thrust setpoint */ - math::Vector<3> _att_control; /**< attitude control vector */ - - math::Matrix<3, 3> _I; /**< identity matrix */ - - bool _reset_yaw_sp; /**< reset yaw setpoint flag */ - - struct { - param_t roll_p; - param_t roll_rate_p; - param_t roll_rate_i; - param_t roll_rate_d; - param_t pitch_p; - param_t pitch_rate_p; - param_t pitch_rate_i; - param_t pitch_rate_d; - param_t yaw_p; - param_t yaw_rate_p; - param_t yaw_rate_i; - param_t yaw_rate_d; - param_t yaw_ff; - param_t yaw_rate_max; - - param_t man_roll_max; - param_t man_pitch_max; - param_t man_yaw_max; - param_t acro_roll_max; - param_t acro_pitch_max; - param_t acro_yaw_max; - - param_t autostart_id; //what frame are we using? - } _params_handles; /**< handles for interesting parameters */ - - struct { - math::Vector<3> att_p; /**< P gain for angular error */ - math::Vector<3> rate_p; /**< P gain for angular rate error */ - math::Vector<3> rate_i; /**< I gain for angular rate error */ - math::Vector<3> rate_d; /**< D gain for angular rate error */ - float yaw_ff; /**< yaw control feed-forward */ - float yaw_rate_max; /**< max yaw rate */ - - float man_roll_max; - float man_pitch_max; - float man_yaw_max; - math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */ - - param_t autostart_id; - } _params; - - /** - * Update our local parameter cache. - */ - int parameters_update(); - - /** - * Check for parameter update and handle it. - */ - void parameter_update_poll(); - - /** - * Check for changes in vehicle control mode. - */ - void vehicle_control_mode_poll(); - - /** - * Check for changes in manual inputs. - */ - void vehicle_manual_poll(); - - /** - * Check for attitude setpoint updates. - */ - void vehicle_attitude_setpoint_poll(); - - /** - * Check for rates setpoint updates. - */ - void vehicle_rates_setpoint_poll(); - - /** - * Check for arming status updates. - */ - void arming_status_poll(); - - /** - * Attitude controller. - */ - void control_attitude(float dt); - - /** - * Attitude rates controller. - */ - void control_attitude_rates(float dt); - - /** - * Check for vehicle status updates. - */ - void vehicle_status_poll(); - - /** - * Shim for calling task_main from task_create. - */ - static void task_main_trampoline(int argc, char *argv[]); - - /** - * Main attitude control task. - */ - void task_main(); -}; - -namespace mc_att_control -{ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -MulticopterAttitudeControl *g_control; -} - -MulticopterAttitudeControl::MulticopterAttitudeControl() : - - _task_should_exit(false), - _control_task(-1), - -/* subscriptions */ - _v_att_sub(-1), - _v_att_sp_sub(-1), - _v_control_mode_sub(-1), - _params_sub(-1), - _manual_control_sp_sub(-1), - _armed_sub(-1), - _vehicle_status_sub(-1), - -/* publications */ - _att_sp_pub(-1), - _v_rates_sp_pub(-1), - _actuators_0_pub(-1), - - _actuators_0_circuit_breaker_enabled(false), - -/* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) - -{ - memset(&_v_att, 0, sizeof(_v_att)); - memset(&_v_att_sp, 0, sizeof(_v_att_sp)); - memset(&_v_rates_sp, 0, sizeof(_v_rates_sp)); - memset(&_manual_control_sp, 0, sizeof(_manual_control_sp)); - memset(&_v_control_mode, 0, sizeof(_v_control_mode)); - memset(&_actuators, 0, sizeof(_actuators)); - memset(&_armed, 0, sizeof(_armed)); - memset(&_vehicle_status, 0, sizeof(_vehicle_status)); - _vehicle_status.is_rotary_wing = true; - - _params.att_p.zero(); - _params.rate_p.zero(); - _params.rate_i.zero(); - _params.rate_d.zero(); - _params.yaw_ff = 0.0f; - _params.yaw_rate_max = 0.0f; - _params.man_roll_max = 0.0f; - _params.man_pitch_max = 0.0f; - _params.man_yaw_max = 0.0f; - _params.acro_rate_max.zero(); - - _params.autostart_id = 0; //default - - _rates_prev.zero(); - _rates_sp.zero(); - _rates_int.zero(); - _thrust_sp = 0.0f; - _att_control.zero(); - - _I.identity(); - - _params_handles.roll_p = param_find("MC_ROLL_P"); - _params_handles.roll_rate_p = param_find("MC_ROLLRATE_P"); - _params_handles.roll_rate_i = param_find("MC_ROLLRATE_I"); - _params_handles.roll_rate_d = param_find("MC_ROLLRATE_D"); - _params_handles.pitch_p = param_find("MC_PITCH_P"); - _params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P"); - _params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I"); - _params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D"); - _params_handles.yaw_p = param_find("MC_YAW_P"); - _params_handles.yaw_rate_p = param_find("MC_YAWRATE_P"); - _params_handles.yaw_rate_i = param_find("MC_YAWRATE_I"); - _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); - _params_handles.yaw_ff = param_find("MC_YAW_FF"); - _params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX"); - _params_handles.man_roll_max = param_find("MC_MAN_R_MAX"); - _params_handles.man_pitch_max = param_find("MC_MAN_P_MAX"); - _params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX"); - _params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX"); - _params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX"); - _params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX"); - - _params_handles.autostart_id = param_find("SYS_AUTOSTART"); - - /* fetch initial parameter values */ - parameters_update(); - // set correct uORB ID, depending on if vehicle is VTOL or not - if (_params.autostart_id >= 13000 && _params.autostart_id <= 13999) { /* VTOL airframe?*/ - _rates_sp_id = ORB_ID(mc_virtual_rates_setpoint); - _actuators_id = ORB_ID(actuator_controls_virtual_mc); - } - else { - _rates_sp_id = ORB_ID(vehicle_rates_setpoint); - _actuators_id = ORB_ID(actuator_controls_0); - } -} - -MulticopterAttitudeControl::~MulticopterAttitudeControl() +static bool thread_running = false; /**< Deamon status flag */ +static int daemon_task; /**< Handle of deamon task / thread */ +namespace px4 { - if (_control_task != -1) { - /* task wakes up every 100ms or so at the longest */ - _task_should_exit = true; - - /* wait for a second for the task to quit at our request */ - unsigned i = 0; - - do { - /* wait 20ms */ - usleep(20000); - - /* if we have given up, kill it */ - if (++i > 50) { - task_delete(_control_task); - break; - } - } while (_control_task != -1); - } - - mc_att_control::g_control = nullptr; +bool task_should_exit = false; } -int -MulticopterAttitudeControl::parameters_update() -{ - float v; - - /* roll gains */ - param_get(_params_handles.roll_p, &v); - _params.att_p(0) = v; - param_get(_params_handles.roll_rate_p, &v); - _params.rate_p(0) = v; - param_get(_params_handles.roll_rate_i, &v); - _params.rate_i(0) = v; - param_get(_params_handles.roll_rate_d, &v); - _params.rate_d(0) = v; - - /* pitch gains */ - param_get(_params_handles.pitch_p, &v); - _params.att_p(1) = v; - param_get(_params_handles.pitch_rate_p, &v); - _params.rate_p(1) = v; - param_get(_params_handles.pitch_rate_i, &v); - _params.rate_i(1) = v; - param_get(_params_handles.pitch_rate_d, &v); - _params.rate_d(1) = v; - - /* yaw gains */ - param_get(_params_handles.yaw_p, &v); - _params.att_p(2) = v; - param_get(_params_handles.yaw_rate_p, &v); - _params.rate_p(2) = v; - param_get(_params_handles.yaw_rate_i, &v); - _params.rate_i(2) = v; - param_get(_params_handles.yaw_rate_d, &v); - _params.rate_d(2) = v; - - param_get(_params_handles.yaw_ff, &_params.yaw_ff); - param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max); - _params.yaw_rate_max = math::radians(_params.yaw_rate_max); - - /* manual control scale */ - param_get(_params_handles.man_roll_max, &_params.man_roll_max); - param_get(_params_handles.man_pitch_max, &_params.man_pitch_max); - param_get(_params_handles.man_yaw_max, &_params.man_yaw_max); - _params.man_roll_max = math::radians(_params.man_roll_max); - _params.man_pitch_max = math::radians(_params.man_pitch_max); - _params.man_yaw_max = math::radians(_params.man_yaw_max); - - /* acro control scale */ - param_get(_params_handles.acro_roll_max, &v); - _params.acro_rate_max(0) = math::radians(v); - param_get(_params_handles.acro_pitch_max, &v); - _params.acro_rate_max(1) = math::radians(v); - param_get(_params_handles.acro_yaw_max, &v); - _params.acro_rate_max(2) = math::radians(v); - - _actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY); +using namespace px4; - param_get(_params_handles.autostart_id, &_params.autostart_id); - - return OK; -} - -void -MulticopterAttitudeControl::parameter_update_poll() -{ - bool updated; - - /* Check if parameters have changed */ - orb_check(_params_sub, &updated); - - if (updated) { - struct parameter_update_s param_update; - orb_copy(ORB_ID(parameter_update), _params_sub, ¶m_update); - parameters_update(); - } +PX4_MAIN_FUNCTION(mc_att_control); +void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) { + PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp); } -void -MulticopterAttitudeControl::vehicle_control_mode_poll() -{ - bool updated; - - /* Check if vehicle control mode has changed */ - orb_check(_v_control_mode_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode); - } -} - -void -MulticopterAttitudeControl::vehicle_manual_poll() -{ - bool updated; - - /* get pilots inputs */ - orb_check(_manual_control_sp_sub, &updated); - if (updated) { - orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp); - } -} - -void -MulticopterAttitudeControl::vehicle_attitude_setpoint_poll() -{ - /* check if there is a new setpoint */ - bool updated; - orb_check(_v_att_sp_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp); - } -} - -void -MulticopterAttitudeControl::vehicle_rates_setpoint_poll() -{ - /* check if there is a new setpoint */ - bool updated; - orb_check(_v_rates_sp_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp); - } -} - -void -MulticopterAttitudeControl::arming_status_poll() -{ - /* check if there is a new setpoint */ - bool updated; - orb_check(_armed_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); - } -} - -void -MulticopterAttitudeControl::vehicle_status_poll() -{ - /* check if there is new status information */ - bool vehicle_status_updated; - orb_check(_vehicle_status_sub, &vehicle_status_updated); - - if (vehicle_status_updated) { - orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); - } -} - -/* - * Attitude controller. - * Input: 'manual_control_setpoint' and 'vehicle_attitude_setpoint' topics (depending on mode) - * Output: '_rates_sp' vector, '_thrust_sp', 'vehicle_attitude_setpoint' topic (for manual modes) +#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__)) +/** + * Multicopter attitude control app start / stop handling function + * + * @ingroup apps */ -void -MulticopterAttitudeControl::control_attitude(float dt) -{ - float yaw_sp_move_rate = 0.0f; - bool publish_att_sp = false; - - if (_v_control_mode.flag_control_manual_enabled) { - /* manual input, set or modify attitude setpoint */ - if (_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_climb_rate_enabled) { - /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ - vehicle_attitude_setpoint_poll(); - } - - 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; - } - - if (!_armed.armed) { - /* reset yaw setpoint when disarmed */ - _reset_yaw_sp = true; - } - - /* move yaw setpoint in all modes */ - if (_v_att_sp.thrust < 0.1f) { - // TODO - //if (_status.condition_landed) { - /* reset yaw setpoint if on ground */ - // reset_yaw_sp = true; - //} - } else { - /* move yaw setpoint */ - yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max; - _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); - float yaw_offs_max = _params.man_yaw_max / _params.att_p(2); - float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw); - if (yaw_offs < - yaw_offs_max) { - _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max); - - } else if (yaw_offs > yaw_offs_max) { - _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max); - } - _v_att_sp.R_valid = false; - publish_att_sp = true; - } - - /* reset yaw setpint to current position if needed */ - if (_reset_yaw_sp) { - _reset_yaw_sp = false; - _v_att_sp.yaw_body = _v_att.yaw; - _v_att_sp.R_valid = false; - publish_att_sp = true; - } - - if (!_v_control_mode.flag_control_velocity_enabled) { - /* update attitude setpoint if not in position control mode */ - _v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max; - _v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max; - _v_att_sp.R_valid = false; - publish_att_sp = true; - } - - } else { - /* in non-manual mode use 'vehicle_attitude_setpoint' topic */ - vehicle_attitude_setpoint_poll(); - - /* reset yaw setpoint after non-manual control mode */ - _reset_yaw_sp = true; - } - - _thrust_sp = _v_att_sp.thrust; - - /* construct attitude setpoint rotation matrix */ - math::Matrix<3, 3> R_sp; - - if (_v_att_sp.R_valid) { - /* rotation matrix in _att_sp is valid, use it */ - R_sp.set(&_v_att_sp.R_body[0][0]); - - } else { - /* rotation matrix in _att_sp is not valid, use euler angles instead */ - R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body); - - /* copy rotation matrix back to setpoint struct */ - memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], sizeof(_v_att_sp.R_body)); - _v_att_sp.R_valid = true; - } - - /* publish the attitude setpoint if needed */ - if (publish_att_sp && _vehicle_status.is_rotary_wing) { - _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); - - /* all input data is ready, run controller itself */ - - /* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */ - math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2)); - math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2)); - - /* axis and sin(angle) of desired rotation */ - math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z); - - /* calculate angle error */ - float e_R_z_sin = e_R.length(); - float e_R_z_cos = R_z * R_sp_z; - - /* calculate weight for yaw control */ - float yaw_w = R_sp(2, 2) * R_sp(2, 2); - - /* calculate rotation matrix after roll/pitch only rotation */ - math::Matrix<3, 3> R_rp; - - if (e_R_z_sin > 0.0f) { - /* get axis-angle representation */ - float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos); - math::Vector<3> e_R_z_axis = e_R / e_R_z_sin; - - e_R = e_R_z_axis * e_R_z_angle; - - /* cross product matrix for e_R_axis */ - math::Matrix<3, 3> e_R_cp; - e_R_cp.zero(); - e_R_cp(0, 1) = -e_R_z_axis(2); - e_R_cp(0, 2) = e_R_z_axis(1); - e_R_cp(1, 0) = e_R_z_axis(2); - e_R_cp(1, 2) = -e_R_z_axis(0); - e_R_cp(2, 0) = -e_R_z_axis(1); - e_R_cp(2, 1) = e_R_z_axis(0); - - /* rotation matrix for roll/pitch only rotation */ - R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos)); - - } else { - /* zero roll/pitch rotation */ - R_rp = R; - } - - /* R_rp and R_sp has the same Z axis, calculate yaw error */ - math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0)); - math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0)); - e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w; - - if (e_R_z_cos < 0.0f) { - /* for large thrust vector rotations use another rotation method: - * calculate angle and axis for R -> R_sp rotation directly */ - math::Quaternion q; - q.from_dcm(R.transposed() * R_sp); - math::Vector<3> e_R_d = q.imag(); - e_R_d.normalize(); - e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0)); - - /* use fusion of Z axis based rotation and direct rotation */ - float direct_w = e_R_z_cos * e_R_z_cos * yaw_w; - e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w; - } - - /* calculate angular rates setpoint */ - _rates_sp = _params.att_p.emult(e_R); - - /* limit yaw rate */ - _rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max); - - /* feed forward yaw setpoint rate */ - _rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff; -} - -/* - * Attitude rates controller. - * Input: '_rates_sp' vector, '_thrust_sp' - * Output: '_att_control' vector - */ -void -MulticopterAttitudeControl::control_attitude_rates(float dt) +extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]) { - /* reset integral if disarmed */ - if (!_armed.armed || !_vehicle_status.is_rotary_wing) { - _rates_int.zero(); - } - - /* current body angular rates */ - math::Vector<3> rates; - rates(0) = _v_att.rollspeed; - rates(1) = _v_att.pitchspeed; - rates(2) = _v_att.yawspeed; - - /* angular rates error */ - math::Vector<3> rates_err = _rates_sp - rates; - _att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int; - _rates_prev = rates; - - /* update integral only if not saturated on low limit */ - if (_thrust_sp > MIN_TAKEOFF_THRUST) { - for (int i = 0; i < 3; i++) { - if (fabsf(_att_control(i)) < _thrust_sp) { - float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt; + px4::init(argc, argv, "mc_att_control"); - if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && - _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) { - _rates_int(i) = rate_i; - } - } - } + if (argc < 1) { + errx(1, "usage: mc_att_control {start|stop|status}"); } -} -void -MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[]) -{ - mc_att_control::g_control->task_main(); -} - -void -MulticopterAttitudeControl::task_main() -{ - - /* - * do subscriptions - */ - _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); - _params_sub = orb_subscribe(ORB_ID(parameter_update)); - _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); - - /* initialize parameters cache */ - parameters_update(); - - /* wakeup source: vehicle attitude */ - struct pollfd fds[1]; - - fds[0].fd = _v_att_sub; - fds[0].events = POLLIN; - - while (!_task_should_exit) { - - /* wait for up to 100ms for data */ - int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); - - /* timed out - periodic check for _task_should_exit */ - if (pret == 0) - continue; - - /* this is undesirable but not much we can do - might want to flag unhappy status */ - if (pret < 0) { - warn("poll error %d, %d", pret, errno); - /* sleep a bit before next try */ - usleep(100000); - continue; - } - - perf_begin(_loop_perf); - - /* run controller on attitude changes */ - if (fds[0].revents & POLLIN) { - static uint64_t last_run = 0; - float dt = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - /* guard against too small (< 2ms) and too large (> 20ms) dt's */ - if (dt < 0.002f) { - dt = 0.002f; - - } else if (dt > 0.02f) { - dt = 0.02f; - } - - /* copy attitude topic */ - orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att); - - /* check for updates in other topics */ - parameter_update_poll(); - vehicle_control_mode_poll(); - arming_status_poll(); - vehicle_manual_poll(); - vehicle_status_poll(); - - if (_v_control_mode.flag_control_attitude_enabled) { - control_attitude(dt); - - /* publish attitude rates setpoint */ - _v_rates_sp.roll = _rates_sp(0); - _v_rates_sp.pitch = _rates_sp(1); - _v_rates_sp.yaw = _rates_sp(2); - _v_rates_sp.thrust = _thrust_sp; - _v_rates_sp.timestamp = hrt_absolute_time(); - - if (_v_rates_sp_pub > 0) { - orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp); - - } else { - _v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp); - } - - } else { - /* attitude controller disabled, poll rates setpoint topic */ - if (_v_control_mode.flag_control_manual_enabled) { - /* manual rates control - ACRO mode */ - _rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max); - _thrust_sp = _manual_control_sp.z; - - /* reset yaw setpoint after ACRO */ - _reset_yaw_sp = true; - - /* publish attitude rates setpoint */ - _v_rates_sp.roll = _rates_sp(0); - _v_rates_sp.pitch = _rates_sp(1); - _v_rates_sp.yaw = _rates_sp(2); - _v_rates_sp.thrust = _thrust_sp; - _v_rates_sp.timestamp = hrt_absolute_time(); - - if (_v_rates_sp_pub > 0) { - orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp); - - } else { - _v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp); - } - - } else { - /* attitude controller disabled, poll rates setpoint topic */ - vehicle_rates_setpoint_poll(); - _rates_sp(0) = _v_rates_sp.roll; - _rates_sp(1) = _v_rates_sp.pitch; - _rates_sp(2) = _v_rates_sp.yaw; - _thrust_sp = _v_rates_sp.thrust; - } - } - - if (_v_control_mode.flag_control_rates_enabled) { - control_attitude_rates(dt); - - /* publish actuator controls */ - _actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f; - _actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f; - _actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f; - _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; - _actuators.timestamp = hrt_absolute_time(); - - if (!_actuators_0_circuit_breaker_enabled) { - if (_actuators_0_pub > 0) { - orb_publish(_actuators_id, _actuators_0_pub, &_actuators); - - } else { - _actuators_0_pub = orb_advertise(_actuators_id, &_actuators); - } + if (!strcmp(argv[1], "start")) { - } - } + if (thread_running) { + warnx("already running"); + /* this is not an error */ + exit(0); } - perf_end(_loop_perf); - } - - warnx("exit"); - - _control_task = -1; - _exit(0); -} + task_should_exit = false; -int -MulticopterAttitudeControl::start() -{ - ASSERT(_control_task == -1); - - /* start the task */ - _control_task = task_spawn_cmd("mc_att_control", + daemon_task = task_spawn_cmd("mc_att_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2000, - (main_t)&MulticopterAttitudeControl::task_main_trampoline, - nullptr); - - if (_control_task < 0) { - warn("task start failed"); - return -errno; - } - - return OK; -} - -int mc_att_control_main(int argc, char *argv[]) -{ - if (argc < 1) - errx(1, "usage: mc_att_control {start|stop|status}"); - - if (!strcmp(argv[1], "start")) { - - if (mc_att_control::g_control != nullptr) - errx(1, "already running"); - - mc_att_control::g_control = new MulticopterAttitudeControl; - - if (mc_att_control::g_control == nullptr) - errx(1, "alloc failed"); - - if (OK != mc_att_control::g_control->start()) { - delete mc_att_control::g_control; - mc_att_control::g_control = nullptr; - err(1, "start failed"); - } + 3000, + mc_att_control_task_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); } if (!strcmp(argv[1], "stop")) { - if (mc_att_control::g_control == nullptr) - errx(1, "not running"); - - delete mc_att_control::g_control; - mc_att_control::g_control = nullptr; + task_should_exit = true; exit(0); } if (!strcmp(argv[1], "status")) { - if (mc_att_control::g_control) { - errx(0, "running"); + if (thread_running) { + warnx("is running"); } else { - errx(1, "not running"); + warnx("not started"); } + + exit(0); } warnx("unrecognized command"); return 1; } +#endif + +PX4_MAIN_FUNCTION(mc_att_control) +{ + PX4_INFO("starting"); + MulticopterAttitudeControl attctl; + thread_running = true; + attctl.spin(); + + PX4_INFO("exiting."); + thread_running = false; + return 0; +} + + |