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 | 710 |
1 files changed, 223 insertions, 487 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 81a13edb8..1103191e7 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. @@ -49,8 +52,7 @@ * 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 <px4.h> #include <stdlib.h> #include <string.h> #include <unistd.h> @@ -59,15 +61,6 @@ #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/actuator_armed.h> -#include <uORB/topics/parameter_update.h> #include <systemlib/param/param.h> #include <systemlib/err.h> #include <systemlib/perf_counter.h> @@ -76,18 +69,56 @@ #include <lib/mathlib/mathlib.h> #include <lib/geo/geo.h> +#include "mc_att_control_base.h" + +static bool thread_running = false; /**< Deamon status flag */ +static int daemon_task; /**< Handle of deamon task / thread */ + +using namespace px4; + /** * Multicopter attitude control app start / stop handling function * * @ingroup apps */ -extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]); + +PX4_MAIN_FUNCTION(mc_att_control); + +int mc_attitude_thread_main(int argc, char *argv[]); #define YAW_DEADZONE 0.05f #define MIN_TAKEOFF_THRUST 0.2f #define RATES_I_LIMIT 0.3f -class MulticopterAttitudeControl +void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) { + PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp); +} + + +namespace px4 +{ +bool task_should_exit = false; +} + +// PX4_MAIN_FUNCTION(mc_att_control) { px4::init(argc, argv, "listener"); + + // px4::NodeHandle n; + + // PX4_SUBSCRIBE(n, rc_channels, handle_vehicle_attitude2, 1000); + + /** + * px4::spin() will enter a loop, pumping callbacks. With this version, all + * callbacks will be called from within this thread (the main one). px4::spin() + * will exit when Ctrl-C is pressed, or the node is shutdown by the master. + */ + // n.spin(); + // PX4_INFO("finished, returning"); + + // return 0; +// } + +class MulticopterAttitudeControl : + public MulticopterAttitudeControlBase { public: /** @@ -100,17 +131,15 @@ public: */ ~MulticopterAttitudeControl(); - /** - * Start the sensors task. - * - * @return OK on success. - */ - int start(); + void handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg); + + void spin() { n.spin(); } private: + bool _task_should_exit; /**< if true, sensor task should exit */ + int _control_task; /**< task handle for sensor task */ + bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ - bool _task_should_exit; /**< if true, sensor task should exit */ - int _control_task; /**< task handle for sensor task */ int _v_att_sub; /**< vehicle attitude subscription */ int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */ @@ -124,27 +153,7 @@ private: orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */ orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */ - 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 */ - - 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 */ + px4::NodeHandle n; struct { param_t roll_p; @@ -170,19 +179,7 @@ private: param_t acro_yaw_max; } _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 */ - } _params; + perf_counter_t _loop_perf; /**< loop performance counter */ /** * Update our local parameter cache. @@ -219,25 +216,6 @@ private: */ void arming_status_poll(); - /** - * Attitude controller. - */ - void control_attitude(float dt); - - /** - * Attitude rates controller. - */ - void control_attitude_rates(float dt); - - /** - * 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 @@ -249,15 +227,14 @@ namespace mc_att_control #endif static const int ERROR = -1; -MulticopterAttitudeControl *g_control; } MulticopterAttitudeControl::MulticopterAttitudeControl() : - + MulticopterAttitudeControlBase(), _task_should_exit(false), _control_task(-1), - -/* subscriptions */ + _actuators_0_circuit_breaker_enabled(false), + /* subscriptions */ _v_att_sub(-1), _v_att_sp_sub(-1), _v_control_mode_sub(-1), @@ -265,44 +242,16 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _manual_control_sp_sub(-1), _armed_sub(-1), -/* publications */ + /* publications */ _att_sp_pub(-1), _v_rates_sp_pub(-1), _actuators_0_pub(-1), + n(), - _actuators_0_circuit_breaker_enabled(false), - -/* performance counters */ + /* 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)); - - _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(); - - _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"); @@ -326,6 +275,25 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : /* fetch initial parameter values */ parameters_update(); + + /* + * do subscriptions + */ + // _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + PX4_SUBSCRIBE(n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0); + // _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, 0); + // _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); + PX4_SUBSCRIBE(n, vehicle_rates_setpoint, 0); + // _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + PX4_SUBSCRIBE(n, vehicle_control_mode, 0); + // _params_sub = orb_subscribe(ORB_ID(parameter_update)); + PX4_SUBSCRIBE(n, parameter_update, 0); + // _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + PX4_SUBSCRIBE(n, manual_control_setpoint, 0); + // _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + PX4_SUBSCRIBE(n, actuator_armed, 0); + } MulticopterAttitudeControl::~MulticopterAttitudeControl() @@ -349,7 +317,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl() } while (_control_task != -1); } - mc_att_control::g_control = nullptr; + // mc_att_control::g_control = nullptr; } int @@ -489,445 +457,213 @@ MulticopterAttitudeControl::arming_status_poll() } } -/* - * 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) - */ -void -MulticopterAttitudeControl::control_attitude(float dt) -{ - float yaw_sp_move_rate = 0.0f; - bool publish_att_sp = false; +// void +// MulticopterAttitudeControl::task_main() +// { - 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(); - } + // [> wakeup source: vehicle attitude <] + // struct pollfd fds[1]; - 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; - } + // fds[0].fd = _v_att_sub; + // fds[0].events = POLLIN; - if (!_armed.armed) { - /* reset yaw setpoint when disarmed */ - _reset_yaw_sp = true; - } + // while (!_task_should_exit) { - /* 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; - } + // perf_end(_loop_perf); + // } - } else { - /* in non-manual mode use 'vehicle_attitude_setpoint' topic */ - vehicle_attitude_setpoint_poll(); + // warnx("exit"); - /* reset yaw setpoint after non-manual control mode */ - _reset_yaw_sp = true; - } + // _control_task = -1; + // _exit(0); +// } - _thrust_sp = _v_att_sp.thrust; +void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) { - /* construct attitude setpoint rotation matrix */ - math::Matrix<3, 3> R_sp; + perf_begin(_loop_perf); - 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]); + /* run controller on attitude changes */ + static uint64_t last_run = 0; + float dt = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); - } 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); + /* guard against too small (< 2ms) and too large (> 20ms) dt's */ + if (dt < 0.002f) { + dt = 0.002f; - /* 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; + } else if (dt > 0.02f) { + dt = 0.02f; } - /* publish the attitude setpoint if needed */ - if (publish_att_sp) { - _v_att_sp.timestamp = hrt_absolute_time(); + /* copy attitude topic */ + orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att); - if (_att_sp_pub > 0) { - orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_v_att_sp); + /* check for updates in other topics */ + parameter_update_poll(); + vehicle_control_mode_poll(); + arming_status_poll(); + vehicle_manual_poll(); - } 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 */ + if (_v_control_mode.flag_control_attitude_enabled) { + control_attitude(dt); - /* 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)); + /* publish the attitude setpoint if needed */ + if (_publish_att_sp) { + _v_att_sp.timestamp = hrt_absolute_time(); - /* axis and sin(angle) of desired rotation */ - math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z); + if (_att_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, + &_v_att_sp); - /* calculate angle error */ - float e_R_z_sin = e_R.length(); - float e_R_z_cos = R_z * R_sp_z; + } else { + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), + &_v_att_sp); + } + } - /* calculate weight for yaw control */ - float yaw_w = R_sp(2, 2) * R_sp(2, 2); + /* 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(); - /* calculate rotation matrix after roll/pitch only rotation */ - math::Matrix<3, 3> R_rp; + if (_v_rates_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp); - 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; + } else { + _v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp); + } - e_R = e_R_z_axis * e_R_z_angle; + } 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; - /* 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); + /* 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(); - /* 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)); + if (_v_rates_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp); - } else { - /* zero roll/pitch rotation */ - R_rp = R; - } + } else { + _v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp); + } - /* 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; + } 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; + } } - /* calculate angular rates setpoint */ - _rates_sp = _params.att_p.emult(e_R); + if (_v_control_mode.flag_control_rates_enabled) { + control_attitude_rates(dt); - /* limit yaw rate */ - _rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max); + /* 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(); - /* 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) -{ - /* reset integral if disarmed */ - if (!_armed.armed) { - _rates_int.zero(); - } + if (!_actuators_0_circuit_breaker_enabled) { + if (_actuators_0_pub > 0) { + orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); - /* 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; - - 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; - } + } else { + _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); } } } } -void -MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[]) -{ - mc_att_control::g_control->task_main(); -} - -void -MulticopterAttitudeControl::task_main() +PX4_MAIN_FUNCTION(mc_att_control) { + px4::init(argc, argv, "mc_att_control"); - /* - * 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)); - - /* 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); + if (argc < 1) { + errx(1, "usage: mc_att_control {start|stop|status}"); + } - /* timed out - periodic check for _task_should_exit */ - if (pret == 0) - continue; + if (!strcmp(argv[1], "start")) { - /* 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; + if (thread_running) { + warnx("already running"); + /* this is not an error */ + exit(0); } - 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(); - - 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(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp); + task_should_exit = false; - } else { - _v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_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(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp); - - } else { - _v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_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(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); - - } else { - _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); - } - } - } - } + daemon_task = task_spawn_cmd("mc_att_control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 2000, + mc_attitude_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); - perf_end(_loop_perf); + exit(0); } - warnx("exit"); + // if (!strcmp(argv[1], "stop")) { + // if (mc_att_control::g_control == nullptr) { + // errx(1, "not running"); + // } - _control_task = -1; - _exit(0); -} + // delete mc_att_control::g_control; + // mc_att_control::g_control = nullptr; + // exit(0); + // } -int -MulticopterAttitudeControl::start() -{ - ASSERT(_control_task == -1); + // if (!strcmp(argv[1], "status")) { + // if (mc_att_control::g_control) { + // errx(0, "running"); - /* start the task */ - _control_task = task_spawn_cmd("mc_att_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2000, - (main_t)&MulticopterAttitudeControl::task_main_trampoline, - nullptr); + // } else { + // errx(1, "not running"); + // } + // } - if (_control_task < 0) { - warn("task start failed"); - return -errno; - } - - return OK; + warnx("unrecognized command"); + return 1; } -int mc_att_control_main(int argc, char *argv[]) +int mc_attitude_thread_main(int argc, char *argv[]) { - if (argc < 1) - errx(1, "usage: mc_att_control {start|stop|status}"); - if (!strcmp(argv[1], "start")) { + warnx("starting"); - if (mc_att_control::g_control != nullptr) - errx(1, "already running"); + MulticopterAttitudeControl attctl; - mc_att_control::g_control = new MulticopterAttitudeControl; + thread_running = true; - if (mc_att_control::g_control == nullptr) - errx(1, "alloc failed"); + attctl.spin(); - if (OK != mc_att_control::g_control->start()) { - delete mc_att_control::g_control; - mc_att_control::g_control = nullptr; - err(1, "start failed"); - } + // while (!task_should_exit) { + // attctl.update(); + // } - exit(0); - } + warnx("exiting."); - if (!strcmp(argv[1], "stop")) { - if (mc_att_control::g_control == nullptr) - errx(1, "not running"); + thread_running = false; - delete mc_att_control::g_control; - mc_att_control::g_control = nullptr; - exit(0); - } + return 0; +} - if (!strcmp(argv[1], "status")) { - if (mc_att_control::g_control) { - errx(0, "running"); - } else { - errx(1, "not running"); - } - } - - warnx("unrecognized command"); - return 1; -} |