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 | 62 |
1 files changed, 30 insertions, 32 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 77531cbb9..2ef25972b 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -53,11 +53,9 @@ #include <stdlib.h> #include <string.h> #include <unistd.h> -#include <fcntl.h> #include <errno.h> #include <math.h> #include <poll.h> -#include <time.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> @@ -71,7 +69,6 @@ #include <uORB/topics/parameter_update.h> #include <systemlib/param/param.h> #include <systemlib/err.h> -#include <systemlib/pid/pid.h> #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> #include <mathlib/mathlib.h> @@ -84,9 +81,9 @@ */ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]); -#define MIN_TAKEOFF_THROTTLE 0.3f #define YAW_DEADZONE 0.05f -#define RATES_I_LIMIT 0.5f +#define MIN_TAKEOFF_THRUST 0.2f +#define RATES_I_LIMIT 0.3f class MulticopterAttitudeControl { @@ -135,15 +132,13 @@ private: perf_counter_t _loop_perf; /**< loop performance counter */ - math::Matrix<3, 3> _R_sp; /**< attitude setpoint rotation matrix */ - math::Matrix<3, 3> _R; /**< rotation matrix for current state */ 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 */ + math::Matrix<3, 3> _I; /**< identity matrix */ bool _reset_yaw_sp; /**< reset yaw setpoint flag */ @@ -268,13 +263,15 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _actuators_0_pub(-1), /* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")) + _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(); @@ -284,15 +281,13 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _params.scale_acro.zero(); _params.rc_scale.zero(); - _R_sp.identity(); - _R.identity(); _rates_prev.zero(); _rates_sp.zero(); _rates_int.zero(); _thrust_sp = 0.0f; _att_control.zero(); - I.identity(); + _I.identity(); _params_handles.roll_p = param_find("MC_ROLL_P"); _params_handles.roll_rate_p = param_find("MC_ROLLRATE_P"); @@ -558,16 +553,18 @@ MulticopterAttitudeControl::control_attitude(float dt) _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]); + 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); + 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)); + 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; } @@ -584,23 +581,24 @@ MulticopterAttitudeControl::control_attitude(float dt) } /* rotation matrix for current state */ - _R.set(_v_att.R); + 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)); + 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); + 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); + 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; @@ -623,15 +621,15 @@ MulticopterAttitudeControl::control_attitude(float dt) 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)); + 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 = 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)); + /* 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; @@ -639,7 +637,7 @@ MulticopterAttitudeControl::control_attitude(float dt) /* 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); + 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)); @@ -681,7 +679,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt) _rates_prev = rates; /* update integral only if not saturated on low limit */ - if (_thrust_sp > 0.1f) { + 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; @@ -718,9 +716,6 @@ MulticopterAttitudeControl::task_main() _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - /* rate limit attitude updates to 200Hz, failsafe against spam, normally runs at the same rate as attitude estimator */ - orb_set_interval(_v_att_sub, 5); - /* initialize parameters cache */ parameters_update(); @@ -819,9 +814,12 @@ MulticopterAttitudeControl::task_main() } } else { - // TODO poll 'attitude_rates_setpoint' topic - _rates_sp.zero(); - _thrust_sp = 0.0f; + /* 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; } } |