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 | 165 |
1 files changed, 117 insertions, 48 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 9cb8e8344..19c10198c 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -1,9 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. - * Author: @author Tobias Naegeli <naegelit@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,9 +32,13 @@ ****************************************************************************/ /** - * @file mc_att_control_main.c + * @file mc_att_control_main.cpp * Multicopter attitude controller. * + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * * 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. * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw, @@ -71,7 +72,8 @@ #include <systemlib/err.h> #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> -#include <mathlib/mathlib.h> +#include <systemlib/circuit_breaker.h> +#include <lib/mathlib/mathlib.h> #include <lib/geo/geo.h> /** @@ -122,6 +124,8 @@ 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 */ @@ -156,8 +160,14 @@ private: param_t yaw_rate_i; param_t yaw_rate_d; param_t yaw_ff; - - param_t rc_scale_yaw; + 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; } _params_handles; /**< handles for interesting parameters */ struct { @@ -166,8 +176,12 @@ private: 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 rc_scale_yaw; + 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; /** @@ -221,9 +235,9 @@ private: static void task_main_trampoline(int argc, char *argv[]); /** - * Main sensor collection task. + * Main attitude control task. */ - void task_main() __attribute__((noreturn)); + void task_main(); }; namespace mc_att_control @@ -256,6 +270,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _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")) @@ -272,6 +288,12 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _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(); @@ -294,8 +316,13 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _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.rc_scale_yaw = param_find("RC_SCALE_YAW"); + _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"); /* fetch initial parameter values */ parameters_update(); @@ -330,7 +357,7 @@ MulticopterAttitudeControl::parameters_update() { float v; - /* roll */ + /* roll gains */ param_get(_params_handles.roll_p, &v); _params.att_p(0) = v; param_get(_params_handles.roll_rate_p, &v); @@ -340,7 +367,7 @@ MulticopterAttitudeControl::parameters_update() param_get(_params_handles.roll_rate_d, &v); _params.rate_d(0) = v; - /* pitch */ + /* pitch gains */ param_get(_params_handles.pitch_p, &v); _params.att_p(1) = v; param_get(_params_handles.pitch_rate_p, &v); @@ -350,7 +377,7 @@ MulticopterAttitudeControl::parameters_update() param_get(_params_handles.pitch_rate_d, &v); _params.rate_d(1) = v; - /* yaw */ + /* yaw gains */ param_get(_params_handles.yaw_p, &v); _params.att_p(2) = v; param_get(_params_handles.yaw_rate_p, &v); @@ -361,8 +388,26 @@ MulticopterAttitudeControl::parameters_update() _params.rate_d(2) = v; param_get(_params_handles.yaw_ff, &_params.yaw_ff); - - param_get(_params_handles.rc_scale_yaw, &_params.rc_scale_yaw); + 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); return OK; } @@ -404,7 +449,6 @@ MulticopterAttitudeControl::vehicle_manual_poll() orb_check(_manual_control_sp_sub, &updated); if (updated) { - orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp); } } @@ -466,7 +510,7 @@ MulticopterAttitudeControl::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.throttle; + _v_att_sp.thrust = _manual_control_sp.z; publish_att_sp = true; } @@ -483,24 +527,19 @@ MulticopterAttitudeControl::control_attitude(float dt) // reset_yaw_sp = true; //} } else { - float yaw_dz_scaled = YAW_DEADZONE * _params.rc_scale_yaw; - - if (_params.rc_scale_yaw > 0.001f && fabs(_manual_control_sp.yaw) > yaw_dz_scaled) { - /* move yaw setpoint */ - yaw_sp_move_rate = _manual_control_sp.yaw / _params.rc_scale_yaw; - - if (_manual_control_sp.yaw > 0.0f) { - yaw_sp_move_rate -= YAW_DEADZONE; - - } else { - yaw_sp_move_rate += YAW_DEADZONE; - } - - yaw_sp_move_rate *= _params.rc_scale_yaw; - _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); - _v_att_sp.R_valid = false; - publish_att_sp = true; + /* 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 */ @@ -513,8 +552,8 @@ MulticopterAttitudeControl::control_attitude(float dt) 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.roll; - _v_att_sp.pitch_body = _manual_control_sp.pitch; + _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; } @@ -627,6 +666,9 @@ MulticopterAttitudeControl::control_attitude(float dt) /* 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; } @@ -763,11 +805,36 @@ MulticopterAttitudeControl::task_main() } 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_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) { @@ -780,11 +847,13 @@ MulticopterAttitudeControl::task_main() _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; _actuators.timestamp = hrt_absolute_time(); - if (_actuators_0_pub > 0) { - orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); + 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); + } else { + _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); + } } } } @@ -807,7 +876,7 @@ MulticopterAttitudeControl::start() _control_task = task_spawn_cmd("mc_att_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&MulticopterAttitudeControl::task_main_trampoline, nullptr); |