diff options
Diffstat (limited to 'src/modules/mc_att_control_multiplatform/mc_att_control.cpp')
| -rw-r--r-- | src/modules/mc_att_control_multiplatform/mc_att_control.cpp | 298 |
1 files changed, 298 insertions, 0 deletions
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp new file mode 100644 index 000000000..822a504b5 --- /dev/null +++ b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp @@ -0,0 +1,298 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mc_att_control.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> + * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Julian Oes <julian@oes.ch> + * @author Roman Bapst <bapstr@ethz.ch> + */ + +#include "mc_att_control.h" +#include "mc_att_control_params.h" +#include "math.h" + +#define YAW_DEADZONE 0.05f +#define MIN_TAKEOFF_THRUST 0.2f +#define RATES_I_LIMIT 0.3f + +namespace mc_att_control +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +} + +MulticopterAttitudeControl::MulticopterAttitudeControl() : + MulticopterAttitudeControlBase(), + _task_should_exit(false), + _actuators_0_circuit_breaker_enabled(false), + + /* publications */ + _att_sp_pub(nullptr), + _v_rates_sp_pub(nullptr), + _actuators_0_pub(nullptr), + _n(), + + /* performance counters */ + _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) + +{ + _params_handles.roll_p = PX4_PARAM_INIT(MC_ROLL_P); + _params_handles.roll_rate_p = PX4_PARAM_INIT(MC_ROLLRATE_P); + _params_handles.roll_rate_i = PX4_PARAM_INIT(MC_ROLLRATE_I); + _params_handles.roll_rate_d = PX4_PARAM_INIT(MC_ROLLRATE_D); + _params_handles.pitch_p = PX4_PARAM_INIT(MC_PITCH_P); + _params_handles.pitch_rate_p = PX4_PARAM_INIT(MC_PITCHRATE_P); + _params_handles.pitch_rate_i = PX4_PARAM_INIT(MC_PITCHRATE_I); + _params_handles.pitch_rate_d = PX4_PARAM_INIT(MC_PITCHRATE_D); + _params_handles.yaw_p = PX4_PARAM_INIT(MC_YAW_P); + _params_handles.yaw_rate_p = PX4_PARAM_INIT(MC_YAWRATE_P); + _params_handles.yaw_rate_i = PX4_PARAM_INIT(MC_YAWRATE_I); + _params_handles.yaw_rate_d = PX4_PARAM_INIT(MC_YAWRATE_D); + _params_handles.yaw_ff = PX4_PARAM_INIT(MC_YAW_FF); + _params_handles.yaw_rate_max = PX4_PARAM_INIT(MC_YAWRATE_MAX); + _params_handles.man_roll_max = PX4_PARAM_INIT(MC_MAN_R_MAX); + _params_handles.man_pitch_max = PX4_PARAM_INIT(MC_MAN_P_MAX); + _params_handles.man_yaw_max = PX4_PARAM_INIT(MC_MAN_Y_MAX); + _params_handles.acro_roll_max = PX4_PARAM_INIT(MC_ACRO_R_MAX); + _params_handles.acro_pitch_max = PX4_PARAM_INIT(MC_ACRO_P_MAX); + _params_handles.acro_yaw_max = PX4_PARAM_INIT(MC_ACRO_Y_MAX); + + /* fetch initial parameter values */ + parameters_update(); + + /* + * do subscriptions + */ + _v_att = PX4_SUBSCRIBE(_n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0); + _v_att_sp = PX4_SUBSCRIBE(_n, vehicle_attitude_setpoint, 0); + _v_rates_sp = PX4_SUBSCRIBE(_n, vehicle_rates_setpoint, 0); + _v_control_mode = PX4_SUBSCRIBE(_n, vehicle_control_mode, 0); + _parameter_update = PX4_SUBSCRIBE(_n, parameter_update, + MulticopterAttitudeControl::handle_parameter_update, this, 1000); + _manual_control_sp = PX4_SUBSCRIBE(_n, manual_control_setpoint, 0); + _armed = PX4_SUBSCRIBE(_n, actuator_armed, 0); + _v_status = PX4_SUBSCRIBE(_n, vehicle_status, 0); + +} + +MulticopterAttitudeControl::~MulticopterAttitudeControl() +{ +} + +int +MulticopterAttitudeControl::parameters_update() +{ + float v; + + /* roll gains */ + PX4_PARAM_GET(_params_handles.roll_p, &v); + _params.att_p(0) = v; + PX4_PARAM_GET(_params_handles.roll_rate_p, &v); + _params.rate_p(0) = v; + PX4_PARAM_GET(_params_handles.roll_rate_i, &v); + _params.rate_i(0) = v; + PX4_PARAM_GET(_params_handles.roll_rate_d, &v); + _params.rate_d(0) = v; + + /* pitch gains */ + PX4_PARAM_GET(_params_handles.pitch_p, &v); + _params.att_p(1) = v; + PX4_PARAM_GET(_params_handles.pitch_rate_p, &v); + _params.rate_p(1) = v; + PX4_PARAM_GET(_params_handles.pitch_rate_i, &v); + _params.rate_i(1) = v; + PX4_PARAM_GET(_params_handles.pitch_rate_d, &v); + _params.rate_d(1) = v; + + /* yaw gains */ + PX4_PARAM_GET(_params_handles.yaw_p, &v); + _params.att_p(2) = v; + PX4_PARAM_GET(_params_handles.yaw_rate_p, &v); + _params.rate_p(2) = v; + PX4_PARAM_GET(_params_handles.yaw_rate_i, &v); + _params.rate_i(2) = v; + PX4_PARAM_GET(_params_handles.yaw_rate_d, &v); + _params.rate_d(2) = v; + + PX4_PARAM_GET(_params_handles.yaw_ff, &_params.yaw_ff); + PX4_PARAM_GET(_params_handles.yaw_rate_max, &_params.yaw_rate_max); + _params.yaw_rate_max = math::radians(_params.yaw_rate_max); + + /* manual control scale */ + PX4_PARAM_GET(_params_handles.man_roll_max, &_params.man_roll_max); + PX4_PARAM_GET(_params_handles.man_pitch_max, &_params.man_pitch_max); + PX4_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 */ + PX4_PARAM_GET(_params_handles.acro_roll_max, &v); + _params.acro_rate_max(0) = math::radians(v); + PX4_PARAM_GET(_params_handles.acro_pitch_max, &v); + _params.acro_rate_max(1) = math::radians(v); + PX4_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; +} + +void MulticopterAttitudeControl::handle_parameter_update(const PX4_TOPIC_T(parameter_update) &msg) +{ + parameters_update(); +} + +void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) { + + perf_begin(_loop_perf); + + /* run controller on attitude changes */ + static uint64_t last_run = 0; + float dt = (px4::get_time_micros() - last_run) / 1000000.0f; + last_run = px4::get_time_micros(); + + /* 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; + } + + if (_v_control_mode->get().flag_control_attitude_enabled) { + control_attitude(dt); + + /* publish the attitude setpoint if needed */ + if (_publish_att_sp && _v_status->get().is_rotary_wing) { + _v_att_sp_mod.timestamp = px4::get_time_micros(); + + if (_att_sp_pub != nullptr) { + _att_sp_pub->publish(_v_att_sp_mod); + + } else { + _att_sp_pub = PX4_ADVERTISE(_n, vehicle_attitude_setpoint); + } + } + + /* publish attitude rates setpoint */ + _v_rates_sp_mod.roll = _rates_sp(0); + _v_rates_sp_mod.pitch = _rates_sp(1); + _v_rates_sp_mod.yaw = _rates_sp(2); + _v_rates_sp_mod.thrust = _thrust_sp; + _v_rates_sp_mod.timestamp = px4::get_time_micros(); + + if (_v_rates_sp_pub != nullptr) { + _v_rates_sp_pub->publish(_v_rates_sp_mod); + } else { + if (_v_status->get().is_vtol) { + _v_rates_sp_pub = PX4_ADVERTISE(_n, mc_virtual_rates_setpoint); + } else { + _v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint); + } + } + + } else { + /* attitude controller disabled, poll rates setpoint topic */ + if (_v_control_mode->get().flag_control_manual_enabled) { + /* manual rates control - ACRO mode */ + _rates_sp = math::Vector<3>(_manual_control_sp->get().y, -_manual_control_sp->get().x, + _manual_control_sp->get().r).emult(_params.acro_rate_max); + _thrust_sp = _manual_control_sp->get().z; + + /* reset yaw setpoint after ACRO */ + _reset_yaw_sp = true; + + /* publish attitude rates setpoint */ + _v_rates_sp_mod.roll = _rates_sp(0); + _v_rates_sp_mod.pitch = _rates_sp(1); + _v_rates_sp_mod.yaw = _rates_sp(2); + _v_rates_sp_mod.thrust = _thrust_sp; + _v_rates_sp_mod.timestamp = px4::get_time_micros(); + + if (_v_rates_sp_pub != nullptr) { + _v_rates_sp_pub->publish(_v_rates_sp_mod); + + } else { + if (_v_status->get().is_vtol) { + _v_rates_sp_pub = PX4_ADVERTISE(_n, mc_virtual_rates_setpoint); + } else { + _v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint); + } + } + + } else { + /* attitude controller disabled, poll rates setpoint topic */ + _rates_sp(0) = _v_rates_sp->get().roll; + _rates_sp(1) = _v_rates_sp->get().pitch; + _rates_sp(2) = _v_rates_sp->get().yaw; + _thrust_sp = _v_rates_sp->get().thrust; + } + } + + if (_v_control_mode->get().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 = px4::get_time_micros(); + + if (!_actuators_0_circuit_breaker_enabled) { + if (_actuators_0_pub != nullptr) { + _actuators_0_pub->publish(_actuators); + + } else { + if (_v_status->get().is_vtol) { + _actuators_0_pub = PX4_ADVERTISE(_n, actuator_controls_virtual_mc); + } else { + _actuators_0_pub = PX4_ADVERTISE(_n, actuator_controls_0); + } + } + } + } +} |