diff options
Diffstat (limited to 'src/modules/mc_att_control_multiplatform/mc_att_control_base.h')
| -rw-r--r-- | src/modules/mc_att_control_multiplatform/mc_att_control_base.h | 136 |
1 files changed, 136 insertions, 0 deletions
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_base.h b/src/modules/mc_att_control_multiplatform/mc_att_control_base.h new file mode 100644 index 000000000..124147079 --- /dev/null +++ b/src/modules/mc_att_control_multiplatform/mc_att_control_base.h @@ -0,0 +1,136 @@ +#ifndef MC_ATT_CONTROL_BASE_H_ +#define MC_ATT_CONTROL_BASE_H_ + +/* Copyright (c) 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_base.h + * + * MC Attitude Controller : Control and math code + * + * @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 <px4.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> +#include <errno.h> +#include <math.h> + +#include <systemlib/perf_counter.h> +#include <lib/mathlib/mathlib.h> + + + +#define YAW_DEADZONE 0.05f +#define MIN_TAKEOFF_THRUST 0.2f +#define RATES_I_LIMIT 0.3f + +using namespace px4; + +class MulticopterAttitudeControlBase +{ +public: + /** + * Constructor + */ + MulticopterAttitudeControlBase(); + + /** + * Destructor + */ + ~MulticopterAttitudeControlBase(); + + /** + * Start the sensors task. + * + * @return OK on success. + */ + void control_attitude(float dt); + void control_attitude_rates(float dt); + + void set_actuator_controls(); + +protected: + px4::Subscriber<px4_vehicle_attitude> *_v_att; /**< vehicle attitude */ + px4::Subscriber<px4_vehicle_attitude_setpoint> *_v_att_sp; /**< vehicle attitude setpoint */ + px4::Subscriber<px4_vehicle_rates_setpoint> *_v_rates_sp; /**< vehicle rates setpoint */ + px4::Subscriber<px4_vehicle_control_mode> *_v_control_mode; /**< vehicle control mode */ + px4::Subscriber<px4_parameter_update> *_parameter_update; /**< parameter update */ + px4::Subscriber<px4_manual_control_setpoint> *_manual_control_sp; /**< manual control setpoint */ + px4::Subscriber<px4_actuator_armed> *_armed; /**< actuator arming status */ + px4::Subscriber<px4_vehicle_status> *_v_status; /**< vehicle status */ + + px4_vehicle_attitude_setpoint _v_att_sp_mod; /**< modified vehicle attitude setpoint + that gets published eventually */ + px4_vehicle_rates_setpoint _v_rates_sp_mod; /**< vehicle rates setpoint + that gets published eventually*/ + px4_actuator_controls_0 _actuators; /**< actuator controls */ + + 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 { + 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 */ + + int32_t autostart_id; + } _params; + + bool _publish_att_sp; + +}; + +#endif /* MC_ATT_CONTROL_BASE_H_ */ |