diff options
Diffstat (limited to 'src/modules/mc_att_control_multiplatform/mc_att_control_sim.cpp')
| -rw-r--r-- | src/modules/mc_att_control_multiplatform/mc_att_control_sim.cpp | 142 |
1 files changed, 142 insertions, 0 deletions
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_sim.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control_sim.cpp new file mode 100644 index 000000000..d516d7e52 --- /dev/null +++ b/src/modules/mc_att_control_multiplatform/mc_att_control_sim.cpp @@ -0,0 +1,142 @@ +/* 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_sim.cpp + * + * MC Attitude Controller Interface for usage in a simulator + * + * @author Roman Bapst <bapstr@ethz.ch> + * + */ + +#include "mc_att_control_sim.h" +#include <geo/geo.h> +#include <math.h> + +#ifdef CONFIG_ARCH_ARM +#else +#include <cmath> +using namespace std; +#endif + +MulticopterAttitudeControlSim::MulticopterAttitudeControlSim() +{ + /* setup standard gains */ + //XXX: make these configurable + _params.att_p(0) = 5.0; + _params.rate_p(0) = 0.05; + _params.rate_i(0) = 0.0; + _params.rate_d(0) = 0.003; + /* pitch gains */ + _params.att_p(1) = 5.0; + _params.rate_p(1) = 0.05; + _params.rate_i(1) = 0.0; + _params.rate_d(1) = 0.003; + /* yaw gains */ + _params.att_p(2) = 2.8; + _params.rate_p(2) = 0.2; + _params.rate_i(2) = 0.1; + _params.rate_d(2) = 0.0; + _params.yaw_rate_max = 0.5; + _params.yaw_ff = 0.5; + _params.man_roll_max = 0.6; + _params.man_pitch_max = 0.6; + _params.man_yaw_max = 0.6; +} + +MulticopterAttitudeControlSim::~MulticopterAttitudeControlSim() +{ +} + +void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude) +{ + math::Quaternion quat; + quat(0) = (float)attitude.w(); + quat(1) = (float)attitude.x(); + quat(2) = (float)attitude.y(); + quat(3) = (float)attitude.z(); + + _v_att.q[0] = quat(0); + _v_att.q[1] = quat(1); + _v_att.q[2] = quat(2); + _v_att.q[3] = quat(3); + + math::Matrix<3, 3> Rot = quat.to_dcm(); + _v_att.R[0][0] = Rot(0, 0); + _v_att.R[1][0] = Rot(1, 0); + _v_att.R[2][0] = Rot(2, 0); + _v_att.R[0][1] = Rot(0, 1); + _v_att.R[1][1] = Rot(1, 1); + _v_att.R[2][1] = Rot(2, 1); + _v_att.R[0][2] = Rot(0, 2); + _v_att.R[1][2] = Rot(1, 2); + _v_att.R[2][2] = Rot(2, 2); + + _v_att.R_valid = true; +} + +void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d &angular_rate) +{ + // check if this is consistent !!! + _v_att.rollspeed = angular_rate(0); + _v_att.pitchspeed = angular_rate(1); + _v_att.yawspeed = angular_rate(2); +} + +void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference) +{ + _v_att_sp.roll_body = control_attitude_thrust_reference(0); + _v_att_sp.pitch_body = control_attitude_thrust_reference(1); + _v_att_sp.yaw_body = control_attitude_thrust_reference(2); + _v_att_sp.thrust = (control_attitude_thrust_reference(3) - 30) * (-1) / 30; + + // setup rotation matrix + math::Matrix<3, 3> Rot_sp; + Rot_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body); + _v_att_sp.R_body[0][0] = Rot_sp(0, 0); + _v_att_sp.R_body[1][0] = Rot_sp(1, 0); + _v_att_sp.R_body[2][0] = Rot_sp(2, 0); + _v_att_sp.R_body[0][1] = Rot_sp(0, 1); + _v_att_sp.R_body[1][1] = Rot_sp(1, 1); + _v_att_sp.R_body[2][1] = Rot_sp(2, 1); + _v_att_sp.R_body[0][2] = Rot_sp(0, 2); + _v_att_sp.R_body[1][2] = Rot_sp(1, 2); + _v_att_sp.R_body[2][2] = Rot_sp(2, 2); +} + +void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d &motor_inputs) +{ + motor_inputs(0) = _actuators.control[0]; + motor_inputs(1) = _actuators.control[1]; + motor_inputs(2) = _actuators.control[2]; + motor_inputs(3) = _actuators.control[3]; +} |