diff options
Diffstat (limited to 'src/modules/mc_att_control_vector')
3 files changed, 0 insertions, 806 deletions
diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp deleted file mode 100644 index 239bd5570..000000000 --- a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp +++ /dev/null @@ -1,745 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli <naegelit@student.ethz.ch> - * Lorenz Meier <lm@inf.ethz.ch> - * 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 - * 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_vector_main.c - * Implementation of a multicopter attitude controller based on desired rotation matrix. - * - * References - * [1] Daniel Mellinger and Vijay Kumar, "Minimum Snap Trajectory Generation and Control for Quadrotors", - * http://www.seas.upenn.edu/~dmel/mellingerICRA11.pdf - * - * @author Tobias Naegeli <naegelit@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <anton.babushkin@me.com> - * - */ - -#include <nuttx/config.h> -#include <stdio.h> -#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> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_control_mode.h> -#include <uORB/topics/actuator_armed.h> -#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> -#include <lib/geo/geo.h> - -/** - * Multicopter attitude control app start / stop handling function - * - * @ingroup apps - */ -extern "C" __EXPORT int mc_att_control_vector_main(int argc, char *argv[]); - -#define MIN_TAKEOFF_THROTTLE 0.3f -#define YAW_DEADZONE 0.01f - -class MulticopterAttitudeControl -{ -public: - /** - * Constructor - */ - MulticopterAttitudeControl(); - - /** - * Destructor, also kills the sensors task. - */ - ~MulticopterAttitudeControl(); - - /** - * Start the sensors task. - * - * @return OK on success. - */ - int start(); - -private: - - bool _task_should_exit; /**< if true, sensor task should exit */ - int _control_task; /**< task handle for sensor task */ - - int _att_sub; /**< vehicle attitude subscription */ - int _att_sp_sub; /**< vehicle attitude setpoint */ - int _control_mode_sub; /**< vehicle control mode subscription */ - int _params_sub; /**< notification of parameter updates */ - int _manual_sub; /**< notification of manual control updates */ - int _arming_sub; /**< arming status of outputs */ - - orb_advert_t _att_sp_pub; /**< attitude setpoint publication */ - orb_advert_t _rates_sp_pub; /**< rate setpoint publication */ - orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */ - - struct vehicle_attitude_s _att; /**< vehicle attitude */ - struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ - struct manual_control_setpoint_s _manual; /**< r/c channel data */ - struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */ - struct actuator_controls_s _actuators; /**< actuator control inputs */ - struct actuator_armed_s _arming; /**< actuator arming status */ - struct vehicle_rates_setpoint_s _rates_sp; /**< vehicle rates setpoint */ - - perf_counter_t _loop_perf; /**< loop performance counter */ - - math::Matrix<3, 3> _K; /**< diagonal gain matrix for position error */ - math::Matrix<3, 3> _K_rate_p; /**< diagonal gain matrix for angular rate error */ - math::Matrix<3, 3> _K_rate_d; /**< diagonal gain matrix for angular rate derivative */ - - math::Vector<3> _rates_prev; /**< angular rates on previous step */ - - struct { - param_t att_p; - param_t att_rate_p; - param_t att_rate_d; - param_t yaw_p; - param_t yaw_rate_p; - param_t yaw_rate_d; - } _parameter_handles; /**< handles for interesting parameters */ - - /** - * Update our local parameter cache. - */ - int parameters_update(); - - /** - * Update control outputs - */ - void control_update(); - - /** - * Check for changes in vehicle control mode. - */ - void vehicle_control_mode_poll(); - - /** - * Check for changes in manual inputs. - */ - void vehicle_manual_poll(); - - /** - * Check for set triplet updates. - */ - void vehicle_setpoint_poll(); - - /** - * Check for arming status updates. - */ - void arming_status_poll(); - - /** - * Shim for calling task_main from task_create. - */ - static void task_main_trampoline(int argc, char *argv[]); - - /** - * Main sensor collection task. - */ - void task_main() __attribute__((noreturn)); -}; - -namespace att_control -{ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -MulticopterAttitudeControl *g_control; -} - -MulticopterAttitudeControl::MulticopterAttitudeControl() : - - _task_should_exit(false), - _control_task(-1), - -/* subscriptions */ - _att_sub(-1), - _att_sp_sub(-1), - _control_mode_sub(-1), - _params_sub(-1), - _manual_sub(-1), - _arming_sub(-1), - -/* publications */ - _att_sp_pub(-1), - _rates_sp_pub(-1), - _actuators_0_pub(-1), - -/* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")) - -{ - memset(&_att, 0, sizeof(_att)); - memset(&_att_sp, 0, sizeof(_att_sp)); - memset(&_manual, 0, sizeof(_manual)); - memset(&_control_mode, 0, sizeof(_control_mode)); - memset(&_arming, 0, sizeof(_arming)); - - _K.zero(); - _K_rate_p.zero(); - _K_rate_d.zero(); - - _rates_prev.zero(); - - _parameter_handles.att_p = param_find("MC_ATT_P"); - _parameter_handles.att_rate_p = param_find("MC_ATTRATE_P"); - _parameter_handles.att_rate_d = param_find("MC_ATTRATE_D"); - _parameter_handles.yaw_p = param_find("MC_YAWPOS_P"); - _parameter_handles.yaw_rate_p = param_find("MC_YAWRATE_P"); - _parameter_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); - - /* fetch initial parameter values */ - parameters_update(); -} - -MulticopterAttitudeControl::~MulticopterAttitudeControl() -{ - if (_control_task != -1) { - /* task wakes up every 100ms or so at the longest */ - _task_should_exit = true; - - /* wait for a second for the task to quit at our request */ - unsigned i = 0; - - do { - /* wait 20ms */ - usleep(20000); - - /* if we have given up, kill it */ - if (++i > 50) { - task_delete(_control_task); - break; - } - } while (_control_task != -1); - } - - att_control::g_control = nullptr; -} - -int -MulticopterAttitudeControl::parameters_update() -{ - float att_p; - float att_rate_p; - float att_rate_d; - float yaw_p; - float yaw_rate_p; - float yaw_rate_d; - - param_get(_parameter_handles.att_p, &att_p); - param_get(_parameter_handles.att_rate_p, &att_rate_p); - param_get(_parameter_handles.att_rate_d, &att_rate_d); - param_get(_parameter_handles.yaw_p, &yaw_p); - param_get(_parameter_handles.yaw_rate_p, &yaw_rate_p); - param_get(_parameter_handles.yaw_rate_d, &yaw_rate_d); - - _K(0, 0) = att_p; - _K(1, 1) = att_p; - _K(2, 2) = yaw_p; - - _K_rate_p(0, 0) = att_rate_p; - _K_rate_p(1, 1) = att_rate_p; - _K_rate_p(2, 2) = yaw_rate_p; - - _K_rate_d(0, 0) = att_rate_d; - _K_rate_d(1, 1) = att_rate_d; - _K_rate_d(2, 2) = yaw_rate_d; - - return OK; -} - -void -MulticopterAttitudeControl::vehicle_control_mode_poll() -{ - bool control_mode_updated; - - /* Check HIL state if vehicle status has changed */ - orb_check(_control_mode_sub, &control_mode_updated); - - if (control_mode_updated) { - - orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); - } -} - -void -MulticopterAttitudeControl::vehicle_manual_poll() -{ - bool manual_updated; - - /* get pilots inputs */ - orb_check(_manual_sub, &manual_updated); - - if (manual_updated) { - - orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual); - } -} - -void -MulticopterAttitudeControl::vehicle_setpoint_poll() -{ - /* check if there is a new setpoint */ - bool att_sp_updated; - orb_check(_att_sp_sub, &att_sp_updated); - - if (att_sp_updated) { - orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp); - } -} - -void -MulticopterAttitudeControl::arming_status_poll() -{ - /* check if there is a new setpoint */ - bool arming_updated; - orb_check(_arming_sub, &arming_updated); - - if (arming_updated) { - orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming); - } -} - -void -MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[]) -{ - att_control::g_control->task_main(); -} - -void -MulticopterAttitudeControl::task_main() -{ - /* inform about start */ - warnx("started"); - fflush(stdout); - - /* - * do subscriptions - */ - _att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); - _params_sub = orb_subscribe(ORB_ID(parameter_update)); - _manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - _arming_sub = orb_subscribe(ORB_ID(actuator_armed)); - - /* rate limit attitude updates to 100Hz */ - orb_set_interval(_att_sub, 10); - - parameters_update(); - - /* initialize values of critical structs until first regular update */ - _arming.armed = false; - - /* get an initial update for all sensor and status data */ - vehicle_setpoint_poll(); - vehicle_control_mode_poll(); - vehicle_manual_poll(); - arming_status_poll(); - - /* setpoint rotation matrix */ - math::Matrix<3, 3> R_sp; - R_sp.identity(); - - /* rotation matrix for current state */ - math::Matrix<3, 3> R; - R.identity(); - - /* current angular rates */ - math::Vector<3> rates; - rates.zero(); - - /* identity matrix */ - math::Matrix<3, 3> I; - I.identity(); - - math::Quaternion q; - - bool reset_yaw_sp = true; - - /* wakeup source(s) */ - struct pollfd fds[2]; - - /* Setup of loop */ - fds[0].fd = _params_sub; - fds[0].events = POLLIN; - fds[1].fd = _att_sub; - fds[1].events = POLLIN; - - while (!_task_should_exit) { - - /* wait for up to 500ms for data */ - int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); - - /* timed out - periodic check for _task_should_exit, etc. */ - if (pret == 0) - continue; - - /* this is undesirable but not much we can do - might want to flag unhappy status */ - if (pret < 0) { - warn("poll error %d, %d", pret, errno); - continue; - } - - perf_begin(_loop_perf); - - /* only update parameters if they changed */ - if (fds[0].revents & POLLIN) { - /* copy the topic to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), _params_sub, &update); - - parameters_update(); - } - - /* only run controller if attitude changed */ - if (fds[1].revents & POLLIN) { - static uint64_t last_run = 0; - float dt = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - /* guard against too large dt's */ - if (dt > 0.02f) - dt = 0.02f; - - /* copy attitude topic */ - orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); - - vehicle_setpoint_poll(); - vehicle_control_mode_poll(); - arming_status_poll(); - vehicle_manual_poll(); - - float yaw_sp_move_rate = 0.0f; - bool publish_att_sp = false; - - /* define which input is the dominating control input */ - if (_control_mode.flag_control_manual_enabled) { - /* manual input */ - if (!_control_mode.flag_control_climb_rate_enabled) { - /* pass throttle directly if not in altitude control mode */ - _att_sp.thrust = _manual.throttle; - } - - if (!_arming.armed) { - /* reset yaw setpoint when disarmed */ - reset_yaw_sp = true; - } - - if (_control_mode.flag_control_attitude_enabled) { - /* control attitude, update attitude setpoint depending on mode */ - - if (_att_sp.thrust < 0.1f) { - // TODO - //if (_status.condition_landed) { - /* reset yaw setpoint if on ground */ - // reset_yaw_sp = true; - //} - } else { - if (_manual.yaw < -YAW_DEADZONE || YAW_DEADZONE < _manual.yaw) { - /* move yaw setpoint */ - yaw_sp_move_rate = _manual.yaw; - _att_sp.yaw_body = _wrap_pi(_att_sp.yaw_body + yaw_sp_move_rate * dt); - _att_sp.R_valid = false; - publish_att_sp = true; - } - } - - /* reset yaw setpint to current position if needed */ - if (reset_yaw_sp) { - reset_yaw_sp = false; - _att_sp.yaw_body = _att.yaw; - _att_sp.R_valid = false; - publish_att_sp = true; - } - - if (!_control_mode.flag_control_velocity_enabled) { - /* update attitude setpoint if not in position control mode */ - _att_sp.roll_body = _manual.roll; - _att_sp.pitch_body = _manual.pitch; - _att_sp.R_valid = false; - publish_att_sp = true; - } - - } else { - /* manual rate inputs (ACRO) */ - // TODO - /* reset yaw setpoint after ACRO */ - reset_yaw_sp = true; - } - - } else { - /* reset yaw setpoint after non-manual control */ - reset_yaw_sp = true; - } - - if (_att_sp.R_valid) { - /* rotation matrix in _att_sp is valid, use it */ - R_sp.set(&_att_sp.R_body[0][0]); - - } else { - /* rotation matrix in _att_sp is not valid, use euler angles instead */ - R_sp.from_euler(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body); - - /* copy rotation matrix back to setpoint struct */ - memcpy(&_att_sp.R_body[0][0], &R_sp.data[0][0], sizeof(_att_sp.R_body)); - _att_sp.R_valid = true; - } - - if (publish_att_sp) { - /* publish the attitude setpoint */ - _att_sp.timestamp = hrt_absolute_time(); - - if (_att_sp_pub > 0) { - orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); - - } else { - _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); - } - } - - /* rotation matrix for current state */ - R.set(_att.R); - - /* current body angular rates */ - rates(0) = _att.rollspeed; - rates(1) = _att.pitchspeed; - rates(2) = _att.yawspeed; - - /* 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)); - - /* axis and sin(angle) of desired rotation */ - 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); - - /* calculate rotation matrix after roll/pitch only rotation */ - math::Matrix<3, 3> R_rp; - - if (e_R_z_sin > 0.0f) { - /* get axis-angle representation */ - float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos); - math::Vector<3> e_R_z_axis = e_R / e_R_z_sin; - - e_R = e_R_z_axis * e_R_z_angle; - - /* cross product matrix for e_R_axis */ - math::Matrix<3, 3> e_R_cp; - e_R_cp.zero(); - e_R_cp(0, 1) = -e_R_z_axis(2); - e_R_cp(0, 2) = e_R_z_axis(1); - e_R_cp(1, 0) = e_R_z_axis(2); - e_R_cp(1, 2) = -e_R_z_axis(0); - e_R_cp(2, 0) = -e_R_z_axis(1); - 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)); - - } else { - /* zero roll/pitch rotation */ - 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)); - 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; - - if (e_R_z_cos < 0.0f) { - /* for large thrust vector rotations use another rotation method: - * calculate angle and axis for R -> R_sp rotation directly */ - 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)); - - /* use fusion of Z axis based rotation and direct rotation */ - float direct_w = e_R_z_cos * e_R_z_cos * yaw_w; - e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w; - } - - /* angular rates setpoint*/ - math::Vector<3> rates_sp = _K * e_R; - - /* feed forward yaw setpoint rate */ - rates_sp(2) += yaw_sp_move_rate * yaw_w; - math::Vector<3> control = _K_rate_p * (rates_sp - rates) + _K_rate_d * (_rates_prev - rates) / fmaxf(dt, 0.003f); - _rates_prev = rates; - - /* publish the attitude rates setpoint */ - _rates_sp.roll = rates_sp(0); - _rates_sp.pitch = rates_sp(1); - _rates_sp.yaw = rates_sp(2); - _rates_sp.thrust = _att_sp.thrust; - _rates_sp.timestamp = hrt_absolute_time(); - - if (_rates_sp_pub > 0) { - orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &_rates_sp); - - } else { - _rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp); - } - - /* publish the attitude controls */ - if (_control_mode.flag_control_rates_enabled) { - _actuators.control[0] = (isfinite(control(0))) ? control(0) : 0.0f; - _actuators.control[1] = (isfinite(control(1))) ? control(1) : 0.0f; - _actuators.control[2] = (isfinite(control(2))) ? control(2) : 0.0f; - _actuators.control[3] = (isfinite(_rates_sp.thrust)) ? _rates_sp.thrust : 0.0f; - _actuators.timestamp = hrt_absolute_time(); - } else { - /* controller disabled, publish zero attitude controls */ - _actuators.control[0] = 0.0f; - _actuators.control[1] = 0.0f; - _actuators.control[2] = 0.0f; - _actuators.control[3] = 0.0f; - _actuators.timestamp = hrt_absolute_time(); - } - - if (_actuators_0_pub > 0) { - /* publish the attitude setpoint */ - orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); - - } else { - /* advertise and publish */ - _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); - } - } - - perf_end(_loop_perf); - } - - warnx("exit"); - - _control_task = -1; - _exit(0); -} - -int -MulticopterAttitudeControl::start() -{ - ASSERT(_control_task == -1); - - /* start the task */ - _control_task = task_spawn_cmd("mc_att_control_vector", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2048, - (main_t)&MulticopterAttitudeControl::task_main_trampoline, - nullptr); - - if (_control_task < 0) { - warn("task start failed"); - return -errno; - } - - return OK; -} - -int mc_att_control_vector_main(int argc, char *argv[]) -{ - if (argc < 1) - errx(1, "usage: mc_att_control_vector {start|stop|status}"); - - if (!strcmp(argv[1], "start")) { - - if (att_control::g_control != nullptr) - errx(1, "already running"); - - att_control::g_control = new MulticopterAttitudeControl; - - if (att_control::g_control == nullptr) - errx(1, "alloc failed"); - - if (OK != att_control::g_control->start()) { - delete att_control::g_control; - att_control::g_control = nullptr; - err(1, "start failed"); - } - - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - if (att_control::g_control == nullptr) - errx(1, "not running"); - - delete att_control::g_control; - att_control::g_control = nullptr; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (att_control::g_control) { - errx(0, "running"); - - } else { - errx(1, "not running"); - } - } - - warnx("unrecognized command"); - return 1; -} diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_params.c b/src/modules/mc_att_control_vector/mc_att_control_vector_params.c deleted file mode 100644 index 613d1945b..000000000 --- a/src/modules/mc_att_control_vector/mc_att_control_vector_params.c +++ /dev/null @@ -1,20 +0,0 @@ -/* - * mc_att_control_vector_params.c - * - * Created on: 26.12.2013 - * Author: ton - */ - -#include <systemlib/param/param.h> - -/* multicopter attitude controller parameters */ -PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 2.0f); -PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f); -PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); diff --git a/src/modules/mc_att_control_vector/module.mk b/src/modules/mc_att_control_vector/module.mk deleted file mode 100644 index de0675df8..000000000 --- a/src/modules/mc_att_control_vector/module.mk +++ /dev/null @@ -1,41 +0,0 @@ -############################################################################ -# -# Copyright (c) 2012, 2013 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. -# -############################################################################ - -# -# Multirotor attitude controller (vector based, no Euler singularities) -# - -MODULE_COMMAND = mc_att_control_vector - -SRCS = mc_att_control_vector_main.cpp \ - mc_att_control_vector_params.c |