diff options
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 74 |
1 files changed, 67 insertions, 7 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 886da8c20..0d9cc8157 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -163,6 +163,10 @@ private: param_t tilt_max_air; param_t land_speed; param_t tilt_max_land; + param_t man_roll_max; + param_t man_pitch_max; + param_t man_yaw_max; + param_t mc_att_yaw_p; } _params_handles; /**< handles for interesting parameters */ struct { @@ -171,6 +175,10 @@ private: float tilt_max_air; float land_speed; float tilt_max_land; + float man_roll_max; + float man_pitch_max; + float man_yaw_max; + float mc_att_yaw_p; math::Vector<3> pos_p; math::Vector<3> vel_p; @@ -353,6 +361,10 @@ MulticopterPositionControl::MulticopterPositionControl() : _params_handles.tilt_max_air = param_find("MPC_TILTMAX_AIR"); _params_handles.land_speed = param_find("MPC_LAND_SPEED"); _params_handles.tilt_max_land = param_find("MPC_TILTMAX_LND"); + _params_handles.man_roll_max = param_find("MPC_MAN_R_MAX"); + _params_handles.man_pitch_max = param_find("MPC_MAN_P_MAX"); + _params_handles.man_yaw_max = param_find("MPC_MAN_Y_MAX"); + _params_handles.mc_att_yaw_p = param_find("MC_YAW_P"); /* fetch initial parameter values */ parameters_update(true); @@ -438,6 +450,17 @@ MulticopterPositionControl::parameters_update(bool force) _params.vel_ff(2) = v; _params.sp_offs_max = _params.vel_max.edivide(_params.pos_p) * 2.0f; + + /* mc attitude control parameters*/ + /* 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); + param_get(_params_handles.mc_att_yaw_p,&v); + _params.mc_att_yaw_p = v; } return OK; @@ -901,6 +924,7 @@ MulticopterPositionControl::task_main() bool reset_int_z = true; bool reset_int_z_manual = false; bool reset_int_xy = true; + bool reset_yaw_sp = false; bool was_armed = false; hrt_abstime t_prev = 0; @@ -948,6 +972,11 @@ MulticopterPositionControl::task_main() was_armed = _control_mode.flag_armed; + /* check if should reset yaw setpoint for manual attitude control */ + if(!_arming.armed || !_control_mode.flag_control_manual_enabled || (!_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_manual_enabled)) { + reset_yaw_sp = true; + } + update_ref(); if (_control_mode.flag_control_altitude_enabled || @@ -1289,13 +1318,6 @@ MulticopterPositionControl::task_main() _att_sp.timestamp = hrt_absolute_time(); - /* publish attitude setpoint */ - 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); - } } else { reset_int_z = true; @@ -1328,6 +1350,44 @@ MulticopterPositionControl::task_main() reset_int_xy = true; } + if(!_control_mode.flag_control_velocity_enabled) { + /* generate attitude setpoint from manual controls */ + + /* move yaw setpoint */ + float yaw_sp_move_rate = _manual.r * _params.man_yaw_max; + _att_sp.yaw_body = _wrap_pi(_att_sp.yaw_body + yaw_sp_move_rate * dt); + float yaw_offs_max = _params.man_yaw_max / _params.mc_att_yaw_p; + float yaw_offs = _wrap_pi(_att_sp.yaw_body - _att.yaw); + if (yaw_offs < - yaw_offs_max) { + _att_sp.yaw_body = _wrap_pi(_att.yaw - yaw_offs_max); + + } else if (yaw_offs > yaw_offs_max) { + _att_sp.yaw_body = _wrap_pi(_att.yaw + yaw_offs_max); + } + + /* reset yaw setpoint to current position if needed */ + if (reset_yaw_sp) { + reset_yaw_sp = false; + _att_sp.yaw_body = _att.yaw; + } + + _att_sp.roll_body = _manual.y * _params.man_roll_max; + _att_sp.pitch_body = -_manual.x * _params.man_pitch_max; + _att_sp.thrust = _control_mode.flag_control_altitude_enabled ? _att_sp.thrust : _manual.z; + _att_sp.yaw_sp_move_rate = yaw_sp_move_rate; + math::Matrix<3,3> R_sp; + R_sp.from_euler(_att_sp.roll_body,_att_sp.pitch_body,_att_sp.yaw_body); + memcpy(&_att_sp.R_body[0], R_sp.data, sizeof(_att_sp.R_body)); + _att_sp.timestamp = hrt_absolute_time(); + } + /* publish attitude setpoint */ + 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); + } + /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ reset_int_z_manual = _control_mode.flag_armed && _control_mode.flag_control_manual_enabled && !_control_mode.flag_control_climb_rate_enabled; } |