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Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_att_control_main.c')
-rw-r--r--src/modules/multirotor_att_control/multirotor_att_control_main.c465
1 files changed, 0 insertions, 465 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c
deleted file mode 100644
index 60a211817..000000000
--- a/src/modules/multirotor_att_control/multirotor_att_control_main.c
+++ /dev/null
@@ -1,465 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
- * Author: 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 multirotor_att_control_main.c
- *
- * Implementation of multirotor attitude control main loop.
- *
- * @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 <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include <getopt.h>
-#include <time.h>
-#include <math.h>
-#include <poll.h>
-#include <sys/prctl.h>
-#include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <drivers/drv_gyro.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/offboard_control_setpoint.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/parameter_update.h>
-
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
-
-#include "multirotor_attitude_control.h"
-#include "multirotor_rate_control.h"
-
-__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
-
-static bool thread_should_exit;
-static int mc_task;
-static bool motor_test_mode = false;
-static const float min_takeoff_throttle = 0.3f;
-static const float yaw_deadzone = 0.01f;
-
-static int
-mc_thread_main(int argc, char *argv[])
-{
- /* declare and safely initialize all structs */
- struct vehicle_attitude_s att;
- memset(&att, 0, sizeof(att));
- struct vehicle_attitude_setpoint_s att_sp;
- memset(&att_sp, 0, sizeof(att_sp));
- struct offboard_control_setpoint_s offboard_sp;
- memset(&offboard_sp, 0, sizeof(offboard_sp));
- struct vehicle_control_mode_s control_mode;
- memset(&control_mode, 0, sizeof(control_mode));
- struct manual_control_setpoint_s manual;
- memset(&manual, 0, sizeof(manual));
- struct sensor_combined_s sensor;
- memset(&sensor, 0, sizeof(sensor));
- struct vehicle_rates_setpoint_s rates_sp;
- memset(&rates_sp, 0, sizeof(rates_sp));
- struct vehicle_status_s status;
- memset(&status, 0, sizeof(status));
- struct actuator_controls_s actuators;
- memset(&actuators, 0, sizeof(actuators));
-
- /* subscribe */
- int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
- int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
- int vehicle_attitude_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
- int offboard_control_setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
- int vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
- int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
- int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
- int vehicle_rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
- int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-
- /* publish actuator controls */
- for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
- actuators.control[i] = 0.0f;
- }
-
- orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
- orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
- orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-
- /* register the perf counter */
- perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control_runtime");
- perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval");
- perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err");
-
- warnx("starting");
-
- /* store last control mode to detect mode switches */
- bool control_yaw_position = true;
- bool reset_yaw_sp = true;
-
- struct pollfd fds[1] = {
- { .fd = vehicle_attitude_sub, .events = POLLIN },
- };
-
- while (!thread_should_exit) {
-
- /* wait for a sensor update, check for exit condition every 500 ms */
- int ret = poll(fds, 1, 500);
-
- if (ret < 0) {
- /* poll error, count it in perf */
- perf_count(mc_err_perf);
-
- } else if (ret > 0) {
- /* only run controller if attitude changed */
- perf_begin(mc_loop_perf);
-
- /* attitude */
- orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
-
- bool updated;
-
- /* parameters */
- orb_check(parameter_update_sub, &updated);
-
- if (updated) {
- struct parameter_update_s update;
- orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
- /* update parameters */
- }
-
- /* control mode */
- orb_check(vehicle_control_mode_sub, &updated);
-
- if (updated) {
- orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sub, &control_mode);
- }
-
- /* manual control setpoint */
- orb_check(manual_control_setpoint_sub, &updated);
-
- if (updated) {
- orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual);
- }
-
- /* attitude setpoint */
- orb_check(vehicle_attitude_setpoint_sub, &updated);
-
- if (updated) {
- orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp);
- }
-
- /* offboard control setpoint */
- orb_check(offboard_control_setpoint_sub, &updated);
-
- if (updated) {
- orb_copy(ORB_ID(offboard_control_setpoint), offboard_control_setpoint_sub, &offboard_sp);
- }
-
- /* vehicle status */
- orb_check(vehicle_status_sub, &updated);
-
- if (updated) {
- orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status);
- }
-
- /* sensors */
- orb_check(sensor_combined_sub, &updated);
-
- if (updated) {
- orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
- }
-
- /* set flag to safe value */
- control_yaw_position = true;
-
- /* reset yaw setpoint if not armed */
- if (!control_mode.flag_armed) {
- reset_yaw_sp = true;
- }
-
- /* define which input is the dominating control input */
- if (control_mode.flag_control_offboard_enabled) {
- /* offboard inputs */
- if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
- rates_sp.roll = offboard_sp.p1;
- rates_sp.pitch = offboard_sp.p2;
- rates_sp.yaw = offboard_sp.p3;
- rates_sp.thrust = offboard_sp.p4;
- rates_sp.timestamp = hrt_absolute_time();
- orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
-
- } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
- att_sp.roll_body = offboard_sp.p1;
- att_sp.pitch_body = offboard_sp.p2;
- att_sp.yaw_body = offboard_sp.p3;
- att_sp.thrust = offboard_sp.p4;
- att_sp.timestamp = hrt_absolute_time();
- /* publish the result to the vehicle actuators */
- orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
- }
-
- /* reset yaw setpoint after offboard control */
- reset_yaw_sp = true;
-
- } else if (control_mode.flag_control_manual_enabled) {
- /* manual input */
- if (control_mode.flag_control_attitude_enabled) {
- /* control attitude, update attitude setpoint depending on mode */
- if (att_sp.thrust < 0.1f) {
- /* no thrust, don't try to control yaw */
- rates_sp.yaw = 0.0f;
- control_yaw_position = false;
-
- if (status.condition_landed) {
- /* reset yaw setpoint if on ground */
- reset_yaw_sp = true;
- }
-
- } else {
- /* only move yaw setpoint if manual input is != 0 */
- if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) {
- /* control yaw rate */
- control_yaw_position = false;
- rates_sp.yaw = manual.yaw;
- reset_yaw_sp = true; // has no effect on control, just for beautiful log
-
- } else {
- control_yaw_position = 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;
-
- if (!control_mode.flag_control_climb_rate_enabled) {
- /* pass throttle directly if not in altitude control mode */
- att_sp.thrust = manual.throttle;
- }
- }
-
- /* reset yaw setpint to current position if needed */
- if (reset_yaw_sp) {
- att_sp.yaw_body = att.yaw;
- reset_yaw_sp = false;
- }
-
- if (motor_test_mode) {
- printf("testmode");
- att_sp.roll_body = 0.0f;
- att_sp.pitch_body = 0.0f;
- att_sp.yaw_body = 0.0f;
- att_sp.thrust = 0.1f;
- }
-
- att_sp.timestamp = hrt_absolute_time();
-
- /* publish the attitude setpoint */
- orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-
- } else {
- /* manual rate inputs (ACRO), from RC control or joystick */
- if (control_mode.flag_control_rates_enabled) {
- rates_sp.roll = manual.roll;
- rates_sp.pitch = manual.pitch;
- rates_sp.yaw = manual.yaw;
- rates_sp.thrust = manual.throttle;
- rates_sp.timestamp = hrt_absolute_time();
- }
-
- /* reset yaw setpoint after ACRO */
- reset_yaw_sp = true;
- }
-
- } else {
- if (!control_mode.flag_control_auto_enabled) {
- /* no control, try to stay on place */
- if (!control_mode.flag_control_velocity_enabled) {
- /* no velocity control, reset attitude setpoint */
- att_sp.roll_body = 0.0f;
- att_sp.pitch_body = 0.0f;
- att_sp.timestamp = hrt_absolute_time();
- orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
- }
- }
-
- /* reset yaw setpoint after non-manual control */
- reset_yaw_sp = true;
- }
-
- /* check if we should we reset integrals */
- bool reset_integral = !control_mode.flag_armed || att_sp.thrust < 0.1f; // TODO use landed status instead of throttle
-
- /* run attitude controller if needed */
- if (control_mode.flag_control_attitude_enabled) {
- multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, reset_integral);
- orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
- }
-
- /* measure in what intervals the controller runs */
- perf_count(mc_interval_perf);
-
- /* run rates controller if needed */
- if (control_mode.flag_control_rates_enabled) {
- /* get current rate setpoint */
- bool rates_sp_updated = false;
- orb_check(vehicle_rates_setpoint_sub, &rates_sp_updated);
-
- if (rates_sp_updated) {
- orb_copy(ORB_ID(vehicle_rates_setpoint), vehicle_rates_setpoint_sub, &rates_sp);
- }
-
- /* apply controller */
- float rates[3];
- rates[0] = att.rollspeed;
- rates[1] = att.pitchspeed;
- rates[2] = att.yawspeed;
- multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral);
-
- } else {
- /* rates controller disabled, set actuators to zero for safety */
- actuators.control[0] = 0.0f;
- actuators.control[1] = 0.0f;
- actuators.control[2] = 0.0f;
- actuators.control[3] = 0.0f;
- }
-
- /* fill in manual control values */
- actuators.control[4] = manual.flaps;
- actuators.control[5] = manual.aux1;
- actuators.control[6] = manual.aux2;
- actuators.control[7] = manual.aux3;
-
- actuators.timestamp = hrt_absolute_time();
- orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-
- perf_end(mc_loop_perf);
- }
- }
-
- warnx("stopping, disarming motors");
-
- /* kill all outputs */
- for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
- actuators.control[i] = 0.0f;
-
- orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-
- close(vehicle_attitude_sub);
- close(vehicle_control_mode_sub);
- close(manual_control_setpoint_sub);
- close(actuator_pub);
- close(att_sp_pub);
-
- perf_print_counter(mc_loop_perf);
- perf_free(mc_loop_perf);
-
- fflush(stdout);
- exit(0);
-}
-
-static void
-usage(const char *reason)
-{
- if (reason)
- fprintf(stderr, "%s\n", reason);
-
- fprintf(stderr, "usage: multirotor_att_control [-m <mode>] [-t] {start|status|stop}\n");
- fprintf(stderr, " <mode> is 'rates' or 'attitude'\n");
- fprintf(stderr, " -t enables motor test mode with 10%% thrust\n");
- exit(1);
-}
-
-int multirotor_att_control_main(int argc, char *argv[])
-{
- int ch;
- unsigned int optioncount = 0;
-
- while ((ch = getopt(argc, argv, "tm:")) != EOF) {
- switch (ch) {
- case 't':
- motor_test_mode = true;
- optioncount += 1;
- break;
-
- case ':':
- usage("missing parameter");
- break;
-
- default:
- fprintf(stderr, "option: -%c\n", ch);
- usage("unrecognized option");
- break;
- }
- }
-
- argc -= optioncount;
- //argv += optioncount;
-
- if (argc < 1)
- usage("missing command");
-
- if (!strcmp(argv[1 + optioncount], "start")) {
-
- thread_should_exit = false;
- mc_task = task_spawn_cmd("multirotor_att_control",
- SCHED_DEFAULT,
- SCHED_PRIORITY_MAX - 15,
- 2048,
- mc_thread_main,
- NULL);
- exit(0);
- }
-
- if (!strcmp(argv[1 + optioncount], "stop")) {
- thread_should_exit = true;
- exit(0);
- }
-
- usage("unrecognized command");
- exit(1);
-}
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