diff options
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.c | 189 |
1 files changed, 81 insertions, 108 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 index 99f25cfe9..20502c0ea 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -57,12 +57,14 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> #include <drivers/drv_gyro.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/vehicle_control_mode.h> +#include <uORB/topics/actuator_armed.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_control_debug.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/parameter_update.h> @@ -83,14 +85,17 @@ static int mc_task; static bool motor_test_mode = false; static orb_advert_t actuator_pub; +static orb_advert_t control_debug_pub; -static struct vehicle_status_s state; static int mc_thread_main(int argc, char *argv[]) { /* declare and safely initialize all structs */ - memset(&state, 0, sizeof(state)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); + struct actuator_armed_s armed; + memset(&armed, 0, sizeof(armed)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); struct vehicle_attitude_setpoint_s att_sp; @@ -107,12 +112,16 @@ mc_thread_main(int argc, char *argv[]) struct actuator_controls_s actuators; memset(&actuators, 0, sizeof(actuators)); + struct vehicle_control_debug_s control_debug; + memset(&control_debug, 0, sizeof(control_debug)); + /* subscribe to attitude, motor setpoints and system state */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int param_sub = orb_subscribe(ORB_ID(parameter_update)); int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); @@ -133,6 +142,8 @@ mc_thread_main(int argc, char *argv[]) for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { actuators.control[i] = 0.0f; } + + control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug); 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); @@ -150,7 +161,9 @@ mc_thread_main(int argc, char *argv[]) /* store last control mode to detect mode switches */ bool flag_control_manual_enabled = false; bool flag_control_attitude_enabled = false; - bool flag_system_armed = false; + bool flag_armed = false; + bool flag_control_position_enabled = false; + bool flag_control_velocity_enabled = false; /* store if yaw position or yaw speed has been changed */ bool control_yaw_position = true; @@ -162,7 +175,6 @@ mc_thread_main(int argc, char *argv[]) param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR"); float failsafe_throttle = 0.0f; - while (!thread_should_exit) { /* wait for a sensor update, check for exit condition every 500 ms */ @@ -175,7 +187,6 @@ mc_thread_main(int argc, char *argv[]) } else if (ret == 0) { /* no return value, ignore */ } else { - /* only update parameters if they changed */ if (fds[1].revents & POLLIN) { /* read from param to clear updated flag */ @@ -193,10 +204,16 @@ mc_thread_main(int argc, char *argv[]) /* get a local copy of system state */ bool updated; - orb_check(state_sub, &updated); + orb_check(control_mode_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); + } + + orb_check(armed_sub, &updated); if (updated) { - orb_copy(ORB_ID(vehicle_status), state_sub, &state); + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); } /* get a local copy of manual setpoint */ @@ -215,9 +232,8 @@ mc_thread_main(int argc, char *argv[]) /* get a local copy of the current sensor values */ orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); - /** STEP 1: Define which input is the dominating control input */ - if (state.flag_control_offboard_enabled) { + if (control_mode.flag_control_offboard_enabled) { /* offboard inputs */ if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { rates_sp.roll = offboard_sp.p1; @@ -240,102 +256,51 @@ mc_thread_main(int argc, char *argv[]) } - } else if (state.flag_control_manual_enabled) { - - if (state.flag_control_attitude_enabled) { - + } else if (control_mode.flag_control_manual_enabled) { + if (control_mode.flag_control_attitude_enabled) { /* initialize to current yaw if switching to manual or att control */ - if (state.flag_control_attitude_enabled != flag_control_attitude_enabled || - state.flag_control_manual_enabled != flag_control_manual_enabled || - state.flag_system_armed != flag_system_armed) { + if (control_mode.flag_control_attitude_enabled != flag_control_attitude_enabled || + control_mode.flag_control_manual_enabled != flag_control_manual_enabled || + armed.armed != flag_armed) { att_sp.yaw_body = att.yaw; } static bool rc_loss_first_time = true; /* if the RC signal is lost, try to stay level and go slowly back down to ground */ - if (state.rc_signal_lost) { - /* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */ - param_get(failsafe_throttle_handle, &failsafe_throttle); - att_sp.roll_body = 0.0f; - att_sp.pitch_body = 0.0f; - /* - * Only go to failsafe throttle if last known throttle was - * high enough to create some lift to make hovering state likely. - * - * This is to prevent that someone landing, but not disarming his - * multicopter (throttle = 0) does not make it jump up in the air - * if shutting down his remote. - */ - if (isfinite(manual.throttle) && manual.throttle > 0.2f) { - att_sp.thrust = failsafe_throttle; - - } else { - att_sp.thrust = 0.0f; - } - - /* keep current yaw, do not attempt to go to north orientation, - * since if the pilot regains RC control, he will be lost regarding - * the current orientation. - */ - if (rc_loss_first_time) - att_sp.yaw_body = att.yaw; + rc_loss_first_time = true; - rc_loss_first_time = false; + att_sp.roll_body = manual.roll; + att_sp.pitch_body = manual.pitch; - } else { - rc_loss_first_time = true; + /* set attitude if arming */ + if (!flag_control_attitude_enabled && armed.armed) { + att_sp.yaw_body = att.yaw; + } - att_sp.roll_body = manual.roll; - att_sp.pitch_body = manual.pitch; + /* only move setpoint if manual input is != 0 */ + if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.1f) { + rates_sp.yaw = manual.yaw; + control_yaw_position = false; + first_time_after_yaw_speed_control = true; - /* set attitude if arming */ - if (!flag_control_attitude_enabled && state.flag_system_armed) { + } else { + if (first_time_after_yaw_speed_control) { att_sp.yaw_body = att.yaw; + first_time_after_yaw_speed_control = false; } - /* act if stabilization is active or if the (nonsense) direct pass through mode is set */ - if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS || - state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { - - if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) { - rates_sp.yaw = manual.yaw; - control_yaw_position = false; - - } else { - /* - * This mode SHOULD be the default mode, which is: - * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS - * - * However, we fall back to this setting for all other (nonsense) - * settings as well. - */ - - /* only move setpoint if manual input is != 0 */ - if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { - rates_sp.yaw = manual.yaw; - control_yaw_position = false; - first_time_after_yaw_speed_control = true; - - } else { - if (first_time_after_yaw_speed_control) { - att_sp.yaw_body = att.yaw; - first_time_after_yaw_speed_control = false; - } - - control_yaw_position = true; - } - } - } - - att_sp.thrust = manual.throttle; - att_sp.timestamp = hrt_absolute_time(); + control_yaw_position = true; } + att_sp.thrust = manual.throttle; + att_sp.timestamp = hrt_absolute_time(); + /* STEP 2: publish the controller output */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + if (motor_test_mode) { printf("testmode"); att_sp.roll_body = 0.0f; @@ -348,23 +313,26 @@ mc_thread_main(int argc, char *argv[]) } } else { - /* manual rate inputs, from RC control or joystick */ - if (state.flag_control_rates_enabled && - state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) { - 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(); - } + //XXX TODO add acro mode here + + /* manual rate inputs, from RC control or joystick */ +// if (state.flag_control_rates_enabled && +// state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) { +// 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(); +// } } } /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ - if (state.flag_control_attitude_enabled) { - multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position); + if (control_mode.flag_control_attitude_enabled) { + multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, &control_debug_pub, &control_debug); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); } @@ -372,7 +340,8 @@ mc_thread_main(int argc, char *argv[]) /* measure in what intervals the controller runs */ perf_count(mc_interval_perf); - float gyro[3]; + float rates[3]; + float rates_acc[3]; /* get current rate setpoint */ bool rates_sp_valid = false; @@ -383,17 +352,21 @@ mc_thread_main(int argc, char *argv[]) } /* apply controller */ - gyro[0] = att.rollspeed; - gyro[1] = att.pitchspeed; - gyro[2] = att.yawspeed; + rates[0] = att.rollspeed; + rates[1] = att.pitchspeed; + rates[2] = att.yawspeed; - multirotor_control_rates(&rates_sp, gyro, &actuators); + multirotor_control_rates(&rates_sp, rates, &actuators, &control_debug_pub, &control_debug); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - /* update state */ - flag_control_attitude_enabled = state.flag_control_attitude_enabled; - flag_control_manual_enabled = state.flag_control_manual_enabled; - flag_system_armed = state.flag_system_armed; + orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); + + /* update control_mode */ + flag_control_attitude_enabled = control_mode.flag_control_attitude_enabled; + flag_control_manual_enabled = control_mode.flag_control_manual_enabled; + flag_control_position_enabled = control_mode.flag_control_position_enabled; + flag_control_velocity_enabled = control_mode.flag_control_velocity_enabled; + flag_armed = armed.armed; perf_end(mc_loop_perf); } /* end of poll call for attitude updates */ @@ -410,7 +383,7 @@ mc_thread_main(int argc, char *argv[]) close(att_sub); - close(state_sub); + close(control_mode_sub); close(manual_sub); close(actuator_pub); close(att_sp_pub); |