diff options
Diffstat (limited to 'src/modules/multirotor_att_control')
5 files changed, 134 insertions, 109 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 20502c0ea..7014d22c4 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -58,13 +58,11 @@ #include <uORB/uORB.h> #include <drivers/drv_gyro.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> @@ -84,18 +82,12 @@ static bool thread_should_exit; static int mc_task; static bool motor_test_mode = false; -static orb_advert_t actuator_pub; -static orb_advert_t control_debug_pub; - - static int mc_thread_main(int argc, char *argv[]) { /* declare and safely initialize all structs */ 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; @@ -112,16 +104,12 @@ 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 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)); @@ -142,10 +130,8 @@ 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 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); int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); @@ -161,20 +147,18 @@ 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_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; /* store if we stopped a yaw movement */ - bool first_time_after_yaw_speed_control = true; + bool reset_yaw_sp = true; /* prepare the handle for the failsafe throttle */ 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 */ @@ -187,6 +171,7 @@ 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 */ @@ -210,12 +195,6 @@ mc_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); } - orb_check(armed_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); - } - /* get a local copy of manual setpoint */ orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); /* get a local copy of attitude */ @@ -232,6 +211,7 @@ 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 (control_mode.flag_control_offboard_enabled) { /* offboard inputs */ @@ -256,50 +236,90 @@ mc_thread_main(int argc, char *argv[]) } - } else if (control_mode.flag_control_manual_enabled) { + } else if (control_mode.flag_control_manual_enabled) { + /* direct manual input */ if (control_mode.flag_control_attitude_enabled) { + /* control attitude, update attitude setpoint depending on mode */ /* initialize to current yaw if switching to manual or att control */ 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) { + control_mode.flag_control_manual_enabled != flag_control_manual_enabled) { 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 (control_mode.failsave_highlevel) { + if (!control_mode.flag_control_position_enabled) { + /* Don't reset attitude setpoint in position control mode, it's handled by position controller. */ + att_sp.roll_body = 0.0f; + att_sp.pitch_body = 0.0f; + + if (!control_mode.flag_control_altitude_enabled) { + /* Don't touch throttle in modes with altitude hold, it's handled by position controller. + * + * 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) { + /* 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.thrust = failsafe_throttle; + + } else { + att_sp.thrust = 0.0f; + } + } + } - rc_loss_first_time = true; - - att_sp.roll_body = manual.roll; - att_sp.pitch_body = manual.pitch; - - /* set attitude if arming */ - if (!flag_control_attitude_enabled && armed.armed) { - att_sp.yaw_body = att.yaw; - } + /* 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; - /* 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; + rc_loss_first_time = false; } else { - if (first_time_after_yaw_speed_control) { - att_sp.yaw_body = att.yaw; - first_time_after_yaw_speed_control = false; - } + rc_loss_first_time = true; - control_yaw_position = true; - } + /* control yaw in all manual / assisted modes */ + /* set yaw if arming or switching to attitude stabilized mode */ + if (!flag_control_attitude_enabled) { + reset_yaw_sp = true; + } - att_sp.thrust = manual.throttle; - att_sp.timestamp = hrt_absolute_time(); + /* only move setpoint if manual input is != 0 */ + if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { // TODO use landed status instead of throttle + rates_sp.yaw = manual.yaw; + control_yaw_position = false; + reset_yaw_sp = true; + + } else { + if (reset_yaw_sp) { + att_sp.yaw_body = att.yaw; + reset_yaw_sp = false; + } + control_yaw_position = true; + } - /* STEP 2: publish the controller output */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + if (!control_mode.flag_control_position_enabled) { + /* don't update attitude setpoint in position control mode */ + att_sp.roll_body = manual.roll; + att_sp.pitch_body = manual.pitch; + if (!control_mode.flag_control_position_enabled) { + /* don't set throttle in altitude hold modes */ + att_sp.thrust = manual.throttle; + } + } + att_sp.timestamp = hrt_absolute_time(); + } if (motor_test_mode) { printf("testmode"); @@ -308,31 +328,26 @@ mc_thread_main(int argc, char *argv[]) att_sp.yaw_body = 0.0f; att_sp.thrust = 0.1f; att_sp.timestamp = hrt_absolute_time(); - /* STEP 2: publish the result to the vehicle actuators */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); } - } else { + /* STEP 2: publish the controller output */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - //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(); -// } + } 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(); + } } - } /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ if (control_mode.flag_control_attitude_enabled) { - multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, &control_debug_pub, &control_debug); + multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); } @@ -340,8 +355,7 @@ mc_thread_main(int argc, char *argv[]) /* measure in what intervals the controller runs */ perf_count(mc_interval_perf); - float rates[3]; - float rates_acc[3]; + float gyro[3]; /* get current rate setpoint */ bool rates_sp_valid = false; @@ -352,21 +366,16 @@ mc_thread_main(int argc, char *argv[]) } /* apply controller */ - rates[0] = att.rollspeed; - rates[1] = att.pitchspeed; - rates[2] = att.yawspeed; + gyro[0] = att.rollspeed; + gyro[1] = att.pitchspeed; + gyro[2] = att.yawspeed; - multirotor_control_rates(&rates_sp, rates, &actuators, &control_debug_pub, &control_debug); + multirotor_control_rates(&rates_sp, gyro, &actuators); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); - - /* update control_mode */ + /* update state */ 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 */ diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 083311674..8f19c6a4b 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -65,29 +65,50 @@ PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f); PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f); PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); +//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f); +//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f); PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); +//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f); +//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f); + +//PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f); +//PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f); struct mc_att_control_params { float yaw_p; float yaw_i; float yaw_d; + //float yaw_awu; + //float yaw_lim; float att_p; float att_i; float att_d; + //float att_awu; + //float att_lim; + + //float att_xoff; + //float att_yoff; }; struct mc_att_control_param_handles { param_t yaw_p; param_t yaw_i; param_t yaw_d; + //param_t yaw_awu; + //param_t yaw_lim; param_t att_p; param_t att_i; param_t att_d; + //param_t att_awu; + //param_t att_lim; + + //param_t att_xoff; + //param_t att_yoff; }; /** @@ -109,10 +130,17 @@ static int parameters_init(struct mc_att_control_param_handles *h) h->yaw_p = param_find("MC_YAWPOS_P"); h->yaw_i = param_find("MC_YAWPOS_I"); h->yaw_d = param_find("MC_YAWPOS_D"); + //h->yaw_awu = param_find("MC_YAWPOS_AWU"); + //h->yaw_lim = param_find("MC_YAWPOS_LIM"); h->att_p = param_find("MC_ATT_P"); h->att_i = param_find("MC_ATT_I"); h->att_d = param_find("MC_ATT_D"); + //h->att_awu = param_find("MC_ATT_AWU"); + //h->att_lim = param_find("MC_ATT_LIM"); + + //h->att_xoff = param_find("MC_ATT_XOFF"); + //h->att_yoff = param_find("MC_ATT_YOFF"); return OK; } @@ -122,17 +150,23 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc param_get(h->yaw_p, &(p->yaw_p)); param_get(h->yaw_i, &(p->yaw_i)); param_get(h->yaw_d, &(p->yaw_d)); + //param_get(h->yaw_awu, &(p->yaw_awu)); + //param_get(h->yaw_lim, &(p->yaw_lim)); param_get(h->att_p, &(p->att_p)); param_get(h->att_i, &(p->att_i)); param_get(h->att_d, &(p->att_d)); + //param_get(h->att_awu, &(p->att_awu)); + //param_get(h->att_lim, &(p->att_lim)); + + //param_get(h->att_xoff, &(p->att_xoff)); + //param_get(h->att_yoff, &(p->att_yoff)); return OK; } void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position, - const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug) + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position) { static uint64_t last_run = 0; static uint64_t last_input = 0; @@ -173,7 +207,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* apply parameters */ pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); - pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); + pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); } /* reset integral if on ground */ @@ -187,13 +221,11 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* control pitch (forward) output */ rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body , - att->pitch, att->pitchspeed, deltaT, &control_debug->pitch_p, &control_debug->pitch_i, &control_debug->pitch_d); + att->pitch, att->pitchspeed, deltaT); /* control roll (left/right) output */ rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , - att->roll, att->rollspeed, deltaT, NULL, NULL, NULL); - - // printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT); + att->roll, att->rollspeed, deltaT); if (control_yaw_position) { /* control yaw rate */ diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.h b/src/modules/multirotor_att_control/multirotor_attitude_control.h index 6dd5b39fd..e78f45c47 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.h +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.h @@ -58,11 +58,8 @@ #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_control_debug.h> - void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position, - const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug); + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position); #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */ diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index ee8c37580..e58d357d5 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -58,9 +58,6 @@ #include <systemlib/param/param.h> #include <systemlib/err.h> #include <drivers/drv_hrt.h> -#include <uORB/uORB.h> - - PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); @@ -155,8 +152,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru } void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators, - const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug) + const float rates[], struct actuator_controls_s *actuators) { static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; @@ -176,13 +172,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, static struct mc_rate_control_params p; static struct mc_rate_control_param_handles h; - float pitch_control_last = 0.0f; - float roll_control_last = 0.0f; - static bool initialized = false; - float diff_filter_factor = 1.0f; - /* initialize the pid controllers when the function is called for the first time */ if (initialized == false) { parameters_init(&h); @@ -210,13 +201,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , - rates[1], 0.0f, deltaT, - &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); + rates[1], 0.0f, deltaT); /* control roll (left/right) output */ float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , - rates[0], 0.0f, deltaT, - &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d); + rates[0], 0.0f, deltaT); /* control yaw rate */ //XXX use library here float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]); diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h index 695ff3e16..362b5ed86 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.h +++ b/src/modules/multirotor_att_control/multirotor_rate_control.h @@ -57,10 +57,8 @@ #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_control_debug.h> void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators, - const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug); + const float rates[], struct actuator_controls_s *actuators); #endif /* MULTIROTOR_RATE_CONTROL_H_ */ |