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Diffstat (limited to 'src')
5 files changed, 0 insertions, 1133 deletions
diff --git a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp deleted file mode 100644 index 16e60f3e0..000000000 --- a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp +++ /dev/null @@ -1,165 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 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. - * - ****************************************************************************/ - -/** - * @file ecl_fw_att_control_vector.cpp - * - * Fixed wing attitude controller - * - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Tobias Naegeli <naegelit@student.ethz.ch> - * - */ - -#include <mathlib/mathlib.h> -#include <systemlib/geo/geo.h> -#include "ecl_fw_att_control_vector.h" - -ECL_FWAttControlVector::ECL_FWAttControlVector() : - _integral_error(0.0f, 0.0f), - _integral_max(1000.0f, 1000.0f), - _rates_demanded(0.0f, 0.0f, 0.0f), - _k_p(1.0f, 1.0f, 1.0f), - _k_d(1.0f, 1.0f, 1.0f), - _k_i(1.0f, 1.0f, 1.0f), - _integral_lock(false), - _p_airspeed_min(12.0f), - _p_airspeed_max(24.0f), - _p_tconst(0.1f), - _p_roll_ffd(1.0f), - _airspeed_enabled(false) - { - - } - -/** - * - * @param F_des_in Desired force vector in body frame (NED). Straight flight is (0 0 -1)', - * banking hard right (1 0 -1)' and pitching down (1 0 -1)'. - */ -void ECL_FWAttControlVector::control(float dt, float airspeed, float airspeed_scaling, const math::Dcm &R_nb, float roll, float pitch, float yaw, const math::Vector &F_des_in, - const math::Vector &angular_rates, - math::Vector &moment_des, float &thrust) -{ - if (!isfinite(airspeed) || !airspeed_enabled()) { - // If airspeed is not available or Inf/NaN, use the center - // of min / max - airspeed = 0.5f * (_p_airspeed_min + _p_airspeed_max); - } - - math::Dcm R_bn(R_nb.transpose()); - math::Matrix R_yaw_bn = math::Dcm(math::EulerAngles(0.0f, 0.0f, yaw)).transpose(); - - // Establish actuator signs and lift compensation - float lift_sign = (R_bn(3, 3) >= 0) ? 1.0f : -1.0f; - - float lift_comp = CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min) * (R_nb(2,3) * R_nb(2,3)) / (R_nb(3,3) * sqrtf((R_nb(2,3) * R_nb(2,3)) + (R_nb(3,3) * R_nb(3,3))))); - //float lift_comp = fabsf((CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min)) * tanf(roll) * sinf(roll))) * _p_roll_ffd; - - float cy = cosf(yaw); - float sy = sinf(yaw); - - //math::Matrix RYaw = math::Dcm(cy,-sy,0.0f,sy,cy,0.0f,0.0f,0.0f,1.0f); - math::Vector z_b = math::Vector3(R_bn(0,2), R_bn(1,2), R_bn(2,2)); - - math::Vector3 F_des = R_yaw_bn * F_des_in; - - // desired thrust in body frame - // avoid division by zero - // compensates for thrust loss due to roll/pitch - if (F_des(2) >= 0.1f) { - thrust = F_des(2) / R_bn(2, 2); - } else { - F_des(2) = 0.1f; - thrust= F_des(2) / R_bn(2, 2); - } - - math::Vector3 x_B_des; - math::Vector3 y_B_des; - math::Vector3 z_B_des; - - // desired body z axis - z_B_des = (F_des / F_des.norm()); - - // desired direction in world coordinates (yaw angle) - math::Vector3 x_C(cy, sy, 0.0f); - // desired body y axis - y_B_des = z_B_des.cross(x_C) / (z_B_des.cross(x_C)).norm(); - // desired body x axis - x_B_des = y_B_des.cross(z_B_des); - // desired Rotation Matrix - math::Dcm R_des(x_B_des(0), x_B_des(1), x_B_des(2), - y_B_des(0), y_B_des(1), y_B_des(2), - z_B_des(0), z_B_des(1), z_B_des(2)); - - - // Attitude Controller - // P controller - - // error rotation matrix - // operation executed in quaternion space to allow large differences - // XXX switch between operations based on difference, - // benchmark both options - math::Quaternion e_q = math::Quaternion(R_des) - math::Quaternion(R_bn); - // Renormalize - e_q = e_q / e_q.norm(); - math::Matrix e_R = math::Dcm(e_q); - //small angles: math::Matrix e_R = (R_des.transpose() * R_bn - R_bn.transpose() * R_des) * 0.5f; - - // error rotation vector - math::Vector e_R_v(3); - e_R_v(0) = e_R(1,2); - e_R_v(1) = e_R(0,2); - e_R_v(2) = e_R(0,1); - - - // attitude integral error - math::Vector intError = math::Vector3(0.0f, 0.0f, 0.0f); - if (!_integral_lock) { - - if (fabsf(_integral_error(0)) < _integral_max(0)) { - _integral_error(0) = _integral_error(0) + e_R_v(0) * dt; - } - - if (fabsf(_integral_error(1)) < _integral_max(1)) { - _integral_error(1) = _integral_error(1) + e_R_v(1) * dt; - } - - intError(0) = _integral_error(0); - intError(1) = _integral_error(1); - intError(2) = 0.0f; - } - - _rates_demanded = (e_R_v * _k_p(0) + angular_rates * _k_d(0) + intError * _k_i(0)); - moment_des = _rates_demanded; -} diff --git a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h deleted file mode 100644 index 40e4662a3..000000000 --- a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h +++ /dev/null @@ -1,115 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 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. - * - ****************************************************************************/ - -/** - * @file ecl_fw_att_control_vector.cpp - * - * Fixed wing attitude controller - * - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Tobias Naegeli <naegelit@student.ethz.ch> - * - */ - -#include <mathlib/mathlib.h> - -class ECL_FWAttControlVector { - -public: - ECL_FWAttControlVector(); - void control(float dt, float airspeed, float airspeed_scaling, const math::Dcm &R_nb, float roll, float pitch, float yaw, const math::Vector &F_des_in, - const math::Vector &angular_rates, - math::Vector &moment_des, float &thrust); - - void set_imax(float integral_max) { - _integral_max(0) = integral_max; - _integral_max(1) = integral_max; - } - - void set_tconst(float tconst) { - _p_tconst = tconst; - } - - void set_k_p(float roll, float pitch, float yaw) { - _k_p(0) = roll; - _k_p(1) = pitch; - _k_p(2) = yaw; - } - - void set_k_d(float roll, float pitch, float yaw) { - _k_d(0) = roll; - _k_d(1) = pitch; - _k_d(2) = yaw; - } - - void set_k_i(float roll, float pitch, float yaw) { - _k_i(0) = roll; - _k_i(1) = pitch; - _k_i(2) = yaw; - } - - void reset_integral() { - _integral_error(0) = 0.0f; - _integral_error(1) = 0.0f; - } - - void lock_integral(bool lock) { - _integral_lock = lock; - } - - bool airspeed_enabled() { - return _airspeed_enabled; - } - - void enable_airspeed(bool airspeed) { - _airspeed_enabled = airspeed; - } - - math::Vector3 get_rates_des() { - return _rates_demanded; - } - -protected: - math::Vector2f _integral_error; - math::Vector2f _integral_max; - math::Vector3 _rates_demanded; - math::Vector3 _k_p; - math::Vector3 _k_d; - math::Vector3 _k_i; - bool _integral_lock; - float _p_airspeed_min; - float _p_airspeed_max; - float _p_tconst; - float _p_roll_ffd; - bool _airspeed_enabled; -}; diff --git a/src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp b/src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp deleted file mode 100644 index c64f82e54..000000000 --- a/src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp +++ /dev/null @@ -1,744 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * 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 fw_att_control_vector_main.c - * Implementation of a generic attitude controller based on classic orthogonal PIDs. - * - * @author Lorenz Meier <lm@inf.ethz.ch> - * - * Please refer to the library files for the authors and acknowledgements of - * the used control library functions. - */ - -#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 <drivers/drv_accel.h> -#include <arch/board/board.h> -#include <uORB/uORB.h> -#include <uORB/topics/airspeed.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_status.h> -#include <uORB/topics/parameter_update.h> -#include <systemlib/param/param.h> -#include <systemlib/err.h> -#include <systemlib/pid/pid.h> -#include <systemlib/geo/geo.h> -#include <systemlib/perf_counter.h> -#include <systemlib/systemlib.h> - -#include "ecl_fw_att_control_vector.h" - -/** - * Fixedwing attitude control app start / stop handling function - * - * @ingroup apps - */ -extern "C" __EXPORT int fw_att_control_vector_main(int argc, char *argv[]); - -class FixedwingAttitudeControlVector -{ -public: - /** - * Constructor - */ - FixedwingAttitudeControlVector(); - - /** - * Destructor, also kills the sensors task. - */ - ~FixedwingAttitudeControlVector(); - - /** - * 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 _accel_sub; /**< accelerometer subscription */ - int _att_sp_sub; /**< vehicle attitude setpoint */ - int _attitude_sub; /**< raw rc channels data subscription */ - int _airspeed_sub; /**< airspeed subscription */ - int _vstatus_sub; /**< vehicle status subscription */ - int _params_sub; /**< notification of parameter updates */ - int _manual_control_sub; /**< notification of manual control updates */ - int _arming_sub; /**< arming status of outputs */ - - orb_advert_t _rate_sp_pub; /**< rate setpoint publication */ - orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */ - - struct vehicle_attitude_s _att; /**< vehicle attitude */ - struct accel_report _accel; /**< body frame accelerations */ - struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ - struct manual_control_setpoint_s _manual; /**< r/c channel data */ - struct airspeed_s _airspeed; /**< airspeed */ - struct vehicle_status_s _vstatus; /**< vehicle status */ - struct actuator_controls_s _actuators; /**< actuator control inputs */ - struct actuator_armed_s _arming; /**< actuator arming status */ - - perf_counter_t _loop_perf; /**< loop performance counter */ - - bool _setpoint_valid; /**< flag if the position control setpoint is valid */ - bool _airspeed_valid; /**< flag if the airspeed measurement is valid */ - - struct { - - float tconst; - float p_p; - float p_d; - float p_i; - float p_rmax_up; - float p_rmax_dn; - float p_imax; - float p_rll; - float r_p; - float r_d; - float r_i; - float r_imax; - float r_rmax; - float y_slip; - float y_int; - float y_damp; - float y_rll; - float y_imax; - - float airspeed_min; - float airspeed_trim; - float airspeed_max; - } _parameters; /**< local copies of interesting parameters */ - - struct { - - param_t tconst; - param_t p_p; - param_t p_d; - param_t p_i; - param_t p_rmax_up; - param_t p_rmax_dn; - param_t p_imax; - param_t p_rll; - param_t r_p; - param_t r_d; - param_t r_i; - param_t r_imax; - param_t r_rmax; - param_t y_slip; - param_t y_int; - param_t y_damp; - param_t y_rll; - param_t y_imax; - - param_t airspeed_min; - param_t airspeed_trim; - param_t airspeed_max; - } _parameter_handles; /**< handles for interesting parameters */ - - - ECL_FWAttControlVector _att_control; - - - /** - * Update our local parameter cache. - */ - int parameters_update(); - - /** - * Update control outputs - * - */ - void control_update(); - - /** - * Check for changes in vehicle status. - */ - void vehicle_status_poll(); - - /** - * Check for airspeed updates. - */ - bool vehicle_airspeed_poll(); - - /** - * Check for accel updates. - */ - void vehicle_accel_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; - -FixedwingAttitudeControlVector *g_control; -} - -FixedwingAttitudeControlVector::FixedwingAttitudeControlVector() : - - _task_should_exit(false), - _control_task(-1), - -/* subscriptions */ - _att_sub(-1), - _accel_sub(-1), - _airspeed_sub(-1), - _vstatus_sub(-1), - _params_sub(-1), - _manual_control_sub(-1), - _arming_sub(-1), - -/* publications */ - _rate_sp_pub(-1), - _actuators_0_pub(-1), - -/* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), -/* states */ - _setpoint_valid(false), - _airspeed_valid(false) -{ - // _parameter_handles.roll_p = param_find("FW_ROLL_P"); - // _parameter_handles.pitch_p = param_find("FW_PITCH_P"); - _parameter_handles.tconst = param_find("FW_TCONST"); - _parameter_handles.p_p = param_find("FW_P_P"); - _parameter_handles.p_d = param_find("FW_P_D"); - _parameter_handles.p_i = param_find("FW_P_I"); - _parameter_handles.p_rmax_up = param_find("FW_P_RMAX_UP"); - _parameter_handles.p_rmax_dn = param_find("FW_P_RMAX_DN"); - _parameter_handles.p_imax = param_find("FW_P_IMAX"); - _parameter_handles.p_rll = param_find("FW_P_RLL"); - - _parameter_handles.r_p = param_find("FW_R_P"); - _parameter_handles.r_d = param_find("FW_R_D"); - _parameter_handles.r_i = param_find("FW_R_I"); - _parameter_handles.r_imax = param_find("FW_R_IMAX"); - _parameter_handles.r_rmax = param_find("FW_R_RMAX"); - - _parameter_handles.y_slip = param_find("FW_Y_SLIP"); - _parameter_handles.y_int = param_find("FW_Y_INT"); - _parameter_handles.y_damp = param_find("FW_Y_DAMP"); - _parameter_handles.y_rll = param_find("FW_Y_RLL"); - _parameter_handles.y_imax = param_find("FW_Y_IMAX"); - - _parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN"); - _parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM"); - _parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX"); - - /* fetch initial parameter values */ - parameters_update(); -} - -FixedwingAttitudeControlVector::~FixedwingAttitudeControlVector() -{ - 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 -FixedwingAttitudeControlVector::parameters_update() -{ - - param_get(_parameter_handles.tconst, &(_parameters.tconst)); - param_get(_parameter_handles.p_p, &(_parameters.p_p)); - param_get(_parameter_handles.p_d, &(_parameters.p_d)); - param_get(_parameter_handles.p_i, &(_parameters.p_i)); - param_get(_parameter_handles.p_rmax_up, &(_parameters.p_rmax_up)); - param_get(_parameter_handles.p_rmax_dn, &(_parameters.p_rmax_dn)); - param_get(_parameter_handles.p_imax, &(_parameters.p_imax)); - param_get(_parameter_handles.p_rll, &(_parameters.p_rll)); - - param_get(_parameter_handles.r_p, &(_parameters.r_p)); - param_get(_parameter_handles.r_d, &(_parameters.r_d)); - param_get(_parameter_handles.r_i, &(_parameters.r_i)); - param_get(_parameter_handles.r_imax, &(_parameters.r_imax)); - param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax)); - - param_get(_parameter_handles.y_slip, &(_parameters.y_slip)); - param_get(_parameter_handles.y_int, &(_parameters.y_int)); - param_get(_parameter_handles.y_damp, &(_parameters.y_damp)); - param_get(_parameter_handles.y_rll, &(_parameters.y_rll)); - param_get(_parameter_handles.y_imax, &(_parameters.y_imax)); - - param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min)); - param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim)); - param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max)); - - /* pitch control parameters */ - _att_control.set_tconst(_parameters.tconst); - _att_control.set_k_p(math::radians(_parameters.r_p), - math::radians(_parameters.p_p), 0.0f); - _att_control.set_k_d(math::radians(_parameters.r_p), - math::radians(_parameters.p_p), 0.0f); - _att_control.set_k_i(math::radians(_parameters.r_i), - math::radians(_parameters.p_i), - math::radians(_parameters.y_int)); - - return OK; -} - -void -FixedwingAttitudeControlVector::vehicle_status_poll() -{ - bool vstatus_updated; - - /* Check HIL state if vehicle status has changed */ - orb_check(_vstatus_sub, &vstatus_updated); - - if (vstatus_updated) { - - orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus); - } -} - -bool -FixedwingAttitudeControlVector::vehicle_airspeed_poll() -{ - /* check if there is a new position */ - bool airspeed_updated; - orb_check(_airspeed_sub, &airspeed_updated); - - if (airspeed_updated) { - orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed); - return true; - } - - return false; -} - -void -FixedwingAttitudeControlVector::vehicle_accel_poll() -{ - /* check if there is a new position */ - bool accel_updated; - orb_check(_accel_sub, &accel_updated); - - if (accel_updated) { - orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel); - } -} - -void -FixedwingAttitudeControlVector::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); - _setpoint_valid = true; - } -} - -void -FixedwingAttitudeControlVector::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 -FixedwingAttitudeControlVector::task_main_trampoline(int argc, char *argv[]) -{ - att_control::g_control->task_main(); -} - -void -FixedwingAttitudeControlVector::task_main() -{ - - /* inform about start */ - warnx("Initializing.."); - fflush(stdout); - - /* - * do subscriptions - */ - _att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - _accel_sub = orb_subscribe(ORB_ID(sensor_accel)); - _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); - _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); - _params_sub = orb_subscribe(ORB_ID(parameter_update)); - _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - _arming_sub = orb_subscribe(ORB_ID(actuator_armed)); - - /* rate limit vehicle status updates to 5Hz */ - orb_set_interval(_vstatus_sub, 200); - orb_set_interval(_att_sub, 100); - - parameters_update(); - - /* initialize values of critical structs until first regular update */ - _arming.armed = false; - - /* get an initial update for all sensor and status data */ - (void)vehicle_airspeed_poll(); - vehicle_setpoint_poll(); - vehicle_accel_poll(); - vehicle_status_poll(); - arming_status_poll(); - - /* 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) { - /* read from param to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), _params_sub, &update); - - /* update parameters from storage */ - parameters_update(); - } - - /* only run controller if attitude changed */ - if (fds[1].revents & POLLIN) { - - - static uint64_t last_run = 0; - float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - /* guard against too large deltaT's */ - if (deltaT > 1.0f) - deltaT = 0.01f; - - /* load local copies */ - orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); - - _airspeed_valid = vehicle_airspeed_poll(); - - vehicle_setpoint_poll(); - - vehicle_accel_poll(); - - /* check vehicle status for changes to publication state */ - vehicle_status_poll(); - - /* check for arming status changes */ - arming_status_poll(); - - /* lock integrator until armed */ - bool lock_integrator; - if (_arming.armed) { - lock_integrator = false; - } else { - lock_integrator = true; - } - - /* decide if in stabilized or full manual control */ - - if (_vstatus.state_machine == SYSTEM_STATE_MANUAL && !(_vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) - ) { - - _actuators.control[0] = _manual.roll; - _actuators.control[1] = _manual.pitch; - _actuators.control[2] = _manual.yaw; - _actuators.control[3] = _manual.throttle; - _actuators.control[4] = _manual.flaps; - - } else if (_vstatus.state_machine == SYSTEM_STATE_AUTO || - (_vstatus.state_machine == SYSTEM_STATE_STABILIZED) || - (_vstatus.state_machine == SYSTEM_STATE_MANUAL && _vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS)) { - - /* scale from radians to normalized -1 .. 1 range */ - const float actuator_scaling = 1.0f / (M_PI_F / 4.0f); - - /* scale around tuning airspeed */ - - float airspeed; - - /* if airspeed is smaller than min, the sensor is not giving good readings */ - if (!_airspeed_valid || - (_airspeed.indicated_airspeed_m_s < _parameters.airspeed_min) || - !isfinite(_airspeed.indicated_airspeed_m_s)) { - airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) / 2.0f; - } else { - airspeed = _airspeed.indicated_airspeed_m_s; - } - - float airspeed_scaling = _parameters.airspeed_trim / airspeed; - - float roll_sp, pitch_sp; - float throttle_sp = 0.0f; - - if (_vstatus.state_machine == SYSTEM_STATE_AUTO) { - roll_sp = _att_sp.roll_body; - pitch_sp = _att_sp.pitch_body; - throttle_sp = _att_sp.thrust; - } else if ((_vstatus.state_machine == SYSTEM_STATE_STABILIZED) || - (_vstatus.state_machine == SYSTEM_STATE_MANUAL && _vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS)) { - - /* - * Scale down roll and pitch as the setpoints are radians - * and a typical remote can only do 45 degrees, the mapping is - * -1..+1 to -45..+45 degrees or -0.75..+0.75 radians. - * - * With this mapping the stick angle is a 1:1 representation of - * the commanded attitude. If more than 45 degrees are desired, - * a scaling parameter can be applied to the remote. - */ - roll_sp = _manual.roll * 0.75f; - pitch_sp = _manual.pitch * 0.75f; - throttle_sp = _manual.throttle; - _actuators.control[4] = _manual.flaps; - } - - math::Dcm R_nb(_att.R); - - // Transform body frame forces to - // global frame - const math::Vector3 F_des(pitch_sp, roll_sp, throttle_sp); - const math::Vector3 angular_rates(_att.rollspeed, _att.pitchspeed, _att.yawspeed); - - // Return variables - math::Vector3 moments_des; - float thrust; - - _att_control.control(deltaT, airspeed_scaling, airspeed, R_nb, _att.roll, _att.pitch, _att.yaw, - F_des, angular_rates, moments_des, thrust); - - _actuators.control[0] = (isfinite(moments_des(0))) ? moments_des(0) * actuator_scaling : 0.0f; - _actuators.control[1] = (isfinite(moments_des(1))) ? moments_des(1) * actuator_scaling : 0.0f; - _actuators.control[2] = 0.0f;//(isfinite(moments_des(0))) ? moments_des(0) * actuator_scaling : 0.0f; - - /* throttle passed through */ - _actuators.control[3] = (isfinite(thrust)) ? thrust : 0.0f; - - // warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown", - // airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1], - // _actuators.control[2], _actuators.control[3]); - - /* - * Lazily publish the rate setpoint (for analysis, the actuators are published below) - * only once available - */ - vehicle_rates_setpoint_s rates_sp; - math::Vector3 rates_des = _att_control.get_rates_des(); - rates_sp.roll = rates_des(0); - rates_sp.pitch = rates_des(1); - rates_sp.yaw = 0.0f; // XXX rates_des(2); - - rates_sp.timestamp = hrt_absolute_time(); - - if (_rate_sp_pub > 0) { - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_rates_setpoint), _actuators_0_pub, &rates_sp); - - } else { - /* advertise and publish */ - _rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); - } - - /* lazily publish the setpoint only once available */ - _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("exiting.\n"); - - _control_task = -1; - _exit(0); -} - -int -FixedwingAttitudeControlVector::start() -{ - ASSERT(_control_task == -1); - - /* start the task */ - _control_task = task_spawn_cmd("fw_att_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2048, - (main_t)&FixedwingAttitudeControlVector::task_main_trampoline, - nullptr); - - if (_control_task < 0) { - warn("task start failed"); - return -errno; - } - - return OK; -} - -int fw_att_control_vector_main(int argc, char *argv[]) -{ - if (argc < 1) - errx(1, "usage: fw_att_control {start|stop|status}"); - - if (!strcmp(argv[1], "start")) { - - if (att_control::g_control != nullptr) - errx(1, "already running"); - - att_control::g_control = new FixedwingAttitudeControlVector; - - 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/fw_att_control_vector/fw_att_control_vector_params.c b/src/modules/fw_att_control_vector/fw_att_control_vector_params.c deleted file mode 100644 index 7e434c164..000000000 --- a/src/modules/fw_att_control_vector/fw_att_control_vector_params.c +++ /dev/null @@ -1,67 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * - * 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 fw_pos_control_l1_params.c - * - * Parameters defined by the L1 position control task - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -#include <nuttx/config.h> - -#include <systemlib/param/param.h> - -/* - * Controller parameters, accessible via MAVLink - * - */ - -PARAM_DEFINE_FLOAT(FW_TCONST, 0.5f); -PARAM_DEFINE_FLOAT(FW_P_P, 40.0f); -PARAM_DEFINE_FLOAT(FW_P_D, 0.0f); -PARAM_DEFINE_FLOAT(FW_P_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_P_RMAX_UP, 0.0f); -PARAM_DEFINE_FLOAT(FW_P_RMAX_DN, 0.0f); -PARAM_DEFINE_FLOAT(FW_P_IMAX, 15.0f); -PARAM_DEFINE_FLOAT(FW_P_RLL, 1.0f); -PARAM_DEFINE_FLOAT(FW_R_P, 40.0f); -PARAM_DEFINE_FLOAT(FW_R_D, 0.0f); -PARAM_DEFINE_FLOAT(FW_R_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_R_IMAX, 15.0f); -PARAM_DEFINE_FLOAT(FW_R_RMAX, 60); -PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f); -PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f); -PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f); diff --git a/src/modules/fw_att_control_vector/module.mk b/src/modules/fw_att_control_vector/module.mk deleted file mode 100644 index e78a71595..000000000 --- a/src/modules/fw_att_control_vector/module.mk +++ /dev/null @@ -1,42 +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 = fw_att_control_vector - -SRCS = fw_att_control_vector_main.cpp \ - ecl_fw_att_control_vector.cpp \ - fw_att_control_vector_params.c |