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-rw-r--r--src/lib/mathlib/math/Dcm.cpp5
-rw-r--r--src/lib/mathlib/math/Dcm.hpp5
-rw-r--r--src/lib/mathlib/math/Vector3.cpp10
-rw-r--r--src/lib/mathlib/math/Vector3.hpp2
-rw-r--r--src/lib/mathlib/math/arm/Vector.hpp2
-rw-r--r--src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp165
-rw-r--r--src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h115
-rw-r--r--src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp744
-rw-r--r--src/modules/fw_att_control_vector/fw_att_control_vector_params.c67
-rw-r--r--src/modules/fw_att_control_vector/module.mk42
-rw-r--r--src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp146
-rw-r--r--src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h76
-rw-r--r--src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp660
-rw-r--r--src/modules/mc_att_control_vector/module.mk41
14 files changed, 2079 insertions, 1 deletions
diff --git a/src/lib/mathlib/math/Dcm.cpp b/src/lib/mathlib/math/Dcm.cpp
index f509f7081..5c15d4d6d 100644
--- a/src/lib/mathlib/math/Dcm.cpp
+++ b/src/lib/mathlib/math/Dcm.cpp
@@ -135,6 +135,11 @@ Dcm::Dcm(const Dcm &right) :
{
}
+Dcm::Dcm(const Matrix &right) :
+ Matrix(right)
+{
+}
+
Dcm::~Dcm()
{
}
diff --git a/src/lib/mathlib/math/Dcm.hpp b/src/lib/mathlib/math/Dcm.hpp
index df8970d3a..38f697c15 100644
--- a/src/lib/mathlib/math/Dcm.hpp
+++ b/src/lib/mathlib/math/Dcm.hpp
@@ -97,6 +97,11 @@ public:
Dcm(const Dcm &right);
/**
+ * copy ctor (deep)
+ */
+ Dcm(const Matrix &right);
+
+ /**
* dtor
*/
virtual ~Dcm();
diff --git a/src/lib/mathlib/math/Vector3.cpp b/src/lib/mathlib/math/Vector3.cpp
index dcb85600e..3936650c6 100644
--- a/src/lib/mathlib/math/Vector3.cpp
+++ b/src/lib/mathlib/math/Vector3.cpp
@@ -84,6 +84,16 @@ Vector3 Vector3::cross(const Vector3 &b) const
return result;
}
+Vector3 Vector3::operator %(const Vector3 &v) const
+{
+ return cross(v);
+}
+
+float Vector3::operator *(const Vector3 &v) const
+{
+ return dot(v);
+}
+
int __EXPORT vector3Test()
{
printf("Test Vector3\t\t: ");
diff --git a/src/lib/mathlib/math/Vector3.hpp b/src/lib/mathlib/math/Vector3.hpp
index 568d9669a..2bf00f26b 100644
--- a/src/lib/mathlib/math/Vector3.hpp
+++ b/src/lib/mathlib/math/Vector3.hpp
@@ -54,6 +54,8 @@ public:
Vector3(const float *data);
virtual ~Vector3();
Vector3 cross(const Vector3 &b) const;
+ Vector3 operator %(const Vector3 &v) const;
+ float operator *(const Vector3 &v) const;
/**
* accessors
diff --git a/src/lib/mathlib/math/arm/Vector.hpp b/src/lib/mathlib/math/arm/Vector.hpp
index 52220fc15..a2526d0a2 100644
--- a/src/lib/mathlib/math/arm/Vector.hpp
+++ b/src/lib/mathlib/math/arm/Vector.hpp
@@ -141,7 +141,7 @@ public:
getRows());
return result;
}
- inline Vector operator*(float right) const {
+ inline Vector operator*(const float &right) const {
Vector result(getRows());
arm_scale_f32((float *)getData(),
right, result.getData(),
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
new file mode 100644
index 000000000..16e60f3e0
--- /dev/null
+++ b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp
@@ -0,0 +1,165 @@
+/****************************************************************************
+ *
+ * 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
new file mode 100644
index 000000000..40e4662a3
--- /dev/null
+++ b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ * 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
new file mode 100644
index 000000000..c64f82e54
--- /dev/null
+++ b/src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp
@@ -0,0 +1,744 @@
+/****************************************************************************
+ *
+ * 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
new file mode 100644
index 000000000..7e434c164
--- /dev/null
+++ b/src/modules/fw_att_control_vector/fw_att_control_vector_params.c
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ * 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
new file mode 100644
index 000000000..e78a71595
--- /dev/null
+++ b/src/modules/fw_att_control_vector/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+# 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
diff --git a/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp b/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
new file mode 100644
index 000000000..252cdafab
--- /dev/null
+++ b/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
@@ -0,0 +1,146 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ * Author: Tobias Naegeli
+ *
+ * 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_mc_att_control_vector.cpp
+ *
+ * Multirotor attitude controller based on concepts in:
+ *
+ * Minimum Snap Trajectory Generation and Control for Quadrotors
+ * http://www.seas.upenn.edu/~dmel/mellingerICRA11.pdf
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ */
+
+#include <mathlib/mathlib.h>
+#include "ecl_mc_att_control_vector.h"
+
+ECL_MCAttControlVector::ECL_MCAttControlVector() :
+ _integral_error(0.0f, 0.0f),
+ _integral_max(1000.0f, 1000.0f),
+ _integral_lock(false)
+ {
+
+ }
+
+void ECL_MCAttControlVector::control(float dt, const math::Dcm &R_nb, float yaw, const math::Vector &F_des_in,
+ float Kp, float Kd, float Ki, const math::Vector &angular_rates,
+ math::Vector &rates_des, float &thrust)
+{
+ // XXX
+ bool earth = true;
+ bool integral_reset = false;
+
+ math::Matrix R_bn = R_nb.transpose();
+
+ 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 = 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
+ if (earth) {
+ z_B_des = (F_des / F_des.norm());
+ } else {
+ z_B_des = RYaw * (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::Matrix R_des = math::Dcm(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
+ 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);
+
+
+ // include an integral part
+ math::Vector intError = math::Vector3(0.0f, 0.0f, 0.0f);
+ if (!_integral_lock) {
+ if (thrust > 0.3f && !integral_reset) {
+ 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;
+ }
+
+ } else {
+ _integral_error(0) = 0.0f;
+ _integral_error(1) = 0.0f;
+ }
+
+ intError(0) = _integral_error(0);
+ intError(1) = _integral_error(1);
+ intError(2) = 0.0f;
+ }
+
+ rates_des = (e_R_v * Kp + angular_rates * Kd + intError * Ki);
+}
diff --git a/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h b/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h
new file mode 100644
index 000000000..a3440a06b
--- /dev/null
+++ b/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ * Author: Tobias Naegeli
+ *
+ * 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_mc_att_control_vector.cpp
+ *
+ * Multirotor attitude controller based on concepts in:
+ *
+ * Minimum Snap Trajectory Generation and Control for Quadrotors
+ * http://www.seas.upenn.edu/~dmel/mellingerICRA11.pdf
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ */
+
+#include <mathlib/mathlib.h>
+
+class ECL_MCAttControlVector {
+
+public:
+ ECL_MCAttControlVector();
+ void control(float dt, const math::Dcm &R_nb, float yaw, const math::Vector &F_des,
+ float Kp, float Kd, float Ki, const math::Vector &angular_rates,
+ math::Vector &rates_des, float &thrust);
+
+ void set_imax(float integral_max) {
+ _integral_max(0) = integral_max;
+ _integral_max(1) = integral_max;
+ }
+
+ void reset_integral() {
+ _integral_error(0) = 0.0f;
+ _integral_error(1) = 0.0f;
+ }
+
+ void lock_integrator(bool lock) {
+ _integral_lock = lock;
+ }
+
+protected:
+ math::Vector2f _integral_error;
+ math::Vector2f _integral_max;
+ bool _integral_lock;
+};
diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp
new file mode 100644
index 000000000..368d343bd
--- /dev/null
+++ b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp
@@ -0,0 +1,660 @@
+/****************************************************************************
+ *
+ * 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 mc_att_control_vector_main.c
+ * Implementation of a multicopter attitude controller based on desired thrust vector.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @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/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 <mathlib/mathlib.h>
+
+//#include <ecl/attitude_mc/ecl_mc_att_control_vector.h>
+#include "ecl_mc_att_control_vector.h"
+
+/**
+ * Multicopter attitude control app start / stop handling function
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int mc_att_control_vector_main(int argc, char *argv[]);
+
+class MulticopterAttitudeControl
+{
+public:
+ /**
+ * Constructor
+ */
+ MulticopterAttitudeControl();
+
+ /**
+ * Destructor, also kills the sensors task.
+ */
+ ~MulticopterAttitudeControl();
+
+ /**
+ * 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 _vstatus_sub; /**< vehicle status subscription */
+ int _params_sub; /**< notification of parameter updates */
+ int _manual_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 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 */
+
+ struct {
+ float yaw_p;
+ float yaw_i;
+ float yaw_d;
+ float yaw_imax;
+
+ float att_p;
+ float att_i;
+ float att_d;
+ float att_imax;
+
+ float att_rate_p;
+
+ float yaw_rate_p;
+ } _parameters; /**< local copies of interesting parameters */
+
+ struct {
+ param_t yaw_p;
+ param_t yaw_i;
+ param_t yaw_d;
+ param_t yaw_imax;
+
+ param_t att_p;
+ param_t att_i;
+ param_t att_d;
+ param_t att_imax;
+
+ param_t att_rate_p;
+
+ param_t yaw_rate_p;
+ } _parameter_handles; /**< handles for interesting parameters */
+
+
+ ECL_MCAttControlVector _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 changes in manual inputs.
+ */
+ void vehicle_manual_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;
+
+MulticopterAttitudeControl *g_control;
+}
+
+MulticopterAttitudeControl::MulticopterAttitudeControl() :
+
+ _task_should_exit(false),
+ _control_task(-1),
+
+/* subscriptions */
+ _att_sub(-1),
+ _accel_sub(-1),
+ _vstatus_sub(-1),
+ _params_sub(-1),
+ _manual_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)
+{
+ _parameter_handles.yaw_p = param_find("MC_YAWPOS_P");
+ _parameter_handles.yaw_i = param_find("MC_YAWPOS_I");
+ _parameter_handles.yaw_d = param_find("MC_YAWPOS_D");
+ _parameter_handles.yaw_imax = param_find("MC_YAWPOS_IMAX");
+
+ _parameter_handles.att_p = param_find("MC_ATT_P");
+ _parameter_handles.att_i = param_find("MC_ATT_I");
+ _parameter_handles.att_d = param_find("MC_ATT_D");
+ _parameter_handles.att_imax = param_find("MC_ATT_IMAX");
+
+ _parameter_handles.att_rate_p = param_find("MC_ATTRATE_P");
+ _parameter_handles.yaw_rate_p = param_find("MC_YAWRATE_P");
+
+ /* fetch initial parameter values */
+ parameters_update();
+}
+
+MulticopterAttitudeControl::~MulticopterAttitudeControl()
+{
+ 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
+MulticopterAttitudeControl::parameters_update()
+{
+
+ //param_get(_parameter_handles.tconst, &(_parameters.tconst));
+
+ param_get(_parameter_handles.yaw_p, &(_parameters.yaw_p));
+ param_get(_parameter_handles.yaw_i, &(_parameters.yaw_i));
+ param_get(_parameter_handles.yaw_d, &(_parameters.yaw_d));
+ param_get(_parameter_handles.yaw_imax, &(_parameters.yaw_imax));
+
+ param_get(_parameter_handles.att_p, &(_parameters.att_p));
+ param_get(_parameter_handles.att_i, &(_parameters.att_i));
+ param_get(_parameter_handles.att_d, &(_parameters.att_d));
+ param_get(_parameter_handles.att_imax, &(_parameters.att_imax));
+
+ param_get(_parameter_handles.yaw_rate_p, &(_parameters.yaw_rate_p));
+
+ param_get(_parameter_handles.att_rate_p, &(_parameters.att_rate_p));
+
+ /* att control parameters */
+ _att_control.set_imax(_parameters.att_imax);
+ //_att_control.set_tau(_parameters.p_tconst);
+ // _att_control.set_k_p(math::radians(_parameters.p_p));
+ // _att_control.set_k_i(math::radians(_parameters.p_i));
+ // _att_control.set_k_d(math::radians(_parameters.p_d));
+
+ return OK;
+}
+
+void
+MulticopterAttitudeControl::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);
+ }
+}
+
+void
+MulticopterAttitudeControl::vehicle_manual_poll()
+{
+ bool manual_updated;
+
+ /* get pilots inputs */
+ orb_check(_manual_sub, &manual_updated);
+
+ if (manual_updated) {
+
+ orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
+ }
+}
+
+void
+MulticopterAttitudeControl::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
+MulticopterAttitudeControl::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
+MulticopterAttitudeControl::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
+MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
+{
+ att_control::g_control->task_main();
+}
+
+void
+MulticopterAttitudeControl::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));
+ _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+ _params_sub = orb_subscribe(ORB_ID(parameter_update));
+ _manual_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 */
+ vehicle_setpoint_poll();
+ vehicle_accel_poll();
+ vehicle_status_poll();
+ vehicle_manual_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);
+
+ 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();
+
+ vehicle_manual_poll();
+
+ /* lock integrator until armed */
+ if (_arming.armed) {
+ _att_control.lock_integrator(false);
+ } else {
+ _att_control.reset_integral();
+ _att_control.lock_integrator(true);
+ }
+
+ /* decide if in auto or full manual control */
+ float roll_sp, pitch_sp;
+ float throttle_sp = 0.0f;
+ float yaw_sp = 0.0f;
+
+ if (_vstatus.state_machine == SYSTEM_STATE_MANUAL ||
+ (_vstatus.state_machine == SYSTEM_STATE_STABILIZED)) {
+
+ /*
+ * 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;
+ yaw_sp = _manual.yaw;
+ throttle_sp = _manual.throttle;
+
+ } else if (_vstatus.state_machine == SYSTEM_STATE_AUTO) {
+
+ roll_sp = _att_sp.roll_body;
+ pitch_sp = _att_sp.pitch_body;
+ yaw_sp = _att_sp.yaw_body;
+ throttle_sp = _att_sp.thrust;
+ }
+
+ // XXX take rotation matrix directly from att_sp for auto mode
+ math::Vector3 F_des(roll_sp, pitch_sp, yaw_sp);
+
+ math::Vector3 rates_des;
+
+ math::Dcm R_nb(_att.R);
+ math::Vector3 angular_rates(_att.rollspeed, _att.pitchspeed, _att.yawspeed);
+
+ _att_control.control(deltaT, R_nb, _att.yaw, F_des,
+ _parameters.att_p, _parameters.att_d, _parameters.att_i,
+ angular_rates, rates_des, throttle_sp);
+
+ float roll_out = _parameters.att_rate_p * rates_des(0);
+ float pitch_out = _parameters.att_rate_p * rates_des(1);
+ float yaw_out = _parameters.yaw_rate_p * rates_des(2);
+
+ _actuators.control[0] = (isfinite(roll_out)) ? roll_out : 0.0f;
+ _actuators.control[1] = (isfinite(pitch_out)) ? pitch_out : 0.0f;
+ _actuators.control[2] = (isfinite(yaw_out)) ? yaw_out : 0.0f;
+
+ /* throttle passed through */
+ _actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
+
+ /*
+ * Lazily publish the rate setpoint (for analysis, the actuators are published below)
+ * only once available
+ */
+ vehicle_rates_setpoint_s rates_sp;
+ rates_sp.roll = rates_des(0);
+ rates_sp.pitch = rates_des(1);
+ rates_sp.yaw = 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
+MulticopterAttitudeControl::start()
+{
+ ASSERT(_control_task == -1);
+
+ /* start the task */
+ _control_task = task_spawn_cmd("mc_att_control_vector",
+ SCHED_DEFAULT,
+ SCHED_PRIORITY_MAX - 5,
+ 2048,
+ (main_t)&MulticopterAttitudeControl::task_main_trampoline,
+ nullptr);
+
+ if (_control_task < 0) {
+ warn("task start failed");
+ return -errno;
+ }
+
+ return OK;
+}
+
+int mc_att_control_vector_main(int argc, char *argv[])
+{
+ if (argc < 1)
+ errx(1, "usage: mc_att_control_vector {start|stop|status}");
+
+ if (!strcmp(argv[1], "start")) {
+
+ if (att_control::g_control != nullptr)
+ errx(1, "already running");
+
+ att_control::g_control = new MulticopterAttitudeControl;
+
+ 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/mc_att_control_vector/module.mk b/src/modules/mc_att_control_vector/module.mk
new file mode 100644
index 000000000..61eb3b3fd
--- /dev/null
+++ b/src/modules/mc_att_control_vector/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+# 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 = mc_att_control_vector
+
+SRCS = mc_att_control_vector_main.cpp \
+ ecl_mc_att_control_vector.cpp
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