From dc100f20201974eeae8743e1184efe6be1e31e6f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 11 Jan 2013 07:44:03 +0100 Subject: Fixedwing controller code style --- .../fixedwing_pos_control_main.c | 413 +++++++++++---------- 1 file changed, 208 insertions(+), 205 deletions(-) (limited to 'apps/fixedwing_pos_control') diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index fbd6138de..71c78f5b8 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -108,8 +108,8 @@ struct planned_path_segments_s { double end_lon; float radius; // Radius of arc float arc_start_bearing; // Bearing from center to start of arc - float arc_sweep; // Angle (radians) swept out by arc around center. - // Positive for clockwise, negative for counter-clockwise + float arc_sweep; // Angle (radians) swept out by arc around center. + // Positive for clockwise, negative for counter-clockwise }; @@ -176,241 +176,241 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc int fixedwing_pos_control_thread_main(int argc, char *argv[]) { /* read arguments */ - bool verbose = false; + bool verbose = false; - for (int i = 1; i < argc; i++) { - if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { - verbose = true; - } + for (int i = 1; i < argc; i++) { + if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { + verbose = true; } + } + + /* welcome user */ + printf("[fixedwing pos control] started\n"); + + /* declare and safely initialize all structs */ + struct vehicle_global_position_s global_pos; + memset(&global_pos, 0, sizeof(global_pos)); + struct vehicle_global_position_s start_pos; // Temporary variable, replace with + memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available + struct vehicle_global_position_setpoint_s global_setpoint; + memset(&global_setpoint, 0, sizeof(global_setpoint)); + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct crosstrack_error_s xtrack_err; + memset(&xtrack_err, 0, sizeof(xtrack_err)); + struct parameter_update_s param_update; + memset(¶m_update, 0, sizeof(param_update)); + + /* output structs */ + struct vehicle_attitude_setpoint_s attitude_setpoint; + memset(&attitude_setpoint, 0, sizeof(attitude_setpoint)); + + /* publish attitude setpoint */ + attitude_setpoint.roll_body = 0.0f; + attitude_setpoint.pitch_body = 0.0f; + attitude_setpoint.yaw_body = 0.0f; + attitude_setpoint.thrust = 0.0f; + orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); + + /* subscribe */ + int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int param_sub = orb_subscribe(ORB_ID(parameter_update)); + + /* Setup of loop */ + struct pollfd fds[2] = { + { .fd = param_sub, .events = POLLIN }, + { .fd = att_sub, .events = POLLIN } + }; + bool global_sp_updated_set_once = false; + + float psi_track = 0.0f; + + int counter = 0; + + struct fw_pos_control_params p; + struct fw_pos_control_param_handles h; + + PID_t heading_controller; + PID_t heading_rate_controller; + PID_t offtrack_controller; + PID_t altitude_controller; + + parameters_init(&h); + parameters_update(&h, &p); + pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit + pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE); + pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE); + pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value + + /* error and performance monitoring */ + perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval"); + perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err"); + + while (!thread_should_exit) { + /* wait for a sensor update, check for exit condition every 500 ms */ + int ret = poll(fds, 2, 500); + + if (ret < 0) { + /* poll error, count it in perf */ + perf_count(fw_err_perf); + + } else if (ret == 0) { + /* no return value, ignore */ + } else { + + /* 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), param_sub, &update); + + /* update parameters from storage */ + parameters_update(&h, &p); + pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit + pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim); + pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim); + pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value + } + + /* only run controller if attitude changed */ + if (fds[1].revents & POLLIN) { + + + static uint64_t last_run = 0; + const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); - /* welcome user */ - printf("[fixedwing pos control] started\n"); - - /* declare and safely initialize all structs */ - struct vehicle_global_position_s global_pos; - memset(&global_pos, 0, sizeof(global_pos)); - struct vehicle_global_position_s start_pos; // Temporary variable, replace with - memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available - struct vehicle_global_position_setpoint_s global_setpoint; - memset(&global_setpoint, 0, sizeof(global_setpoint)); - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct crosstrack_error_s xtrack_err; - memset(&xtrack_err, 0, sizeof(xtrack_err)); - struct parameter_update_s param_update; - memset(¶m_update, 0, sizeof(param_update)); - - /* output structs */ - struct vehicle_attitude_setpoint_s attitude_setpoint; - memset(&attitude_setpoint, 0, sizeof(attitude_setpoint)); - - /* publish attitude setpoint */ - attitude_setpoint.roll_body = 0.0f; - attitude_setpoint.pitch_body = 0.0f; - attitude_setpoint.yaw_body = 0.0f; - attitude_setpoint.thrust = 0.0f; - orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); - - /* subscribe */ - int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int param_sub = orb_subscribe(ORB_ID(parameter_update)); - - /* Setup of loop */ - struct pollfd fds[2] = { - { .fd = param_sub, .events = POLLIN }, - { .fd = att_sub, .events = POLLIN } - }; - bool global_sp_updated_set_once = false; - - float psi_track = 0.0f; - - int counter = 0; - - struct fw_pos_control_params p; - struct fw_pos_control_param_handles h; - - PID_t heading_controller; - PID_t heading_rate_controller; - PID_t offtrack_controller; - PID_t altitude_controller; - - parameters_init(&h); - parameters_update(&h, &p); - pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit - pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE); - pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE); - pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f*M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value - - /* error and performance monitoring */ - perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval"); - perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err"); - - while(!thread_should_exit) - { - /* wait for a sensor update, check for exit condition every 500 ms */ - int ret = poll(fds, 2, 500); - - if (ret < 0) { - /* poll error, count it in perf */ - perf_count(fw_err_perf); - } else if (ret == 0) { - /* no return value, ignore */ - } else { - - /* 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), param_sub, &update); - - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit - pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim); - pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim); - pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value + /* check if there is a new position or setpoint */ + bool pos_updated; + orb_check(global_pos_sub, &pos_updated); + bool global_sp_updated; + orb_check(global_setpoint_sub, &global_sp_updated); + + /* load local copies */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + + if (pos_updated) { + orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); } - /* only run controller if attitude changed */ - if (fds[1].revents & POLLIN) { + if (global_sp_updated) { + orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); + start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint) + global_sp_updated_set_once = true; + psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, + (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); + printf("next wp direction: %0.4f\n", (double)psi_track); + } - static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); + /* Simple Horizontal Control */ + if (global_sp_updated_set_once) { + // if (counter % 100 == 0) + // printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); - /* check if there is a new position or setpoint */ - bool pos_updated; - orb_check(global_pos_sub, &pos_updated); - bool global_sp_updated; - orb_check(global_setpoint_sub, &global_sp_updated); + /* calculate crosstrack error */ + // Only the case of a straight line track following handled so far + int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, + (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d, + (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - /* load local copies */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + // XXX what is xtrack_err.past_end? + if (distance_res == OK /*&& !xtrack_err.past_end*/) { - if (pos_updated) { - orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); - } + float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance - if (global_sp_updated) { - orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); - start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint) - global_sp_updated_set_once = true; - psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, - (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - - printf("next wp direction: %0.4f\n", (double)psi_track); - } + float psi_c = psi_track + delta_psi_c; + float psi_e = psi_c - att.yaw; + + /* wrap difference back onto -pi..pi range */ + psi_e = _wrap_pi(psi_e); + + if (verbose) { + printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance); + printf("delta_psi_c %.4f ", (double)delta_psi_c); + printf("psi_c %.4f ", (double)psi_c); + printf("att.yaw %.4f ", (double)att.yaw); + printf("psi_e %.4f ", (double)psi_e); + } - /* Simple Horizontal Control */ - if(global_sp_updated_set_once) - { - // if (counter % 100 == 0) - // printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); - - /* calculate crosstrack error */ - // Only the case of a straight line track following handled so far - int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, - (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d, - (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - - // XXX what is xtrack_err.past_end? - if(distance_res == OK /*&& !xtrack_err.past_end*/) { - - float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance - - float psi_c = psi_track + delta_psi_c; - float psi_e = psi_c - att.yaw; - - /* wrap difference back onto -pi..pi range */ - psi_e = _wrap_pi(psi_e); - - if (verbose) { - printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance); - printf("delta_psi_c %.4f ", (double)delta_psi_c); - printf("psi_c %.4f ", (double)psi_c); - printf("att.yaw %.4f ", (double)att.yaw); - printf("psi_e %.4f ", (double)psi_e); - } - - /* calculate roll setpoint, do this artificially around zero */ - float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); - float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following - float psi_rate_c = delta_psi_rate_c + psi_rate_track; - - /* limit turn rate */ - if(psi_rate_c > p.headingr_lim) { - psi_rate_c = p.headingr_lim; - } else if(psi_rate_c < -p.headingr_lim) { - psi_rate_c = -p.headingr_lim; - } - - float psi_rate_e = psi_rate_c - att.yawspeed; - - // XXX sanity check: Assume 10 m/s stall speed and no stall condition - float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - - if (ground_speed < 10.0f) { - ground_speed = 10.0f; - } - - float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g - - attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT); - - if (verbose) { - printf("psi_rate_c %.4f ", (double)psi_rate_c); - printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled); - printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body); - } - - if (verbose && counter % 100 == 0) - printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c); - } else { - if (verbose && counter % 100 == 0) - printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end); + /* calculate roll setpoint, do this artificially around zero */ + float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); + float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following + float psi_rate_c = delta_psi_rate_c + psi_rate_track; + + /* limit turn rate */ + if (psi_rate_c > p.headingr_lim) { + psi_rate_c = p.headingr_lim; + + } else if (psi_rate_c < -p.headingr_lim) { + psi_rate_c = -p.headingr_lim; } - /* Very simple Altitude Control */ - if(pos_updated) - { + float psi_rate_e = psi_rate_c - att.yawspeed; - //TODO: take care of relative vs. ab. altitude - attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); + // XXX sanity check: Assume 10 m/s stall speed and no stall condition + float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); + if (ground_speed < 10.0f) { + ground_speed = 10.0f; } - // XXX need speed control - attitude_setpoint.thrust = 0.7f; + float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); + attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT); - /* measure in what intervals the controller runs */ - perf_count(fw_interval_perf); + if (verbose) { + printf("psi_rate_c %.4f ", (double)psi_rate_c); + printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled); + printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body); + } - counter++; + if (verbose && counter % 100 == 0) + printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c); } else { - // XXX no setpoint, decent default needed (loiter?) + if (verbose && counter % 100 == 0) + printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end); } + + /* Very simple Altitude Control */ + if (pos_updated) { + + //TODO: take care of relative vs. ab. altitude + attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); + + } + + // XXX need speed control + attitude_setpoint.thrust = 0.7f; + + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); + + /* measure in what intervals the controller runs */ + perf_count(fw_interval_perf); + + counter++; + + } else { + // XXX no setpoint, decent default needed (loiter?) } } } + } - printf("[fixedwing_pos_control] exiting.\n"); - thread_running = false; + printf("[fixedwing_pos_control] exiting.\n"); + thread_running = false; - close(attitude_setpoint_pub); + close(attitude_setpoint_pub); - fflush(stdout); - exit(0); + fflush(stdout); + exit(0); - return 0; + return 0; } @@ -421,6 +421,7 @@ usage(const char *reason) { if (reason) fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n"); exit(1); } @@ -465,9 +466,11 @@ int fixedwing_pos_control_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { printf("\tfixedwing_pos_control is running\n"); + } else { printf("\tfixedwing_pos_control not started\n"); } + exit(0); } -- cgit v1.2.3