From dae0b922f166b1c6af79ecce85b3eb00dde22654 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 19 Aug 2012 15:52:59 +0200 Subject: Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests --- apps/multirotor_pos_control/Makefile | 42 ++++ .../multirotor_pos_control.c | 136 ++++++++++ apps/multirotor_pos_control/position_control.c | 275 +++++++++++++++++++++ apps/multirotor_pos_control/position_control.h | 50 ++++ 4 files changed, 503 insertions(+) create mode 100644 apps/multirotor_pos_control/Makefile create mode 100644 apps/multirotor_pos_control/multirotor_pos_control.c create mode 100644 apps/multirotor_pos_control/position_control.c create mode 100644 apps/multirotor_pos_control/position_control.h (limited to 'apps/multirotor_pos_control') diff --git a/apps/multirotor_pos_control/Makefile b/apps/multirotor_pos_control/Makefile new file mode 100644 index 000000000..c88c85435 --- /dev/null +++ b/apps/multirotor_pos_control/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 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. +# +############################################################################ + +# +# Makefile to build multirotor position control +# + +APPNAME = multirotor_pos_control +PRIORITY = SCHED_PRIORITY_MAX - 25 +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/apps/multirotor_pos_control/multirotor_pos_control.c new file mode 100644 index 000000000..ff32fb460 --- /dev/null +++ b/apps/multirotor_pos_control/multirotor_pos_control.c @@ -0,0 +1,136 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 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 Implementation of AR.Drone 1.0 / 2.0 control interface + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "ardrone_control.h" +#include "attitude_control.h" +#include "rate_control.h" +#include "ardrone_motor_control.h" +#include "position_control.h" +#include +#include +#include +#include + +__EXPORT int multirotor_pos_control_main(int argc, char *argv[]); + +static bool thread_should_exit; +static bool thread_running = false; +static int mpc_task; + +static int +mpc_thread_main(int argc, char *argv[]) +{ + /* welcome user */ + printf("[multirotor pos control] Control started, taking over position control\n"); + + /* structures */ + struct vehicle_status_s state; + struct vehicle_attitude_s att; + //struct vehicle_global_position_setpoint_s global_pos_sp; + struct vehicle_local_position_setpoint_s local_pos_sp; + struct vehicle_local_position_s local_pos; + struct manual_control_setpoint_s manual; + struct vehicle_attitude_setpoint_s att_sp; + + /* subscribe to attitude, motor setpoints and system state */ + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); + //int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); + int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); + + /* publish attitude setpoint */ + int att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); + + while (1) { + /* get a local copy of the vehicle state */ + orb_copy(ORB_ID(vehicle_status), state_sub, &state); + /* get a local copy of manual setpoint */ + orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); + /* get a local copy of attitude */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + /* get a local copy of local position */ + orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos); + /* get a local copy of local position setpoint */ + orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp); + + if (state.state_machine == SYSTEM_STATE_AUTO) { + position_control(&state, &manual, &att, &local_pos, &local_pos_sp, &att_sp); + /* publish new attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } else if (state.state_machine == SYSTEM_STATE_STABILIZE) { + /* set setpoint to current position */ + // XXX select pos reset channel on remote + /* reset setpoint to current position (position hold) */ + // if (1 == 2) { + // local_pos_sp.x = local_pos.x; + // local_pos_sp.y = local_pos.y; + // local_pos_sp.z = local_pos.z; + // local_pos_sp.yaw = att.yaw; + // } + } + + /* run at approximately 50 Hz */ + usleep(20000); + + counter++; + } + + /* close uarts */ + close(ardrone_write); + ar_multiplexing_deinit(gpios); + + printf("[multirotor pos control] ending now...\r\n"); + fflush(stdout); + return 0; +} + diff --git a/apps/multirotor_pos_control/position_control.c b/apps/multirotor_pos_control/position_control.c new file mode 100644 index 000000000..fd731a33d --- /dev/null +++ b/apps/multirotor_pos_control/position_control.c @@ -0,0 +1,275 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * @author Laurens Mackay + * @author Tobias Naegeli + * @author Martin Rutschmann + * + * 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 multirotor_position_control.c + * Implementation of the position control for a multirotor VTOL + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "multirotor_position_control.h" + +float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next) +{ + double lat_now_rad = lat_now / 180.0 * M_PI; + double lon_now_rad = lon_now / 180.0 * M_PI; + double lat_next_rad = lat_next / 180.0 * M_PI; + double lon_next_rad = lon_next / 180.0 * M_PI; + + + double d_lat = lat_next_rad - lat_now_rad; + double d_lon = lon_next_rad - lon_now_rad; + + double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(lat_now_rad) * cos(lat_next_rad); + double c = 2 * atan2(sqrt(a), sqrt(1 - a)); + + const double radius_earth = 6371000.0; + + return radius_earth * c; +} + +float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next) +{ + double lat_now_rad = lat_now / 180.0 * M_PI; + double lon_now_rad = lon_now / 180.0 * M_PI; + double lat_next_rad = lat_next / 180.0 * M_PI; + double lon_next_rad = lon_next / 180.0 * M_PI; + + double d_lat = lat_next_rad - lat_now_rad; + double d_lon = lon_next_rad - lon_now_rad; + + /* conscious mix of double and float trig function to maximize speed and efficiency */ + float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon)); + + // XXX wrapping check is incomplete + if (theta < 0.0f) { + theta = theta + 2.0f * M_PI_F; + } + + return theta; +} + +void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, + const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, + const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp) +{ + static PID_t distance_controller; + + static int read_ret; + static global_data_position_t position_estimated; + + static uint16_t counter; + + static bool initialized; + static uint16_t pm_counter; + + static float lat_next; + static float lon_next; + + static float pitch_current; + + static float thrust_total; + + + if (initialized == false) { + + pid_init(&distance_controller, + global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], + global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], + global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], + global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU], + PID_MODE_DERIVATIV_CALC, 150);//150 + +// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; +// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; + + thrust_total = 0.0f; + + /* Position initialization */ + /* Wait for new position estimate */ + do { + read_ret = read_lock_position(&position_estimated); + } while (read_ret != 0); + + lat_next = position_estimated.lat; + lon_next = position_estimated.lon; + + /* attitude initialization */ + global_data_lock(&global_data_attitude->access_conf); + pitch_current = global_data_attitude->pitch; + global_data_unlock(&global_data_attitude->access_conf); + + initialized = true; + } + + /* load new parameters with 10Hz */ + if (counter % 50 == 0) { + if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) { + /* check whether new parameters are available */ + if (global_data_parameter_storage->counter > pm_counter) { + pid_set_parameters(&distance_controller, + global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], + global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], + global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], + global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]); + +// +// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; +// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; + + pm_counter = global_data_parameter_storage->counter; + printf("Position controller changed pid parameters\n"); + } + } + + global_data_unlock(&global_data_parameter_storage->access_conf); + } + + + /* Wait for new position estimate */ + do { + read_ret = read_lock_position(&position_estimated); + } while (read_ret != 0); + + /* Get next waypoint */ //TODO: add local copy + + if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) { + lat_next = global_data_position_setpoint->x; + lon_next = global_data_position_setpoint->y; + global_data_unlock(&global_data_position_setpoint->access_conf); + } + + /* Get distance to waypoint */ + float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next); +// if(counter % 5 == 0) +// printf("distance_to_waypoint: %.4f\n", distance_to_waypoint); + + /* Get bearing to waypoint (direction on earth surface to next waypoint) */ + float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next); + + if (counter % 5 == 0) + printf("bearing: %.4f\n", bearing); + + /* Calculate speed in direction of bearing (needed for controller) */ + float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy); +// if(counter % 5 == 0) +// printf("speed_norm: %.4f\n", speed_norm); + float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller + + /* Control Thrust in bearing direction */ + float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint, + CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else + +// if(counter % 5 == 0) +// printf("horizontal thrust: %.4f\n", horizontal_thrust); + + /* Get total thrust (from remote for now) */ + if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { + thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum? + global_data_unlock(&global_data_rc_channels->access_conf); + } + + const float max_gas = 500.0f; + thrust_total *= max_gas / 20000.0f; //TODO: check this + thrust_total += max_gas / 2.0f; + + + if (horizontal_thrust > thrust_total) { + horizontal_thrust = thrust_total; + + } else if (horizontal_thrust < -thrust_total) { + horizontal_thrust = -thrust_total; + } + + + + //TODO: maybe we want to add a speed controller later... + + /* Calclulate thrust in east and north direction */ + float thrust_north = cosf(bearing) * horizontal_thrust; + float thrust_east = sinf(bearing) * horizontal_thrust; + + if (counter % 10 == 0) { + printf("thrust north: %.4f\n", thrust_north); + printf("thrust east: %.4f\n", thrust_east); + fflush(stdout); + } + + /* Get current attitude */ + if (0 == global_data_trylock(&global_data_attitude->access_conf)) { + pitch_current = global_data_attitude->pitch; + global_data_unlock(&global_data_attitude->access_conf); + } + + /* Get desired pitch & roll */ + float pitch_desired = 0.0f; + float roll_desired = 0.0f; + + if (thrust_total != 0) { + float pitch_fraction = -thrust_north / thrust_total; + float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total); + + if (roll_fraction < -1) { + roll_fraction = -1; + + } else if (roll_fraction > 1) { + roll_fraction = 1; + } + +// if(counter % 5 == 0) +// { +// printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction); +// fflush(stdout); +// } + + pitch_desired = asinf(pitch_fraction); + roll_desired = asinf(roll_fraction); + } + + att_sp.roll = roll_desired; + att_sp.pitch = pitch_desired; + + counter++; +} diff --git a/apps/multirotor_pos_control/position_control.h b/apps/multirotor_pos_control/position_control.h new file mode 100644 index 000000000..5ba59362e --- /dev/null +++ b/apps/multirotor_pos_control/position_control.h @@ -0,0 +1,50 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * @author Laurens Mackay + * @author Tobias Naegeli + * @author Martin Rutschmann + * + * 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 multirotor_position_control.h + * Definition of the position control for a multirotor VTOL + */ + +#ifndef POSITION_CONTROL_H_ +#define POSITION_CONTROL_H_ + +void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, + const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, + const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp); + +#endif /* POSITION_CONTROL_H_ */ -- cgit v1.2.3