From 9520983e08397c453af735d0ff0736cc007c2c45 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 16 Dec 2014 08:24:51 +0100 Subject: lots' of header juggling and small changes to make mc att control compile for NuttX and ROS --- src/modules/mc_att_control/mc_att_control.cpp | 75 ++++++++++----------------- 1 file changed, 28 insertions(+), 47 deletions(-) (limited to 'src/modules/mc_att_control/mc_att_control.cpp') diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp index 13bff9561..906bd0a47 100644 --- a/src/modules/mc_att_control/mc_att_control.cpp +++ b/src/modules/mc_att_control/mc_att_control.cpp @@ -44,6 +44,8 @@ */ #include "mc_att_control.h" +#include "mc_att_control_params.h" +#include "math.h" #define YAW_DEADZONE 0.05f #define MIN_TAKEOFF_THRUST 0.2f @@ -63,7 +65,6 @@ static const int ERROR = -1; MulticopterAttitudeControl::MulticopterAttitudeControl() : MulticopterAttitudeControlBase(), _task_should_exit(false), - _control_task(-1), _actuators_0_circuit_breaker_enabled(false), /* publications */ @@ -76,26 +77,26 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) { - _params_handles.roll_p = PX4_PARAM_INIT("MC_ROLL_P"); - _params_handles.roll_rate_p = PX4_PARAM_INIT("MC_ROLLRATE_P"); - _params_handles.roll_rate_i = PX4_PARAM_INIT("MC_ROLLRATE_I"); - _params_handles.roll_rate_d = PX4_PARAM_INIT("MC_ROLLRATE_D"); - _params_handles.pitch_p = PX4_PARAM_INIT("MC_PITCH_P"); - _params_handles.pitch_rate_p = PX4_PARAM_INIT("MC_PITCHRATE_P"); - _params_handles.pitch_rate_i = PX4_PARAM_INIT("MC_PITCHRATE_I"); - _params_handles.pitch_rate_d = PX4_PARAM_INIT("MC_PITCHRATE_D"); - _params_handles.yaw_p = PX4_PARAM_INIT("MC_YAW_P"); - _params_handles.yaw_rate_p = PX4_PARAM_INIT("MC_YAWRATE_P"); - _params_handles.yaw_rate_i = PX4_PARAM_INIT("MC_YAWRATE_I"); - _params_handles.yaw_rate_d = PX4_PARAM_INIT("MC_YAWRATE_D"); - _params_handles.yaw_ff = PX4_PARAM_INIT("MC_YAW_FF"); - _params_handles.yaw_rate_max = PX4_PARAM_INIT("MC_YAWRATE_MAX"); - _params_handles.man_roll_max = PX4_PARAM_INIT("MC_MAN_R_MAX"); - _params_handles.man_pitch_max = PX4_PARAM_INIT("MC_MAN_P_MAX"); - _params_handles.man_yaw_max = PX4_PARAM_INIT("MC_MAN_Y_MAX"); - _params_handles.acro_roll_max = PX4_PARAM_INIT("MC_ACRO_R_MAX"); - _params_handles.acro_pitch_max = PX4_PARAM_INIT("MC_ACRO_P_MAX"); - _params_handles.acro_yaw_max = PX4_PARAM_INIT("MC_ACRO_Y_MAX"); + _params_handles.roll_p = PX4_PARAM_INIT(MC_ROLL_P); + _params_handles.roll_rate_p = PX4_PARAM_INIT(MC_ROLLRATE_P); + _params_handles.roll_rate_i = PX4_PARAM_INIT(MC_ROLLRATE_I); + _params_handles.roll_rate_d = PX4_PARAM_INIT(MC_ROLLRATE_D); + _params_handles.pitch_p = PX4_PARAM_INIT(MC_PITCH_P); + _params_handles.pitch_rate_p = PX4_PARAM_INIT(MC_PITCHRATE_P); + _params_handles.pitch_rate_i = PX4_PARAM_INIT(MC_PITCHRATE_I); + _params_handles.pitch_rate_d = PX4_PARAM_INIT(MC_PITCHRATE_D); + _params_handles.yaw_p = PX4_PARAM_INIT(MC_YAW_P); + _params_handles.yaw_rate_p = PX4_PARAM_INIT(MC_YAWRATE_P); + _params_handles.yaw_rate_i = PX4_PARAM_INIT(MC_YAWRATE_I); + _params_handles.yaw_rate_d = PX4_PARAM_INIT(MC_YAWRATE_D); + _params_handles.yaw_ff = PX4_PARAM_INIT(MC_YAW_FF); + _params_handles.yaw_rate_max = PX4_PARAM_INIT(MC_YAWRATE_MAX); + _params_handles.man_roll_max = PX4_PARAM_INIT(MC_MAN_R_MAX); + _params_handles.man_pitch_max = PX4_PARAM_INIT(MC_MAN_P_MAX); + _params_handles.man_yaw_max = PX4_PARAM_INIT(MC_MAN_Y_MAX); + _params_handles.acro_roll_max = PX4_PARAM_INIT(MC_ACRO_R_MAX); + _params_handles.acro_pitch_max = PX4_PARAM_INIT(MC_ACRO_P_MAX); + _params_handles.acro_yaw_max = PX4_PARAM_INIT(MC_ACRO_Y_MAX); /* fetch initial parameter values */ parameters_update(); @@ -115,26 +116,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : 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); - } - - // mc_att_control::g_control = nullptr; } int @@ -203,8 +184,8 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi /* run controller on attitude changes */ static uint64_t last_run = 0; - float dt = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); + float dt = (px4::get_time_micros() - last_run) / 1000000.0f; + last_run = px4::get_time_micros(); /* guard against too small (< 2ms) and too large (> 20ms) dt's */ if (dt < 0.002f) { @@ -219,7 +200,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi /* publish the attitude setpoint if needed */ if (_publish_att_sp) { - _v_att_sp_mod.timestamp = hrt_absolute_time(); + _v_att_sp_mod.timestamp = px4::get_time_micros(); if (_att_sp_pub != nullptr) { _att_sp_pub->publish(_v_att_sp_mod); @@ -234,7 +215,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi _v_rates_sp_mod.pitch = _rates_sp(1); _v_rates_sp_mod.yaw = _rates_sp(2); _v_rates_sp_mod.thrust = _thrust_sp; - _v_rates_sp_mod.timestamp = hrt_absolute_time(); + _v_rates_sp_mod.timestamp = px4::get_time_micros(); if (_v_rates_sp_pub != nullptr) { _v_rates_sp_pub->publish(_v_rates_sp_mod); @@ -258,7 +239,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi _v_rates_sp_mod.pitch = _rates_sp(1); _v_rates_sp_mod.yaw = _rates_sp(2); _v_rates_sp_mod.thrust = _thrust_sp; - _v_rates_sp_mod.timestamp = hrt_absolute_time(); + _v_rates_sp_mod.timestamp = px4::get_time_micros(); if (_v_rates_sp_pub != nullptr) { _v_rates_sp_pub->publish(_v_rates_sp_mod); @@ -285,7 +266,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi _actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f; _actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f; _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; - _actuators.timestamp = hrt_absolute_time(); + _actuators.timestamp = px4::get_time_micros(); if (!_actuators_0_circuit_breaker_enabled) { if (_actuators_0_pub != nullptr) { -- cgit v1.2.3