From 75a870153792248b0e32243b30213d69c3d8d9db Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 12 Dec 2014 11:21:43 +0100 Subject: mc att: correctly handle topics which are simultaneously subscribed and published --- src/modules/mc_att_control/mc_att_control.cpp | 37 +++++++------- src/modules/mc_att_control/mc_att_control_base.cpp | 57 ++++++++++------------ src/modules/mc_att_control/mc_att_control_base.h | 8 ++- 3 files changed, 51 insertions(+), 51 deletions(-) (limited to 'src/modules/mc_att_control') diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp index 59eaaec6d..13bff9561 100644 --- a/src/modules/mc_att_control/mc_att_control.cpp +++ b/src/modules/mc_att_control/mc_att_control.cpp @@ -219,10 +219,10 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi /* publish the attitude setpoint if needed */ if (_publish_att_sp) { - _v_att_sp.timestamp = hrt_absolute_time(); + _v_att_sp_mod.timestamp = hrt_absolute_time(); if (_att_sp_pub != nullptr) { - _att_sp_pub->publish(_v_att_sp); + _att_sp_pub->publish(_v_att_sp_mod); } else { _att_sp_pub = PX4_ADVERTISE(_n, vehicle_attitude_setpoint); @@ -230,15 +230,14 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi } /* publish attitude rates setpoint */ - _v_rates_sp.roll = _rates_sp(0); - _v_rates_sp.pitch = _rates_sp(1); - _v_rates_sp.yaw = _rates_sp(2); - _v_rates_sp.thrust = _thrust_sp; - _v_rates_sp.timestamp = hrt_absolute_time(); + _v_rates_sp_mod.roll = _rates_sp(0); + _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(); if (_v_rates_sp_pub != nullptr) { - _v_rates_sp_pub->publish(_v_rates_sp); - + _v_rates_sp_pub->publish(_v_rates_sp_mod); } else { _v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint); } @@ -255,14 +254,14 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi _reset_yaw_sp = true; /* publish attitude rates setpoint */ - _v_rates_sp.roll = _rates_sp(0); - _v_rates_sp.pitch = _rates_sp(1); - _v_rates_sp.yaw = _rates_sp(2); - _v_rates_sp.thrust = _thrust_sp; - _v_rates_sp.timestamp = hrt_absolute_time(); + _v_rates_sp_mod.roll = _rates_sp(0); + _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(); if (_v_rates_sp_pub != nullptr) { - _v_rates_sp_pub->publish(_v_rates_sp); + _v_rates_sp_pub->publish(_v_rates_sp_mod); } else { _v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint); @@ -271,10 +270,10 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi } else { /* attitude controller disabled, poll rates setpoint topic */ //XXX vehicle_rates_setpoint_poll(); - _rates_sp(0) = _v_rates_sp.roll; - _rates_sp(1) = _v_rates_sp.pitch; - _rates_sp(2) = _v_rates_sp.yaw; - _thrust_sp = _v_rates_sp.thrust; + _rates_sp(0) = _v_rates_sp->get().roll; + _rates_sp(1) = _v_rates_sp->get().pitch; + _rates_sp(2) = _v_rates_sp->get().yaw; + _thrust_sp = _v_rates_sp->get().thrust; } } diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp index b9a57ce69..871f93ab8 100644 --- a/src/modules/mc_att_control/mc_att_control_base.cpp +++ b/src/modules/mc_att_control/mc_att_control_base.cpp @@ -58,13 +58,9 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() : _publish_att_sp(false) { - // memset(&_v_att, 0, sizeof(_v_att)); - // memset(&_v_att_sp, 0, sizeof(_v_att_sp)); - // memset(&_v_rates_sp, 0, sizeof(_v_rates_sp)); - // memset(&_manual_control_sp, 0, sizeof(_manual_control_sp)); - // memset(&_v_control_mode, 0, sizeof(_v_control_mode)); - // memset(&_actuators, 0, sizeof(_actuators)); - // memset(&_armed, 0, sizeof(_armed)); + memset(&_v_rates_sp, 0, sizeof(_v_att_sp_mod)); + memset(&_v_rates_sp, 0, sizeof(_v_rates_sp_mod)); + memset(&_actuators, 0, sizeof(_actuators)); _params.att_p.zero(); _params.rate_p.zero(); @@ -95,18 +91,19 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) float yaw_sp_move_rate = 0.0f; _publish_att_sp = false; + if (_v_control_mode->get().flag_control_manual_enabled) { /* manual input, set or modify attitude setpoint */ if (_v_control_mode->get().flag_control_velocity_enabled || _v_control_mode->get().flag_control_climb_rate_enabled) { /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ - //XXX vehicle_attitude_setpoint_poll(); + _v_att_sp_mod = _v_att_sp->get(); } if (!_v_control_mode->get().flag_control_climb_rate_enabled) { /* pass throttle directly if not in altitude stabilized mode */ - _v_att_sp.thrust = _manual_control_sp->get().z; + _v_att_sp_mod.thrust = _manual_control_sp->get().z; _publish_att_sp = true; } @@ -116,7 +113,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) } /* move yaw setpoint in all modes */ - if (_v_att_sp.thrust < 0.1f) { + if (_v_att_sp_mod.thrust < 0.1f) { // TODO //if (_status.condition_landed) { /* reset yaw setpoint if on ground */ @@ -125,65 +122,65 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) } else { /* move yaw setpoint */ yaw_sp_move_rate = _manual_control_sp->get().r * _params.man_yaw_max; - _v_att_sp.yaw_body = _wrap_pi( - _v_att_sp.yaw_body + yaw_sp_move_rate * dt); + _v_att_sp_mod.yaw_body = _wrap_pi( + _v_att_sp_mod.yaw_body + yaw_sp_move_rate * dt); float yaw_offs_max = _params.man_yaw_max / _params.att_p(2); - float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att->get().yaw); + float yaw_offs = _wrap_pi(_v_att_sp_mod.yaw_body - _v_att->get().yaw); if (yaw_offs < -yaw_offs_max) { - _v_att_sp.yaw_body = _wrap_pi(_v_att->get().yaw - yaw_offs_max); + _v_att_sp_mod.yaw_body = _wrap_pi(_v_att->get().yaw - yaw_offs_max); } else if (yaw_offs > yaw_offs_max) { - _v_att_sp.yaw_body = _wrap_pi(_v_att->get().yaw + yaw_offs_max); + _v_att_sp_mod.yaw_body = _wrap_pi(_v_att->get().yaw + yaw_offs_max); } - _v_att_sp.R_valid = false; + _v_att_sp_mod.R_valid = false; _publish_att_sp = true; } /* reset yaw setpint to current position if needed */ if (_reset_yaw_sp) { _reset_yaw_sp = false; - _v_att_sp.yaw_body = _v_att->get().yaw; - _v_att_sp.R_valid = false; + _v_att_sp_mod.yaw_body = _v_att->get().yaw; + _v_att_sp_mod.R_valid = false; _publish_att_sp = true; } if (!_v_control_mode->get().flag_control_velocity_enabled) { /* update attitude setpoint if not in position control mode */ - _v_att_sp.roll_body = _manual_control_sp->get().y * _params.man_roll_max; - _v_att_sp.pitch_body = -_manual_control_sp->get().x + _v_att_sp_mod.roll_body = _manual_control_sp->get().y * _params.man_roll_max; + _v_att_sp_mod.pitch_body = -_manual_control_sp->get().x * _params.man_pitch_max; - _v_att_sp.R_valid = false; + _v_att_sp_mod.R_valid = false; _publish_att_sp = true; } } else { /* in non-manual mode use 'vehicle_attitude_setpoint' topic */ - //XXX vehicle_attitude_setpoint_poll(); + _v_att_sp_mod = _v_att_sp->get(); /* reset yaw setpoint after non-manual control mode */ _reset_yaw_sp = true; } - _thrust_sp = _v_att_sp.thrust; + _thrust_sp = _v_att_sp_mod.thrust; /* construct attitude setpoint rotation matrix */ math::Matrix<3, 3> R_sp; - if (_v_att_sp.R_valid) { + if (_v_att_sp_mod.R_valid) { /* rotation matrix in _att_sp is valid, use it */ - R_sp.set(&_v_att_sp.R_body[0]); + R_sp.set(&_v_att_sp_mod.R_body[0]); } else { /* rotation matrix in _att_sp is not valid, use euler angles instead */ - R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, - _v_att_sp.yaw_body); + R_sp.from_euler(_v_att_sp_mod.roll_body, _v_att_sp_mod.pitch_body, + _v_att_sp_mod.yaw_body); /* copy rotation matrix back to setpoint struct */ - memcpy(&_v_att_sp.R_body[0], &R_sp.data[0][0], - sizeof(_v_att_sp.R_body)); - _v_att_sp.R_valid = true; + memcpy(&_v_att_sp_mod.R_body[0], &R_sp.data[0][0], + sizeof(_v_att_sp_mod.R_body)); + _v_att_sp_mod.R_valid = true; } /* rotation matrix for current state */ diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h index 05f89abe6..2135b61d8 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -90,9 +90,13 @@ protected: px4::PX4_SUBSCRIBER(manual_control_setpoint) *_manual_control_sp; /**< manual control setpoint */ px4::PX4_SUBSCRIBER(vehicle_control_mode) *_v_control_mode; /**< vehicle control mode */ px4::PX4_SUBSCRIBER(actuator_armed) *_armed; /**< actuator arming status */ + px4::PX4_SUBSCRIBER(vehicle_attitude_setpoint) * _v_att_sp; /**< vehicle attitude setpoint */ + px4::PX4_SUBSCRIBER(vehicle_rates_setpoint) * _v_rates_sp; /**< vehicle rates setpoint */ - PX4_TOPIC_T(vehicle_attitude_setpoint) _v_att_sp; /**< vehicle attitude setpoint */ - PX4_TOPIC_T(vehicle_rates_setpoint) _v_rates_sp; /**< vehicle rates setpoint */ + PX4_TOPIC_T(vehicle_attitude_setpoint) _v_att_sp_mod; /**< modified vehicle attitude setpoint + that gets published eventually */ + PX4_TOPIC_T(vehicle_rates_setpoint) _v_rates_sp_mod; /**< vehicle rates setpoint + that gets published eventually*/ PX4_TOPIC_T(actuator_controls) _actuators; /**< actuator controls */ math::Vector<3> _rates_prev; /**< angular rates on previous step */ -- cgit v1.2.3