From 591b355981c781f6d30a6697b690225031792cfc Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Wed, 29 Jan 2014 14:39:36 +0100 Subject: setpoint type IDLE added (for AUTO_READY state), LAND mode fixed --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 435 +++++++++++---------- 1 file changed, 229 insertions(+), 206 deletions(-) (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp') diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 923a9dab0..fe8377a40 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -707,282 +707,305 @@ MulticopterPositionControl::task_main() reset_alt_sp(); } - /* run position & altitude controllers, calculate velocity setpoint */ - math::Vector<3> pos_err; - float err_x, err_y; - get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_err.data[0], &pos_err.data[1]); - pos_err(2) = -(_alt_sp - alt); + if (_control_mode.flag_control_auto_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) { + /* idle state, don't run controller and set zero thrust */ + R.identity(); + memcpy(&_att_sp.R_body[0][0], R.data, sizeof(_att_sp.R_body)); + _att_sp.R_valid = true; - _vel_sp = pos_err.emult(_params.pos_p) + sp_move_rate.emult(_params.vel_ff); + _att_sp.roll_body = 0.0f; + _att_sp.pitch_body = 0.0f; + _att_sp.yaw_body = 0.0f; + _att_sp.thrust = 0.0f; - if (!_control_mode.flag_control_altitude_enabled) { - _reset_alt_sp = true; - _vel_sp(2) = 0.0f; - } + _att_sp.timestamp = hrt_absolute_time(); - if (!_control_mode.flag_control_position_enabled) { - _reset_lat_lon_sp = true; - _vel_sp(0) = 0.0f; - _vel_sp(1) = 0.0f; - } + /* publish attitude setpoint */ + if (_att_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); + + } else { + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); + } + + } else { + /* run position & altitude controllers, calculate velocity setpoint */ + math::Vector<3> pos_err; + float err_x, err_y; + get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_err.data[0], &pos_err.data[1]); + pos_err(2) = -(_alt_sp - alt); + + _vel_sp = pos_err.emult(_params.pos_p) + sp_move_rate.emult(_params.vel_ff); + + if (!_control_mode.flag_control_altitude_enabled) { + _reset_alt_sp = true; + _vel_sp(2) = 0.0f; + } + + if (!_control_mode.flag_control_position_enabled) { + _reset_lat_lon_sp = true; + _vel_sp(0) = 0.0f; + _vel_sp(1) = 0.0f; + } - if (!_control_mode.flag_control_manual_enabled) { /* use constant descend rate when landing, ignore altitude setpoint */ - if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { + if (_control_mode.flag_control_auto_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { _vel_sp(2) = _params.land_speed; } - /* limit 3D speed only in AUTO mode */ - float vel_sp_norm = _vel_sp.edivide(_params.vel_max).length(); + if (!_control_mode.flag_control_manual_enabled) { + /* limit 3D speed only in non-manual modes */ + float vel_sp_norm = _vel_sp.edivide(_params.vel_max).length(); - if (vel_sp_norm > 1.0f) { - _vel_sp /= vel_sp_norm; + if (vel_sp_norm > 1.0f) { + _vel_sp /= vel_sp_norm; + } } - } - _global_vel_sp.vx = _vel_sp(0); - _global_vel_sp.vy = _vel_sp(1); - _global_vel_sp.vz = _vel_sp(2); + _global_vel_sp.vx = _vel_sp(0); + _global_vel_sp.vy = _vel_sp(1); + _global_vel_sp.vz = _vel_sp(2); - /* publish velocity setpoint */ - if (_global_vel_sp_pub > 0) { - orb_publish(ORB_ID(vehicle_global_velocity_setpoint), _global_vel_sp_pub, &_global_vel_sp); + /* publish velocity setpoint */ + if (_global_vel_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_global_velocity_setpoint), _global_vel_sp_pub, &_global_vel_sp); - } else { - _global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &_global_vel_sp); - } + } else { + _global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &_global_vel_sp); + } - if (_control_mode.flag_control_climb_rate_enabled || _control_mode.flag_control_velocity_enabled) { - /* reset integrals if needed */ - if (_control_mode.flag_control_climb_rate_enabled) { - if (reset_int_z) { - reset_int_z = false; - float i = _params.thr_min; + if (_control_mode.flag_control_climb_rate_enabled || _control_mode.flag_control_velocity_enabled) { + /* reset integrals if needed */ + if (_control_mode.flag_control_climb_rate_enabled) { + if (reset_int_z) { + reset_int_z = false; + float i = _params.thr_min; - if (reset_int_z_manual) { - i = _manual.throttle; + if (reset_int_z_manual) { + i = _manual.throttle; - if (i < _params.thr_min) { - i = _params.thr_min; + if (i < _params.thr_min) { + i = _params.thr_min; - } else if (i > _params.thr_max) { - i = _params.thr_max; + } else if (i > _params.thr_max) { + i = _params.thr_max; + } } + + thrust_int(2) = -i; + mavlink_log_info(_mavlink_fd, "[mpc] reset hovering thrust: %.2f", (double)i); } - thrust_int(2) = -i; - mavlink_log_info(_mavlink_fd, "[mpc] reset hovering thrust: %.2f", (double)i); + } else { + reset_int_z = true; } - } else { - reset_int_z = true; - } + if (_control_mode.flag_control_velocity_enabled) { + if (reset_int_xy) { + reset_int_xy = false; + thrust_int(0) = 0.0f; + thrust_int(1) = 0.0f; + mavlink_log_info(_mavlink_fd, "[mpc] reset xy vel integral"); + } - if (_control_mode.flag_control_velocity_enabled) { - if (reset_int_xy) { - reset_int_xy = false; - thrust_int(0) = 0.0f; - thrust_int(1) = 0.0f; - mavlink_log_info(_mavlink_fd, "[mpc] reset xy vel integral"); + } else { + reset_int_xy = true; } - } else { - reset_int_xy = true; - } - - /* velocity error */ - math::Vector<3> vel_err = _vel_sp - _vel; - - /* derivative of velocity error, not includes setpoint acceleration */ - math::Vector<3> vel_err_d = (sp_move_rate - _vel).emult(_params.pos_p) - (_vel - _vel_prev) / dt; - _vel_prev = _vel; + /* velocity error */ + math::Vector<3> vel_err = _vel_sp - _vel; - /* thrust vector in NED frame */ - math::Vector<3> thrust_sp = vel_err.emult(_params.vel_p) + vel_err_d.emult(_params.vel_d) + thrust_int; + /* derivative of velocity error, not includes setpoint acceleration */ + math::Vector<3> vel_err_d = (sp_move_rate - _vel).emult(_params.pos_p) - (_vel - _vel_prev) / dt; + _vel_prev = _vel; - if (!_control_mode.flag_control_velocity_enabled) { - thrust_sp(0) = 0.0f; - thrust_sp(1) = 0.0f; - } + /* thrust vector in NED frame */ + math::Vector<3> thrust_sp = vel_err.emult(_params.vel_p) + vel_err_d.emult(_params.vel_d) + thrust_int; - if (!_control_mode.flag_control_climb_rate_enabled) { - thrust_sp(2) = 0.0f; - } + if (!_control_mode.flag_control_velocity_enabled) { + thrust_sp(0) = 0.0f; + thrust_sp(1) = 0.0f; + } - /* limit thrust vector and check for saturation */ - bool saturation_xy = false; - bool saturation_z = false; + if (!_control_mode.flag_control_climb_rate_enabled) { + thrust_sp(2) = 0.0f; + } - /* limit min lift */ - float thr_min = _params.thr_min; + /* limit thrust vector and check for saturation */ + bool saturation_xy = false; + bool saturation_z = false; - if (!_control_mode.flag_control_velocity_enabled && thr_min < 0.0f) { - /* don't allow downside thrust direction in manual attitude mode */ - thr_min = 0.0f; - } + /* limit min lift */ + float thr_min = _params.thr_min; - if (-thrust_sp(2) < thr_min) { - thrust_sp(2) = -thr_min; - saturation_z = true; - } + if (!_control_mode.flag_control_velocity_enabled && thr_min < 0.0f) { + /* don't allow downside thrust direction in manual attitude mode */ + thr_min = 0.0f; + } - /* limit max tilt */ - float tilt = atan2f(math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(), -thrust_sp(2)); - float tilt_max = _params.tilt_max; - if (!_control_mode.flag_control_manual_enabled) { - if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { - /* limit max tilt and min lift when landing */ - tilt_max = _params.land_tilt_max; - if (thr_min < 0.0f) - thr_min = 0.0f; + if (-thrust_sp(2) < thr_min) { + thrust_sp(2) = -thr_min; + saturation_z = true; } - } - if (_control_mode.flag_control_velocity_enabled) { - if (tilt > tilt_max && thr_min >= 0.0f) { - /* crop horizontal component */ - float k = tanf(tilt_max) / tanf(tilt); - thrust_sp(0) *= k; - thrust_sp(1) *= k; - saturation_xy = true; + /* limit max tilt */ + float tilt = atan2f(math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(), -thrust_sp(2)); + float tilt_max = _params.tilt_max; + if (!_control_mode.flag_control_manual_enabled) { + if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { + /* limit max tilt and min lift when landing */ + tilt_max = _params.land_tilt_max; + if (thr_min < 0.0f) + thr_min = 0.0f; + } } - } else { - /* thrust compensation for altitude only control mode */ - float att_comp; - if (_att.R[2][2] > TILT_COS_MAX) { - att_comp = 1.0f / _att.R[2][2]; - } else if (_att.R[2][2] > 0.0f) { - att_comp = ((1.0f / TILT_COS_MAX - 1.0f) / TILT_COS_MAX) * _att.R[2][2] + 1.0f; - saturation_z = true; + if (_control_mode.flag_control_velocity_enabled) { + if (tilt > tilt_max && thr_min >= 0.0f) { + /* crop horizontal component */ + float k = tanf(tilt_max) / tanf(tilt); + thrust_sp(0) *= k; + thrust_sp(1) *= k; + saturation_xy = true; + } } else { - att_comp = 1.0f; - saturation_z = true; - } + /* thrust compensation for altitude only control mode */ + float att_comp; - thrust_sp(2) *= att_comp; - } + if (_att.R[2][2] > TILT_COS_MAX) { + att_comp = 1.0f / _att.R[2][2]; + } else if (_att.R[2][2] > 0.0f) { + att_comp = ((1.0f / TILT_COS_MAX - 1.0f) / TILT_COS_MAX) * _att.R[2][2] + 1.0f; + saturation_z = true; + } else { + att_comp = 1.0f; + saturation_z = true; + } - /* limit max thrust */ - float thrust_abs = thrust_sp.length(); + thrust_sp(2) *= att_comp; + } - if (thrust_abs > _params.thr_max) { - if (thrust_sp(2) < 0.0f) { - if (-thrust_sp(2) > _params.thr_max) { - /* thrust Z component is too large, limit it */ - thrust_sp(0) = 0.0f; - thrust_sp(1) = 0.0f; - thrust_sp(2) = -_params.thr_max; - saturation_xy = true; - saturation_z = true; + /* limit max thrust */ + float thrust_abs = thrust_sp.length(); + + if (thrust_abs > _params.thr_max) { + if (thrust_sp(2) < 0.0f) { + if (-thrust_sp(2) > _params.thr_max) { + /* thrust Z component is too large, limit it */ + thrust_sp(0) = 0.0f; + thrust_sp(1) = 0.0f; + thrust_sp(2) = -_params.thr_max; + saturation_xy = true; + saturation_z = true; + + } else { + /* preserve thrust Z component and lower XY, keeping altitude is more important than position */ + float thrust_xy_max = sqrtf(_params.thr_max * _params.thr_max - thrust_sp(2) * thrust_sp(2)); + float thrust_xy_abs = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(); + float k = thrust_xy_max / thrust_xy_abs; + thrust_sp(0) *= k; + thrust_sp(1) *= k; + saturation_xy = true; + } } else { - /* preserve thrust Z component and lower XY, keeping altitude is more important than position */ - float thrust_xy_max = sqrtf(_params.thr_max * _params.thr_max - thrust_sp(2) * thrust_sp(2)); - float thrust_xy_abs = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(); - float k = thrust_xy_max / thrust_xy_abs; - thrust_sp(0) *= k; - thrust_sp(1) *= k; + /* Z component is negative, going down, simply limit thrust vector */ + float k = _params.thr_max / thrust_abs; + thrust_sp *= k; saturation_xy = true; + saturation_z = true; } - } else { - /* Z component is negative, going down, simply limit thrust vector */ - float k = _params.thr_max / thrust_abs; - thrust_sp *= k; - saturation_xy = true; - saturation_z = true; + thrust_abs = _params.thr_max; } - thrust_abs = _params.thr_max; - } + /* update integrals */ + if (_control_mode.flag_control_velocity_enabled && !saturation_xy) { + thrust_int(0) += vel_err(0) * _params.vel_i(0) * dt; + thrust_int(1) += vel_err(1) * _params.vel_i(1) * dt; + } - /* update integrals */ - if (_control_mode.flag_control_velocity_enabled && !saturation_xy) { - thrust_int(0) += vel_err(0) * _params.vel_i(0) * dt; - thrust_int(1) += vel_err(1) * _params.vel_i(1) * dt; - } + if (_control_mode.flag_control_climb_rate_enabled && !saturation_z) { + thrust_int(2) += vel_err(2) * _params.vel_i(2) * dt; - if (_control_mode.flag_control_climb_rate_enabled && !saturation_z) { - thrust_int(2) += vel_err(2) * _params.vel_i(2) * dt; + /* protection against flipping on ground when landing */ + if (thrust_int(2) > 0.0f) + thrust_int(2) = 0.0f; + } - /* protection against flipping on ground when landing */ - if (thrust_int(2) > 0.0f) - thrust_int(2) = 0.0f; - } + /* calculate attitude setpoint from thrust vector */ + if (_control_mode.flag_control_velocity_enabled) { + /* desired body_z axis = -normalize(thrust_vector) */ + math::Vector<3> body_x; + math::Vector<3> body_y; + math::Vector<3> body_z; - /* calculate attitude setpoint from thrust vector */ - if (_control_mode.flag_control_velocity_enabled) { - /* desired body_z axis = -normalize(thrust_vector) */ - math::Vector<3> body_x; - math::Vector<3> body_y; - math::Vector<3> body_z; + if (thrust_abs > SIGMA) { + body_z = -thrust_sp / thrust_abs; - if (thrust_abs > SIGMA) { - body_z = -thrust_sp / thrust_abs; + } else { + /* no thrust, set Z axis to safe value */ + body_z.zero(); + body_z(2) = 1.0f; + } - } else { - /* no thrust, set Z axis to safe value */ - body_z.zero(); - body_z(2) = 1.0f; - } + /* vector of desired yaw direction in XY plane, rotated by PI/2 */ + math::Vector<3> y_C(-sinf(_att_sp.yaw_body), cosf(_att_sp.yaw_body), 0.0f); - /* vector of desired yaw direction in XY plane, rotated by PI/2 */ - math::Vector<3> y_C(-sinf(_att_sp.yaw_body), cosf(_att_sp.yaw_body), 0.0f); + if (fabsf(body_z(2)) > SIGMA) { + /* desired body_x axis, orthogonal to body_z */ + body_x = y_C % body_z; - if (fabsf(body_z(2)) > SIGMA) { - /* desired body_x axis, orthogonal to body_z */ - body_x = y_C % body_z; + /* keep nose to front while inverted upside down */ + if (body_z(2) < 0.0f) { + body_x = -body_x; + } + + body_x.normalize(); - /* keep nose to front while inverted upside down */ - if (body_z(2) < 0.0f) { - body_x = -body_x; + } else { + /* desired thrust is in XY plane, set X downside to construct correct matrix, + * but yaw component will not be used actually */ + body_x.zero(); + body_x(2) = 1.0f; } - body_x.normalize(); + /* desired body_y axis */ + body_y = body_z % body_x; - } else { - /* desired thrust is in XY plane, set X downside to construct correct matrix, - * but yaw component will not be used actually */ - body_x.zero(); - body_x(2) = 1.0f; - } + /* fill rotation matrix */ + for (int i = 0; i < 3; i++) { + R(i, 0) = body_x(i); + R(i, 1) = body_y(i); + R(i, 2) = body_z(i); + } - /* desired body_y axis */ - body_y = body_z % body_x; + /* copy rotation matrix to attitude setpoint topic */ + memcpy(&_att_sp.R_body[0][0], R.data, sizeof(_att_sp.R_body)); + _att_sp.R_valid = true; - /* fill rotation matrix */ - for (int i = 0; i < 3; i++) { - R(i, 0) = body_x(i); - R(i, 1) = body_y(i); - R(i, 2) = body_z(i); + /* calculate euler angles, for logging only, must not be used for control */ + math::Vector<3> euler = R.to_euler(); + _att_sp.roll_body = euler(0); + _att_sp.pitch_body = euler(1); + /* yaw already used to construct rot matrix, but actual rotation matrix can have different yaw near singularity */ } - /* copy rotation matrix to attitude setpoint topic */ - memcpy(&_att_sp.R_body[0][0], R.data, sizeof(_att_sp.R_body)); - _att_sp.R_valid = true; + _att_sp.thrust = thrust_abs; - /* calculate euler angles, for logging only, must not be used for control */ - math::Vector<3> euler = R.to_euler(); - _att_sp.roll_body = euler(0); - _att_sp.pitch_body = euler(1); - /* yaw already used to construct rot matrix, but actual rotation matrix can have different yaw near singularity */ - } - - _att_sp.thrust = thrust_abs; + _att_sp.timestamp = hrt_absolute_time(); - _att_sp.timestamp = hrt_absolute_time(); + /* publish attitude setpoint */ + if (_att_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); - /* publish attitude setpoint */ - if (_att_sp_pub > 0) { - orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); + } else { + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); + } } else { - _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); + reset_int_z = true; } - - } else { - reset_int_z = true; } } else { -- cgit v1.2.3