From b5bb20995be8c0f55bed4f2f2bd6cee9efdcf03e Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 22 Aug 2013 17:31:59 +0200 Subject: multirotor_att_control: yaw setpoint reset fix --- .../multirotor_att_control_main.c | 103 +++++++++++---------- 1 file changed, 53 insertions(+), 50 deletions(-) (limited to 'src') diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index c057ef364..2d46bf438 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -81,6 +81,8 @@ __EXPORT int multirotor_att_control_main(int argc, char *argv[]); static bool thread_should_exit; static int mc_task; static bool motor_test_mode = false; +static const float min_takeoff_throttle = 0.3f; +static const float yaw_deadzone = 0.01f; static int mc_thread_main(int argc, char *argv[]) @@ -147,14 +149,14 @@ mc_thread_main(int argc, char *argv[]) /* store last control mode to detect mode switches */ bool flag_control_manual_enabled = false; bool flag_control_attitude_enabled = false; - bool control_yaw_position = true; bool reset_yaw_sp = true; + bool failsafe_first_time = true; /* prepare the handle for the failsafe throttle */ param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR"); float failsafe_throttle = 0.0f; - + param_get(failsafe_throttle_handle, &failsafe_throttle); while (!thread_should_exit) { @@ -176,7 +178,7 @@ mc_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(parameter_update), param_sub, &update); /* update parameters */ - // XXX no params here yet + param_get(failsafe_throttle_handle, &failsafe_throttle); } /* only run controller if attitude changed */ @@ -208,6 +210,9 @@ mc_thread_main(int argc, char *argv[]) /* get a local copy of the current sensor values */ orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); + /* set flag to safe value */ + control_yaw_position = true; + /* define which input is the dominating control input */ if (control_mode.flag_control_offboard_enabled) { /* offboard inputs */ @@ -225,47 +230,40 @@ mc_thread_main(int argc, char *argv[]) att_sp.yaw_body = offboard_sp.p3; att_sp.thrust = offboard_sp.p4; att_sp.timestamp = hrt_absolute_time(); - /* STEP 2: publish the result to the vehicle actuators */ + /* publish the result to the vehicle actuators */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); } } else if (control_mode.flag_control_manual_enabled) { - /* direct manual input */ + /* manual input */ if (control_mode.flag_control_attitude_enabled) { /* control attitude, update attitude setpoint depending on mode */ - /* initialize to current yaw if switching to manual or att control */ - if (control_mode.flag_control_attitude_enabled != flag_control_attitude_enabled || - control_mode.flag_control_manual_enabled != flag_control_manual_enabled) { - att_sp.yaw_body = att.yaw; - } - - static bool rc_loss_first_time = true; - /* if the RC signal is lost, try to stay level and go slowly back down to ground */ if (control_mode.failsave_highlevel) { + failsafe_first_time = false; + if (!control_mode.flag_control_velocity_enabled) { - /* Don't reset attitude setpoint in position control mode, it's handled by position controller. */ + /* don't reset attitude setpoint in position control mode, it's handled by position controller. */ att_sp.roll_body = 0.0f; att_sp.pitch_body = 0.0f; + } - if (!control_mode.flag_control_climb_rate_enabled) { - /* Don't touch throttle in modes with altitude hold, it's handled by position controller. - * - * Only go to failsafe throttle if last known throttle was - * high enough to create some lift to make hovering state likely. - * - * This is to prevent that someone landing, but not disarming his - * multicopter (throttle = 0) does not make it jump up in the air - * if shutting down his remote. - */ - if (isfinite(manual.throttle) && manual.throttle > 0.2f) { // TODO use landed status instead of throttle - /* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */ - param_get(failsafe_throttle_handle, &failsafe_throttle); - att_sp.thrust = failsafe_throttle; - - } else { - att_sp.thrust = 0.0f; - } + if (!control_mode.flag_control_climb_rate_enabled) { + /* don't touch throttle in modes with altitude hold, it's handled by position controller. + * + * Only go to failsafe throttle if last known throttle was + * high enough to create some lift to make hovering state likely. + * + * This is to prevent that someone landing, but not disarming his + * multicopter (throttle = 0) does not make it jump up in the air + * if shutting down his remote. + */ + if (isfinite(manual.throttle) && manual.throttle > min_takeoff_throttle) { // TODO use landed status instead of throttle + /* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */ + att_sp.thrust = failsafe_throttle; + + } else { + att_sp.thrust = 0.0f; } } @@ -273,46 +271,48 @@ mc_thread_main(int argc, char *argv[]) * since if the pilot regains RC control, he will be lost regarding * the current orientation. */ - if (rc_loss_first_time) - att_sp.yaw_body = att.yaw; - - rc_loss_first_time = false; + if (failsafe_first_time) { + reset_yaw_sp = true; + } } else { - rc_loss_first_time = true; + failsafe_first_time = true; /* control yaw in all manual / assisted modes */ /* set yaw if arming or switching to attitude stabilized mode */ - if (!flag_control_attitude_enabled) { + if (!flag_control_manual_enabled || !flag_control_attitude_enabled || !control_mode.flag_armed) { reset_yaw_sp = true; } /* only move setpoint if manual input is != 0 */ - if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { // TODO use landed status instead of throttle - rates_sp.yaw = manual.yaw; + // TODO review yaw restpoint reset + if ((manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) && manual.throttle > min_takeoff_throttle) { + /* control yaw rate */ control_yaw_position = false; - reset_yaw_sp = true; + rates_sp.yaw = manual.yaw; + reset_yaw_sp = true; // has no effect on control, just for beautiful log } else { - if (reset_yaw_sp) { - att_sp.yaw_body = att.yaw; - reset_yaw_sp = false; - } control_yaw_position = true; } if (!control_mode.flag_control_velocity_enabled) { - /* don't update attitude setpoint in position control mode */ + /* update attitude setpoint if not in position control mode */ att_sp.roll_body = manual.roll; att_sp.pitch_body = manual.pitch; if (!control_mode.flag_control_climb_rate_enabled) { - /* don't set throttle in altitude hold modes */ + /* pass throttle directly if not in altitude control mode */ att_sp.thrust = manual.throttle; } } - att_sp.timestamp = hrt_absolute_time(); + } + + /* reset yaw setpint to current position if needed */ + if (reset_yaw_sp) { + att_sp.yaw_body = att.yaw; + reset_yaw_sp = false; } if (motor_test_mode) { @@ -321,10 +321,11 @@ mc_thread_main(int argc, char *argv[]) att_sp.pitch_body = 0.0f; att_sp.yaw_body = 0.0f; att_sp.thrust = 0.1f; - att_sp.timestamp = hrt_absolute_time(); } - /* STEP 2: publish the controller output */ + att_sp.timestamp = hrt_absolute_time(); + + /* publish the controller output */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); } else { @@ -367,6 +368,7 @@ mc_thread_main(int argc, char *argv[]) rates[1] = att.pitchspeed; rates[2] = att.yawspeed; multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral); + } else { /* rates controller disabled, set actuators to zero for safety */ actuators.control[0] = 0.0f; @@ -374,6 +376,7 @@ mc_thread_main(int argc, char *argv[]) actuators.control[2] = 0.0f; actuators.control[3] = 0.0f; } + actuators.timestamp = hrt_absolute_time(); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); -- cgit v1.2.3 From bb91484b2648800923a135be28924119a1382ba6 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 22 Aug 2013 17:34:59 +0200 Subject: Default flight mode switches parameters changed. --- src/modules/sensors/sensor_params.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src') diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 2bd869263..8c2beb456 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -167,8 +167,8 @@ PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3); PARAM_DEFINE_INT32(RC_MAP_YAW, 4); PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5); -PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 6); -PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 6); PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); -- cgit v1.2.3 From 41fac46ff08787d9b2e4d902045d65c205389abd Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 22 Aug 2013 18:05:30 +0200 Subject: mavlink VFR_HUD message fixed, minor fixes and cleanup --- src/modules/commander/commander.cpp | 4 ++-- src/modules/mavlink/orb_listener.c | 10 +++++----- .../position_estimator_inav_main.c | 2 +- src/modules/uORB/topics/vehicle_global_position.h | 18 +++++++++--------- 4 files changed, 17 insertions(+), 17 deletions(-) (limited to 'src') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 04e6dd2cb..4580c57bc 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -825,9 +825,9 @@ int commander_thread_main(int argc, char *argv[]) status.condition_landed = local_position.landed; status_changed = true; if (status.condition_landed) { - mavlink_log_info(mavlink_fd, "[cmd] LANDED"); + mavlink_log_critical(mavlink_fd, "[cmd] LANDED"); } else { - mavlink_log_info(mavlink_fd, "[cmd] IN AIR"); + mavlink_log_critical(mavlink_fd, "[cmd] IN AIR"); } } } diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 2a260861d..97cf571e5 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -637,12 +637,12 @@ l_airspeed(const struct listener *l) orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed); float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - float throttle = actuators_0.control_effective[3] * (UINT16_MAX - 1); - float alt = global_pos.alt; - float climb = global_pos.vz; + uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f; + uint16_t throttle = actuators_0.control_effective[3] * (UINT16_MAX - 1); + float alt = global_pos.relative_alt; + float climb = -global_pos.vz; - mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, - ((att.yaw + M_PI_F) / M_PI_F) * 180.0f, throttle, alt, climb); + mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, alt, climb); } static void * diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 3466841c4..d35755b4f 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -610,7 +610,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (local_pos.v_xy_valid) { global_pos.vx = local_pos.vx; global_pos.vy = local_pos.vy; - global_pos.hdg = atan2f(local_pos.vy, local_pos.vx); + global_pos.hdg = atan2f(local_pos.vy, local_pos.vx); // TODO is it correct? } if (local_pos.z_valid) { diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index f036c7223..822c323cf 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -62,17 +62,17 @@ struct vehicle_global_position_s { uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ + uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ bool valid; /**< true if position satisfies validity criteria of estimator */ - int32_t lat; /**< Latitude in 1E7 degrees LOGME */ - int32_t lon; /**< Longitude in 1E7 degrees LOGME */ - float alt; /**< Altitude in meters LOGME */ - float relative_alt; /**< Altitude above home position in meters, LOGME */ - float vx; /**< Ground X Speed (Latitude), m/s in ENU LOGME */ - float vy; /**< Ground Y Speed (Longitude), m/s in ENU LOGME */ - float vz; /**< Ground Z Speed (Altitude), m/s in ENU LOGME */ - float hdg; /**< Compass heading in radians -PI..+PI. */ + int32_t lat; /**< Latitude in 1E7 degrees */ + int32_t lon; /**< Longitude in 1E7 degrees */ + float alt; /**< Altitude in meters */ + float relative_alt; /**< Altitude above home position in meters, */ + float vx; /**< Ground X velocity, m/s in NED */ + float vy; /**< Ground Y velocity, m/s in NED */ + float vz; /**< Ground Z velocity, m/s in NED */ + float hdg; /**< Compass heading in radians -PI..+PI. */ }; -- cgit v1.2.3 From 330908225e5fcb1731df20e740dbfe403a7b30b9 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 22 Aug 2013 18:23:42 +0200 Subject: sdlog2: free buffer on exit --- src/modules/sdlog2/sdlog2.c | 2 ++ 1 file changed, 2 insertions(+) (limited to 'src') diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 7f8648d95..2b21bb5a5 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1182,6 +1182,8 @@ int sdlog2_thread_main(int argc, char *argv[]) pthread_mutex_destroy(&logbuffer_mutex); pthread_cond_destroy(&logbuffer_cond); + free(lb.data); + warnx("exiting."); thread_running = false; -- cgit v1.2.3