/**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: @author Thomas Gubler * @author Doug Weibel * * 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 fixedwing_att_control.c * Implementation of a fixed wing attitude controller. */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include /* * Controller parameters, accessible via MAVLink * */ // Roll control parameters PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f); PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); //Pitch control parameters PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f); PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f); //Yaw control parameters //XXX TODO this is copy paste, asign correct values PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f); PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f); PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec /* Prototypes */ /** * Deamon management function. */ __EXPORT int fixedwing_att_control_main(int argc, char *argv[]); /** * Mainloop of deamon. */ int fixedwing_att_control_thread_main(int argc, char *argv[]); /** * Print the correct usage. */ static void usage(const char *reason); /* Variables */ static bool thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ /* Main Thread */ int fixedwing_att_control_thread_main(int argc, char *argv[]) { /* read arguments */ bool verbose = false; for (int i = 1; i < argc; i++) { if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { verbose = true; } } /* welcome user */ printf("[fixedwing att_control] started\n"); /* declare and safely initialize all structs */ struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); struct vehicle_attitude_setpoint_s att_sp; memset(&att_sp, 0, sizeof(att_sp)); struct vehicle_rates_setpoint_s rates_sp; memset(&rates_sp, 0, sizeof(rates_sp)); struct manual_control_setpoint_s manual_sp; memset(&manual_sp, 0, sizeof(manual_sp)); struct vehicle_status_s vstatus; memset(&vstatus, 0, sizeof(vstatus)); // static struct debug_key_value_s debug_output; // memset(&debug_output, 0, sizeof(debug_output)); /* output structs */ struct actuator_controls_s actuators; memset(&actuators, 0, sizeof(actuators)); /* publish actuator controls */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { actuators.control[i] = 0.0f; } orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); // orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output); // debug_output.key[0] = '1'; /* subscribe */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); /* Setup of loop */ float gyro[3] = {0.0f, 0.0f, 0.0f}; struct pollfd fds = { .fd = att_sub, .events = POLLIN }; while(!thread_should_exit) { /* wait for a sensor update, check for exit condition every 500 ms */ poll(&fds, 1, 500); /* get a local copy of attitude */ orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus); gyro[0] = att.rollspeed; gyro[1] = att.pitchspeed; gyro[2] = att.yawspeed; /* Control */ if (vstatus.state_machine == SYSTEM_STATE_AUTO) { /* Attitude Control */ fixedwing_att_control_attitude(&att_sp, &att, &rates_sp); /* Attitude Rate Control */ fixedwing_att_control_rates(&rates_sp, gyro, &actuators); //REMOVEME XXX actuators.control[3] = 0.7f; // debug_output.value = rates_sp.pitch; // orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output); } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { /* directly pass through values */ actuators.control[0] = manual_sp.roll; /* positive pitch means negative actuator -> pull up */ actuators.control[1] = -manual_sp.pitch; actuators.control[2] = manual_sp.yaw; actuators.control[3] = manual_sp.throttle; } /* publish output */ orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); } printf("[fixedwing_att_control] exiting, stopping all motors.\n"); thread_running = false; /* kill all outputs */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) actuators.control[i] = 0.0f; orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); close(att_sub); close(actuator_pub); fflush(stdout); exit(0); return 0; } /* Startup Functions */ static void usage(const char *reason) { if (reason) fprintf(stderr, "%s\n", reason); fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n"); exit(1); } /** * The deamon app only briefly exists to start * the background job. The stack size assigned in the * Makefile does only apply to this management task. * * The actual stack size should be set in the call * to task_create(). */ int fixedwing_att_control_main(int argc, char *argv[]) { if (argc < 1) usage("missing command"); if (!strcmp(argv[1], "start")) { if (thread_running) { printf("fixedwing_att_control already running\n"); /* this is not an error */ exit(0); } thread_should_exit = false; deamon_task = task_spawn("fixedwing_att_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 20, 4096, fixedwing_att_control_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); thread_running = true; exit(0); } if (!strcmp(argv[1], "stop")) { thread_should_exit = true; exit(0); } if (!strcmp(argv[1], "status")) { if (thread_running) { printf("\tfixedwing_att_control is running\n"); } else { printf("\tfixedwing_att_control not started\n"); } exit(0); } usage("unrecognized command"); exit(1); }