1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
1651
1652
1653
1654
1655
1656
1657
1658
1659
1660
1661
1662
1663
1664
1665
1666
1667
1668
1669
1670
1671
1672
1673
1674
1675
1676
1677
1678
1679
1680
1681
1682
1683
1684
1685
1686
1687
1688
1689
1690
1691
1692
1693
1694
1695
1696
1697
1698
1699
1700
1701
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
|
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* 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 mc_pos_control_main.cpp
* Multicopter position controller.
*
* The controller has two loops: P loop for position error and PID loop for velocity error.
* Output of velocity controller is thrust vector that splitted to thrust direction
* (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself).
* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/target_global_position.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
#include <mathlib/math/filter/LowPassFilter.hpp>
#include <lib/geo/geo.h>
#include <lib/geo/position_predictor.h>
#include <mavlink/mavlink_log.h>
#define TILT_COS_MAX 0.7f
#define SIGMA 0.000001f
#define MIN_DIST 0.01f
#define FOLLOW_OFFS_XY_MIN 2.0f
/**
* Multicopter position control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int mc_pos_control_main(int argc, char *argv[]);
class MulticopterPositionControl
{
public:
/**
* Constructor
*/
MulticopterPositionControl();
/**
* Destructor, also kills task.
*/
~MulticopterPositionControl();
/**
* Start task.
*
* @return OK on success.
*/
int start();
private:
const float alt_ctl_dz = 0.2f;
bool _task_should_exit; /**< if true, task should exit */
int _control_task; /**< task handle for task */
int _mavlink_fd; /**< mavlink fd */
int _att_sub; /**< vehicle attitude subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _control_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_sub; /**< notification of manual control updates */
int _arming_sub; /**< arming status of outputs */
int _local_pos_sub; /**< vehicle local position */
int _pos_sp_triplet_sub; /**< position setpoint triplet */
int _local_pos_sp_sub; /**< offboard local position setpoint */
int _global_vel_sp_sub; /**< offboard global velocity setpoint */
int _target_pos_sub; /**< target global position subscription */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
orb_advert_t _cam_control_pub; /**< camera control publication */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */
struct actuator_armed_s _arming; /**< actuator arming status */
struct vehicle_local_position_s _local_pos; /**< vehicle local position */
struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
struct target_global_position_s _target_pos; /**< target global position */
struct actuator_controls_s _cam_control; /**< camera control */
struct {
param_t thr_min;
param_t thr_max;
param_t z_p;
param_t z_vel_p;
param_t z_vel_i;
param_t z_vel_d;
param_t z_vel_max;
param_t z_ff;
param_t xy_p;
param_t xy_vel_p;
param_t xy_vel_i;
param_t xy_vel_d;
param_t xy_vel_max;
param_t xy_ff;
param_t tilt_max_air;
param_t land_speed;
param_t tilt_max_land;
param_t follow_vel_ff;
param_t follow_talt_offs;
param_t follow_yaw_off_max;
param_t follow_use_alt;
param_t follow_rpt_alt;
param_t follow_lpf;
param_t cam_pitch_max;
} _params_handles; /**< handles for interesting parameters */
struct {
float thr_min;
float thr_max;
float tilt_max_air;
float land_speed;
float tilt_max_land;
float follow_vel_ff;
float follow_talt_offs;
float follow_yaw_off_max;
bool follow_use_alt;
bool follow_rpt_alt;
float follow_lpf;
float cam_pitch_max;
math::Vector<3> pos_p;
math::Vector<3> vel_p;
math::Vector<3> vel_i;
math::Vector<3> vel_d;
math::Vector<3> vel_ff;
math::Vector<3> vel_max;
math::Vector<3> sp_offs_max;
} _params;
struct map_projection_reference_s _ref_pos;
float _ref_alt;
hrt_abstime _ref_timestamp;
float _target_alt_offs; /**< target altitude offset, add this value to target altitude */
float _alt_start; /**< start altitude, i.e. when vehicle was armed */
bool _reset_pos_sp;
bool _reset_alt_sp;
bool _mode_auto;
bool _reset_follow_offset;
math::Vector<3> _pos;
math::Vector<3> _pos_sp;
math::Vector<3> _vel;
math::Vector<3> _vel_sp;
math::Vector<3> _vel_prev; /**< velocity on previous step */
math::Vector<3> _vel_ff;
math::Vector<3> _sp_move_rate;
math::Vector<3> _tpos;
math::Vector<3> _tvel;
math::LowPassFilter<math::Vector<3>> _tvel_lpf;
math::Vector<3> _att_rates_ff;
math::Vector<3> _follow_offset; /**< offset from target for FOLLOW mode, vector in NED frame */
LocalPositionPredictor _tpos_predictor;
/**
* Update our local parameter cache.
*/
int parameters_update(bool force);
/**
* Update control outputs
*/
void control_update();
/**
* Check for changes in subscribed topics.
*/
void poll_subscriptions();
static float scale_control(float ctl, float end, float dz);
/**
* Update reference for local position projection
*/
void update_ref();
/**
* Reset position setpoint to current position
*/
void reset_pos_sp();
/**
* Reset altitude setpoint to current altitude
*/
void reset_alt_sp();
/**
* Check if position setpoint is too far from current position and adjust it if needed.
*/
void limit_pos_sp_offset();
/**
* Set position setpoint using manual control
*/
void control_manual(float dt);
/**
* Set position setpoint using offboard control
*/
void control_offboard(float dt);
bool cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res);
/**
* Set position setpoint for AUTO
*/
void control_auto(float dt);
/**
* Update target position and velocity (prediction and filtering)
*/
void update_target_pos();
/**
* Select between barometric and global (AMSL) altitudes
*/
void select_alt(bool global);
/**
* Reset follow offset to current offset.
*/
void reset_follow_offset();
/**
* Control setpoint if "follow target" mode
*/
void control_follow(float dt);
/**
* Control camera and copter yaw depending on mode
*/
void point_to_target();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
*/
void task_main();
};
namespace pos_control
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
MulticopterPositionControl *g_control;
}
MulticopterPositionControl::MulticopterPositionControl() :
_task_should_exit(false),
_control_task(-1),
_mavlink_fd(-1),
/* subscriptions */
_att_sub(-1),
_att_sp_sub(-1),
_control_mode_sub(-1),
_params_sub(-1),
_manual_sub(-1),
_arming_sub(-1),
_local_pos_sub(-1),
_pos_sp_triplet_sub(-1),
_global_vel_sp_sub(-1),
/* publications */
_att_sp_pub(-1),
_local_pos_sp_pub(-1),
_global_vel_sp_pub(-1),
_cam_control_pub(-1),
_ref_alt(0.0f),
_ref_timestamp(0),
_target_alt_offs(0.0f),
_alt_start(0.0f),
_reset_pos_sp(true),
_reset_alt_sp(true),
_mode_auto(false),
_reset_follow_offset(true)
{
memset(&_att, 0, sizeof(_att));
memset(&_att_sp, 0, sizeof(_att_sp));
memset(&_manual, 0, sizeof(_manual));
memset(&_control_mode, 0, sizeof(_control_mode));
memset(&_arming, 0, sizeof(_arming));
memset(&_local_pos, 0, sizeof(_local_pos));
memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet));
memset(&_local_pos_sp, 0, sizeof(_local_pos_sp));
memset(&_global_vel_sp, 0, sizeof(_global_vel_sp));
memset(&_target_pos, 0, sizeof(_target_pos));
memset(&_cam_control, 0, sizeof(_cam_control));
memset(&_ref_pos, 0, sizeof(_ref_pos));
_params.pos_p.zero();
_params.vel_p.zero();
_params.vel_i.zero();
_params.vel_d.zero();
_params.vel_max.zero();
_params.vel_ff.zero();
_params.sp_offs_max.zero();
_pos.zero();
_pos_sp.zero();
_vel.zero();
_vel_sp.zero();
_vel_prev.zero();
_vel_ff.zero();
_sp_move_rate.zero();
_tpos.zero();
_tvel.zero();
_sp_move_rate.zero();
_att_rates_ff.zero();
/* initialize to safe value to avoid flying into target */
_follow_offset.zero();
_follow_offset(2) = -20.0f;
_tpos_predictor.set_min_latency(20000);
_tpos_predictor.set_max_latency(1000000);
_params_handles.thr_min = param_find("MPC_THR_MIN");
_params_handles.thr_max = param_find("MPC_THR_MAX");
_params_handles.z_p = param_find("MPC_Z_P");
_params_handles.z_vel_p = param_find("MPC_Z_VEL_P");
_params_handles.z_vel_i = param_find("MPC_Z_VEL_I");
_params_handles.z_vel_d = param_find("MPC_Z_VEL_D");
_params_handles.z_vel_max = param_find("MPC_Z_VEL_MAX");
_params_handles.z_ff = param_find("MPC_Z_FF");
_params_handles.xy_p = param_find("MPC_XY_P");
_params_handles.xy_vel_p = param_find("MPC_XY_VEL_P");
_params_handles.xy_vel_i = param_find("MPC_XY_VEL_I");
_params_handles.xy_vel_d = param_find("MPC_XY_VEL_D");
_params_handles.xy_vel_max = param_find("MPC_XY_VEL_MAX");
_params_handles.xy_ff = param_find("MPC_XY_FF");
_params_handles.tilt_max_air = param_find("MPC_TILTMAX_AIR");
_params_handles.land_speed = param_find("MPC_LAND_SPEED");
_params_handles.tilt_max_land = param_find("MPC_TILTMAX_LND");
_params_handles.follow_vel_ff = param_find("FOL_VEL_FF");
_params_handles.follow_talt_offs = param_find("FOL_TALT_OFF");
_params_handles.follow_yaw_off_max = param_find("FOL_YAW_OFF_MAX");
_params_handles.follow_use_alt = param_find("FOL_USE_ALT");
_params_handles.follow_rpt_alt = param_find("FOL_RPT_ALT");
_params_handles.follow_lpf = param_find("FOL_LPF");
_params_handles.cam_pitch_max = param_find("CAM_P_MAX");
/* fetch initial parameter values */
parameters_update(true);
}
MulticopterPositionControl::~MulticopterPositionControl()
{
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);
}
pos_control::g_control = nullptr;
}
int
MulticopterPositionControl::parameters_update(bool force)
{
bool updated;
struct parameter_update_s param_upd;
orb_check(_params_sub, &updated);
if (updated) {
orb_copy(ORB_ID(parameter_update), _params_sub, ¶m_upd);
}
if (updated || force) {
param_get(_params_handles.thr_min, &_params.thr_min);
param_get(_params_handles.thr_max, &_params.thr_max);
param_get(_params_handles.tilt_max_air, &_params.tilt_max_air);
_params.tilt_max_air = math::radians(_params.tilt_max_air);
param_get(_params_handles.land_speed, &_params.land_speed);
param_get(_params_handles.tilt_max_land, &_params.tilt_max_land);
_params.tilt_max_land = math::radians(_params.tilt_max_land);
param_get(_params_handles.follow_vel_ff, &_params.follow_vel_ff);
param_get(_params_handles.follow_talt_offs, &_params.follow_talt_offs);
param_get(_params_handles.follow_yaw_off_max, &_params.follow_yaw_off_max);
_params.follow_yaw_off_max = math::radians(_params.follow_yaw_off_max);
param_get(_params_handles.follow_lpf, &_params.follow_lpf);
_tvel_lpf.set_cutoff_frequency(_params.follow_lpf);
param_get(_params_handles.cam_pitch_max, &_params.cam_pitch_max);
_params.cam_pitch_max = math::radians(_params.cam_pitch_max);
int32_t i;
param_get(_params_handles.follow_use_alt, &i);
_params.follow_use_alt = (i != 0);
param_get(_params_handles.follow_rpt_alt, &i);
_params.follow_rpt_alt = (i != 0);
float v;
param_get(_params_handles.xy_p, &v);
_params.pos_p(0) = v;
_params.pos_p(1) = v;
param_get(_params_handles.z_p, &v);
_params.pos_p(2) = v;
param_get(_params_handles.xy_vel_p, &v);
_params.vel_p(0) = v;
_params.vel_p(1) = v;
param_get(_params_handles.z_vel_p, &v);
_params.vel_p(2) = v;
param_get(_params_handles.xy_vel_i, &v);
_params.vel_i(0) = v;
_params.vel_i(1) = v;
param_get(_params_handles.z_vel_i, &v);
_params.vel_i(2) = v;
param_get(_params_handles.xy_vel_d, &v);
_params.vel_d(0) = v;
_params.vel_d(1) = v;
param_get(_params_handles.z_vel_d, &v);
_params.vel_d(2) = v;
param_get(_params_handles.xy_vel_max, &v);
_params.vel_max(0) = v;
_params.vel_max(1) = v;
param_get(_params_handles.z_vel_max, &v);
_params.vel_max(2) = v;
param_get(_params_handles.xy_ff, &v);
v = math::constrain(v, 0.0f, 1.0f);
_params.vel_ff(0) = v;
_params.vel_ff(1) = v;
param_get(_params_handles.z_ff, &v);
v = math::constrain(v, 0.0f, 1.0f);
_params.vel_ff(2) = v;
_params.sp_offs_max = _params.vel_max.edivide(_params.pos_p) * 2.0f;
}
return OK;
}
void
MulticopterPositionControl::poll_subscriptions()
{
bool updated;
orb_check(_att_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
}
orb_check(_att_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
}
orb_check(_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
orb_check(_manual_sub, &updated);
if (updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
}
orb_check(_arming_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming);
}
orb_check(_local_pos_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
}
orb_check(_target_pos_sub, &updated);
if (updated) {
orb_copy(ORB_ID(target_global_position), _target_pos_sub, &_target_pos);
}
}
float
MulticopterPositionControl::scale_control(float ctl, float end, float dz)
{
if (ctl > dz) {
return (ctl - dz) / (end - dz);
} else if (ctl < -dz) {
return (ctl + dz) / (end - dz);
} else {
return 0.0f;
}
}
void
MulticopterPositionControl::task_main_trampoline(int argc, char *argv[])
{
pos_control::g_control->task_main();
}
void
MulticopterPositionControl::update_ref()
{
if (_local_pos.ref_timestamp != _ref_timestamp) {
double lat_sp, lon_sp;
float alt_sp = 0.0f;
if (_ref_timestamp != 0) {
/* calculate current position setpoint in global frame */
map_projection_reproject(&_ref_pos, _pos_sp(0), _pos_sp(1), &lat_sp, &lon_sp);
alt_sp = _ref_alt - _pos_sp(2);
}
/* update local projection reference */
map_projection_init(&_ref_pos, _local_pos.ref_lat, _local_pos.ref_lon);
_ref_alt = _local_pos.ref_alt;
if (_ref_timestamp != 0) {
/* reproject position setpoint to new reference */
map_projection_project(&_ref_pos, lat_sp, lon_sp, &_pos_sp.data[0], &_pos_sp.data[1]);
_pos_sp(2) = -(alt_sp - _ref_alt);
}
_ref_timestamp = _local_pos.ref_timestamp;
}
}
void
MulticopterPositionControl::reset_pos_sp()
{
if (_reset_pos_sp) {
_reset_pos_sp = false;
/* shift position setpoint to make attitude setpoint continuous */
_pos_sp(0) = _pos(0) + (_vel(0) - _att_sp.R_body[0][2] * _att_sp.thrust / _params.vel_p(0)
- _params.vel_ff(0) * _sp_move_rate(0)) / _params.pos_p(0);
_pos_sp(1) = _pos(1) + (_vel(1) - _att_sp.R_body[1][2] * _att_sp.thrust / _params.vel_p(1)
- _params.vel_ff(1) * _sp_move_rate(1)) / _params.pos_p(1);
mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1));
}
}
void
MulticopterPositionControl::reset_follow_offset()
{
if (_reset_follow_offset) {
_reset_follow_offset = false;
/* use current position or position setpoint */
math::Vector<3> pos;
if (_reset_pos_sp) {
pos(0) = _pos(0);
pos(1) = _pos(1);
} else {
pos(0) = _pos_sp(0);
pos(1) = _pos_sp(1);
}
pos(2) = _reset_alt_sp ? _pos(2) : _pos_sp(2);
_follow_offset = pos - _tpos;
mavlink_log_info(_mavlink_fd, "[mpc] reset follow offs: %.2f, %.2f, %.2f",
(double)_follow_offset(0), (double)_follow_offset(1), (double)_follow_offset(2));
}
}
void
MulticopterPositionControl::reset_alt_sp()
{
if (_reset_alt_sp) {
_reset_alt_sp = false;
_pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2);
mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2));
}
}
void
MulticopterPositionControl::limit_pos_sp_offset()
{
math::Vector<3> pos_sp_offs;
pos_sp_offs.zero();
if (_control_mode.flag_control_position_enabled) {
pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0);
pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
}
if (_control_mode.flag_control_altitude_enabled) {
pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
}
float pos_sp_offs_norm = pos_sp_offs.length();
if (pos_sp_offs_norm > 1.0f) {
pos_sp_offs /= pos_sp_offs_norm;
_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
}
}
void
MulticopterPositionControl::control_manual(float dt)
{
_sp_move_rate.zero();
if (_control_mode.flag_control_altitude_enabled) {
/* move altitude setpoint with throttle stick */
_sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz);
}
if (_control_mode.flag_control_position_enabled) {
/* move position setpoint with roll/pitch stick */
_sp_move_rate(0) = _manual.x;
_sp_move_rate(1) = _manual.y;
}
/* limit setpoint move rate */
float sp_move_norm = _sp_move_rate.length();
if (sp_move_norm > 1.0f) {
_sp_move_rate /= sp_move_norm;
}
/* _sp_move_rate scaled to 0..1, scale it to max speed and rotate around yaw */
math::Matrix<3, 3> R_yaw_sp;
R_yaw_sp.from_euler(0.0f, 0.0f, _att_sp.yaw_body);
_sp_move_rate = R_yaw_sp * _sp_move_rate.emult(_params.vel_max);
if (_control_mode.flag_control_altitude_enabled) {
/* reset alt setpoint to current altitude if needed */
reset_alt_sp();
}
if (_control_mode.flag_control_position_enabled) {
/* reset position setpoint to current position if needed */
reset_pos_sp();
}
/* feed forward setpoint move rate with weight vel_ff */
_vel_ff = _sp_move_rate.emult(_params.vel_ff);
/* move position setpoint */
_pos_sp += _sp_move_rate * dt;
/* check if position setpoint is too far from actual position */
math::Vector<3> pos_sp_offs;
pos_sp_offs.zero();
if (_control_mode.flag_control_position_enabled) {
pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0);
pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
}
if (_control_mode.flag_control_altitude_enabled) {
pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
}
float pos_sp_offs_norm = pos_sp_offs.length();
if (pos_sp_offs_norm > 1.0f) {
pos_sp_offs /= pos_sp_offs_norm;
_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
}
}
void
MulticopterPositionControl::control_offboard(float dt)
{
bool updated;
orb_check(_pos_sp_triplet_sub, &updated);
if (updated) {
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
}
if (_pos_sp_triplet.current.valid) {
if (_control_mode.flag_control_position_enabled && _pos_sp_triplet.current.position_valid) {
/* control position */
_pos_sp(0) = _pos_sp_triplet.current.x;
_pos_sp(1) = _pos_sp_triplet.current.y;
_pos_sp(2) = _pos_sp_triplet.current.z;
} else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) {
/* control velocity */
/* reset position setpoint to current position if needed */
reset_pos_sp();
/* set position setpoint move rate */
_sp_move_rate(0) = _pos_sp_triplet.current.vx;
_sp_move_rate(1) = _pos_sp_triplet.current.vy;
}
if (_pos_sp_triplet.current.yaw_valid) {
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
} else if (_pos_sp_triplet.current.yawspeed_valid) {
_att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt;
}
if (_control_mode.flag_control_altitude_enabled) {
/* reset alt setpoint to current altitude if needed */
reset_alt_sp();
/* set altitude setpoint move rate */
_sp_move_rate(2) = _pos_sp_triplet.current.vz;
}
/* feed forward setpoint move rate with weight vel_ff */
_vel_ff = _sp_move_rate.emult(_params.vel_ff);
/* move position setpoint */
_pos_sp += _sp_move_rate * dt;
} else {
reset_pos_sp();
reset_alt_sp();
}
}
bool
MulticopterPositionControl::cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res)
{
/* project center of sphere on line */
/* normalized AB */
math::Vector<3> ab_norm = line_b - line_a;
ab_norm.normalize();
math::Vector<3> d = line_a + ab_norm * ((sphere_c - line_a) * ab_norm);
float cd_len = (sphere_c - d).length();
/* we have triangle CDX with known CD and CX = R, find DX */
if (sphere_r > cd_len) {
/* have two roots, select one in A->B direction from D */
float dx_len = sqrtf(sphere_r * sphere_r - cd_len * cd_len);
res = d + ab_norm * dx_len;
return true;
} else {
/* have no roots, return D */
res = d;
return false;
}
}
void
MulticopterPositionControl::control_auto(float dt)
{
if (!_mode_auto) {
_mode_auto = true;
/* reset position setpoint on AUTO mode activation */
reset_pos_sp();
reset_alt_sp();
}
bool updated;
orb_check(_pos_sp_triplet_sub, &updated);
if (updated) {
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
}
if (_pos_sp_triplet.current.valid) {
/* in case of interrupted mission don't go to waypoint but stay at current position */
_reset_pos_sp = true;
_reset_alt_sp = true;
/* project setpoint to local frame */
math::Vector<3> curr_sp;
map_projection_project(&_ref_pos,
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon,
&curr_sp.data[0], &curr_sp.data[1]);
curr_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt);
/* scaled space: 1 == position error resulting max allowed speed, L1 = 1 in this space */
math::Vector<3> scale = _params.pos_p.edivide(_params.vel_max); // TODO add mult param here
/* convert current setpoint to scaled space */
math::Vector<3> curr_sp_s = curr_sp.emult(scale);
/* by default use current setpoint as is */
math::Vector<3> pos_sp_s = curr_sp_s;
if (_pos_sp_triplet.current.type == SETPOINT_TYPE_POSITION && _pos_sp_triplet.previous.valid) {
/* follow "previous - current" line */
math::Vector<3> prev_sp;
map_projection_project(&_ref_pos,
_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon,
&prev_sp.data[0], &prev_sp.data[1]);
prev_sp(2) = -(_pos_sp_triplet.previous.alt - _ref_alt);
if ((curr_sp - prev_sp).length() > MIN_DIST) {
/* find X - cross point of L1 sphere and trajectory */
math::Vector<3> pos_s = _pos.emult(scale);
math::Vector<3> prev_sp_s = prev_sp.emult(scale);
math::Vector<3> prev_curr_s = curr_sp_s - prev_sp_s;
math::Vector<3> curr_pos_s = pos_s - curr_sp_s;
float curr_pos_s_len = curr_pos_s.length();
if (curr_pos_s_len < 1.0f) {
/* copter is closer to waypoint than L1 radius */
/* check next waypoint and use it to avoid slowing down when passing via waypoint */
if (_pos_sp_triplet.next.valid) {
math::Vector<3> next_sp;
map_projection_project(&_ref_pos,
_pos_sp_triplet.next.lat, _pos_sp_triplet.next.lon,
&next_sp.data[0], &next_sp.data[1]);
next_sp(2) = -(_pos_sp_triplet.next.alt - _ref_alt);
if ((next_sp - curr_sp).length() > MIN_DIST) {
math::Vector<3> next_sp_s = next_sp.emult(scale);
/* calculate angle prev - curr - next */
math::Vector<3> curr_next_s = next_sp_s - curr_sp_s;
math::Vector<3> prev_curr_s_norm = prev_curr_s.normalized();
/* cos(a) * curr_next, a = angle between current and next trajectory segments */
float cos_a_curr_next = prev_curr_s_norm * curr_next_s;
/* cos(b), b = angle pos - curr_sp - prev_sp */
float cos_b = -curr_pos_s * prev_curr_s_norm / curr_pos_s_len;
if (cos_a_curr_next > 0.0f && cos_b > 0.0f) {
float curr_next_s_len = curr_next_s.length();
/* if curr - next distance is larger than L1 radius, limit it */
if (curr_next_s_len > 1.0f) {
cos_a_curr_next /= curr_next_s_len;
}
/* feed forward position setpoint offset */
math::Vector<3> pos_ff = prev_curr_s_norm *
cos_a_curr_next * cos_b * cos_b * (1.0f - curr_pos_s_len) *
(1.0f - expf(-curr_pos_s_len * curr_pos_s_len * 20.0f));
pos_sp_s += pos_ff;
}
}
}
} else {
bool near = cross_sphere_line(pos_s, 1.0f, prev_sp_s, curr_sp_s, pos_sp_s);
if (near) {
/* L1 sphere crosses trajectory */
} else {
/* copter is too far from trajectory */
/* if copter is behind prev waypoint, go directly to prev waypoint */
if ((pos_sp_s - prev_sp_s) * prev_curr_s < 0.0f) {
pos_sp_s = prev_sp_s;
}
/* if copter is in front of curr waypoint, go directly to curr waypoint */
if ((pos_sp_s - curr_sp_s) * prev_curr_s > 0.0f) {
pos_sp_s = curr_sp_s;
}
pos_sp_s = pos_s + (pos_sp_s - pos_s).normalized();
}
}
}
}
/* move setpoint not faster than max allowed speed */
math::Vector<3> pos_sp_old_s = _pos_sp.emult(scale);
/* difference between current and desired position setpoints, 1 = max speed */
math::Vector<3> d_pos_m = (pos_sp_s - pos_sp_old_s).edivide(_params.pos_p);
float d_pos_m_len = d_pos_m.length();
if (d_pos_m_len > dt) {
pos_sp_s = pos_sp_old_s + (d_pos_m / d_pos_m_len * dt).emult(_params.pos_p);
}
/* scale result back to normal space */
_pos_sp = pos_sp_s.edivide(scale);
/* update yaw setpoint if needed */
if (isfinite(_pos_sp_triplet.current.yaw)) {
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
}
} else {
/* no waypoint, do nothing, setpoint was already reset */
}
}
void
MulticopterPositionControl::update_target_pos()
{
if (_ref_timestamp != 0) {
/* check if target position updated */
if (_target_pos.timestamp != _tpos_predictor.get_time_recv_last()) {
/* project target position to local frame */
math::Vector<3> tpos;
map_projection_project(&_ref_pos, _target_pos.lat, _target_pos.lon, &tpos.data[0], &tpos.data[1]);
math::Vector<3> tvel_current;
tvel_current(0) = _target_pos.vel_n;
tvel_current(1) = _target_pos.vel_e;
if (_params.follow_use_alt) {
/* use real target altitude */
tpos(2) = -(_target_pos.alt + _target_alt_offs - _ref_alt);
tvel_current(2) = _target_pos.vel_d;
} else {
/* assume that target is always on start altitude */
tpos(2) = -(_alt_start - _ref_alt + _params.follow_talt_offs);
tvel_current(2) = 0.0f;
}
/* low pass filter for target velocity */
tvel_current = _tvel_lpf.apply(_target_pos.timestamp, tvel_current);
/* NaN protection */
if (isfinite(tvel_current(0)) && isfinite(tvel_current(1)) && isfinite(tvel_current(2))) {
_tvel = tvel_current;
} else {
/* NaN on output, use previous value if possible and reset LPF */
if (!(isfinite(_tvel(0)) && isfinite(_tvel(1)) && isfinite(_tvel(2)))) {
_tvel.zero();
}
_tvel_lpf.reset(_tvel);
}
/* update target position predictor */
_tpos_predictor.update(_target_pos.timestamp, _target_pos.remote_timestamp, tpos.data, _tvel.data);
}
/* target position prediction */
if (_tpos_predictor.get_time_recv_last() != 0 && hrt_absolute_time() < _tpos_predictor.get_time_recv_last() + 1000000) {
_tpos_predictor.predict_position(_local_pos.timestamp, _tpos.data);
}
}
}
void
MulticopterPositionControl::control_follow(float dt)
{
/* follow target, change offset from target instead of moving setpoint directly */
reset_follow_offset();
/* new value for _follow_offset vector */
math::Vector<3> follow_offset_new(_follow_offset);
/* move follow offset using polar coordinates */
_sp_move_rate(0) = _manual.x;
_sp_move_rate(1) = _manual.y;
_sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz);
/* limit setpoint move rate */
float sp_move_norm = _sp_move_rate.length();
if (sp_move_norm > 1.0f) {
_sp_move_rate /= sp_move_norm;
}
/* _sp_move_rate scaled to 0..1, scale it to max speed */
_sp_move_rate = _sp_move_rate.emult(_params.vel_max);
math::Vector<2> follow_offset_xy(_follow_offset(0), _follow_offset(1));
math::Vector<2> sp_move_rate_xy(_sp_move_rate(0), _sp_move_rate(1));
float follow_offset_xy_len = follow_offset_xy.length();
if (sp_move_rate_xy.length_squared() > 0.0f) {
if (_control_mode.flag_control_point_to_target && follow_offset_xy_len > FOLLOW_OFFS_XY_MIN) {
/* calculate change rate in polar coordinates phi, d */
float rate_phi = -sp_move_rate_xy(1) / follow_offset_xy_len;
float rate_d = -sp_move_rate_xy(0);
/* current direction of offset vector */
float phi = atan2f(_follow_offset(1), _follow_offset(0));
/* change length of horizontal component of _follow_offset vector with rate_d */
follow_offset_new(0) += rate_d * cosf(phi) * dt;
follow_offset_new(1) += rate_d * sinf(phi) * dt;
/* rotate _follow_offset around vertical axis with rate_phi */
math::Matrix<3, 3> R_phi;
R_phi.from_euler(0.0f, 0.0f, rate_phi * dt);
follow_offset_new = R_phi * follow_offset_new;
/* update horizontal components of _sp_move_rate */
_sp_move_rate(0) = rate_d * cosf(phi) - rate_phi * sinf(phi) * follow_offset_xy_len;
_sp_move_rate(1) = rate_d * sinf(phi) + rate_phi * cosf(phi) * follow_offset_xy_len;
} else {
/* 'point_to_target' disabled or copter is too close to target */
math::Matrix<3, 3> R_yaw_sp;
R_yaw_sp.from_euler(0.0f, 0.0f, _att_sp.yaw_body);
_sp_move_rate = R_yaw_sp * _sp_move_rate;
follow_offset_new += _sp_move_rate * dt;
}
}
/* change altitude */
follow_offset_new(2) += _sp_move_rate(2) * dt;
_follow_offset = follow_offset_new;
_pos_sp = _tpos + _follow_offset;
/* feed forward manual setpoint move rate with weight vel_ff */
_vel_ff = _sp_move_rate.emult(_params.vel_ff);
/* add target velocity to setpoint move rate */
_sp_move_rate += _tvel;
/* feed forward target velocity */
_vel_ff += _tvel * _params.follow_vel_ff;
if (_control_mode.flag_control_point_to_target) {
point_to_target();
}
}
void
MulticopterPositionControl::point_to_target()
{
/* change yaw to keep direction to target */
/* calculate current offset (not offset setpoint) */
math::Vector<3> current_offset = _pos - _tpos;
math::Vector<2> current_offset_xy(current_offset(0), current_offset(1));
/* don't try to rotate near singularity */
float current_offset_xy_len = current_offset_xy.length();
if (current_offset_xy_len > FOLLOW_OFFS_XY_MIN) {
/* calculate yaw setpoint from current positions and control offset with yaw stick */
_att_sp.yaw_body = _wrap_pi(atan2f(-current_offset_xy(1), -current_offset_xy(0)) + _manual.r * _params.follow_yaw_off_max);
/* feed forward attitude rates */
math::Vector<2> offs_vel_xy(_vel(0) - _tvel(0), _vel(1) - _tvel(1));
_att_rates_ff(2) = (current_offset_xy % offs_vel_xy) / current_offset_xy_len / current_offset_xy_len;
}
/* control camera pitch in global frame (for BL camera gimbal) */
_cam_control.control[1] = atan2f(current_offset(2), current_offset_xy_len) / _params.cam_pitch_max + _manual.aux2;
}
void
MulticopterPositionControl::task_main()
{
warnx("started");
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(_mavlink_fd, "[mpc] started");
/*
* do subscriptions
*/
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
_global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
_target_pos_sub = orb_subscribe(ORB_ID(target_global_position));
parameters_update(true);
/* initialize values of critical structs until first regular update */
_arming.armed = false;
/* get an initial update for all sensor and status data */
poll_subscriptions();
bool reset_int_z = true;
bool reset_int_z_manual = false;
bool reset_int_xy = true;
bool was_armed = false;
hrt_abstime t_prev = 0;
math::Vector<3> thrust_int;
thrust_int.zero();
math::Matrix<3, 3> R;
R.identity();
/* wakeup source */
struct pollfd fds[1];
fds[0].fd = _local_pos_sub;
fds[0].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
/* timed out - periodic check for _task_should_exit */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
poll_subscriptions();
parameters_update(false);
hrt_abstime t = hrt_absolute_time();
float dt = t_prev != 0 ? (t - t_prev) * 0.000001f : 0.0f;
t_prev = t;
if (_control_mode.flag_armed && !was_armed) {
/* reset setpoints and integrals on arming */
_reset_pos_sp = true;
_reset_alt_sp = true;
_reset_follow_offset = true;
reset_int_z = true;
reset_int_xy = true;
/* init start altitude */
if (_local_pos.timestamp < hrt_absolute_time() + 100000 && _local_pos.ref_timestamp > 0) {
_alt_start = _local_pos.ref_alt - _local_pos.z;
} else {
_alt_start = 0.0;
}
/* init target altitude offset */
if (_target_pos.timestamp < hrt_absolute_time() + TARGET_POSITION_TIMEOUT &&
_local_pos.timestamp < hrt_absolute_time() + TARGET_POSITION_TIMEOUT && _local_pos.ref_timestamp > 0) {
_target_alt_offs = _alt_start - _target_pos.alt + _params.follow_talt_offs;
} else {
_target_alt_offs = 0.0f;
}
}
was_armed = _control_mode.flag_armed;
update_ref();
if (_control_mode.flag_control_altitude_enabled ||
_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_climb_rate_enabled ||
_control_mode.flag_control_velocity_enabled) {
_pos(0) = _local_pos.x;
_pos(1) = _local_pos.y;
_pos(2) = _local_pos.z;
_vel(0) = _local_pos.vx;
_vel(1) = _local_pos.vy;
_vel(2) = _local_pos.vz;
update_target_pos();
_vel_ff.zero();
_sp_move_rate.zero();
/* select control source */
if (_control_mode.flag_control_manual_enabled) {
if (_control_mode.flag_control_follow_target) {
/* follow */
control_follow(dt);
} else {
/* manual control */
control_manual(dt);
}
_mode_auto = false;
} else if (_control_mode.flag_control_offboard_enabled) {
/* offboard control */
control_offboard(dt);
_mode_auto = false;
} else {
/* AUTO */
control_auto(dt);
}
/* fill local position setpoint */
_local_pos_sp.timestamp = hrt_absolute_time();
_local_pos_sp.x = _pos_sp(0);
_local_pos_sp.y = _pos_sp(1);
_local_pos_sp.z = _pos_sp(2);
_local_pos_sp.yaw = _att_sp.yaw_body;
/* publish local position setpoint */
if (_local_pos_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp);
} else {
_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp);
}
if (!_control_mode.flag_control_manual_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;
_att_sp.roll_body = 0.0f;
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = _att.yaw;
_att_sp.thrust = 0.0f;
_att_sp.rollrate_ff = 0.0f;
_att_sp.pitchrate_ff = 0.0f;
_att_sp.yawrate_ff = 0.0f;
_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);
} 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 = _pos_sp - _pos;
_vel_sp = pos_err.emult(_params.pos_p) + _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_pos_sp = true;
_vel_sp(0) = 0.0f;
_vel_sp(1) = 0.0f;
}
/* use constant descend rate when landing, ignore altitude setpoint */
if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
_vel_sp(2) = _params.land_speed;
}
_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);
} 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 (reset_int_z_manual) {
i = _manual.z;
if (i < _params.thr_min) {
i = _params.thr_min;
} else if (i > _params.thr_max) {
i = _params.thr_max;
}
}
thrust_int(2) = -i;
}
} 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;
}
} 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;
/* 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_velocity_enabled) {
thrust_sp(0) = 0.0f;
thrust_sp(1) = 0.0f;
}
if (!_control_mode.flag_control_climb_rate_enabled) {
thrust_sp(2) = 0.0f;
}
/* limit thrust vector and check for saturation */
bool saturation_xy = false;
bool saturation_z = false;
/* limit min lift */
float thr_min = _params.thr_min;
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;
}
float tilt_max = _params.tilt_max_air;
/* adjust limits for landing mode */
if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid &&
_pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
/* limit max tilt and min lift when landing */
tilt_max = _params.tilt_max_land;
if (thr_min < 0.0f) {
thr_min = 0.0f;
}
}
/* limit min lift */
if (-thrust_sp(2) < thr_min) {
thrust_sp(2) = -thr_min;
saturation_z = true;
}
if (_control_mode.flag_control_velocity_enabled) {
/* limit max tilt */
if (thr_min >= 0.0f && tilt_max < M_PI_F / 2 - 0.05f) {
/* absolute horizontal thrust */
float thrust_sp_xy_len = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length();
if (thrust_sp_xy_len > 0.01f) {
/* max horizontal thrust for given vertical thrust*/
float thrust_xy_max = -thrust_sp(2) * tanf(tilt_max);
if (thrust_sp_xy_len > thrust_xy_max) {
float k = thrust_xy_max / thrust_sp_xy_len;
thrust_sp(0) *= k;
thrust_sp(1) *= k;
saturation_xy = true;
}
}
}
} 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;
} else {
att_comp = 1.0f;
saturation_z = true;
}
thrust_sp(2) *= att_comp;
}
/* 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 {
/* 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;
}
/* 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;
/* 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;
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;
}
/* 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;
/* keep nose to front while inverted upside down */
if (body_z(2) < 0.0f) {
body_x = -body_x;
}
body_x.normalize();
} 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;
}
/* desired body_y axis */
body_y = body_z % body_x;
/* 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);
}
/* 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;
/* 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 */
} else if (!_control_mode.flag_control_manual_enabled) {
/* autonomous altitude control without position control (failsafe landing),
* force level attitude, don't change yaw */
R.from_euler(0.0f, 0.0f, _att_sp.yaw_body);
/* 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.roll_body = 0.0f;
_att_sp.pitch_body = 0.0f;
}
/* convert attitude rates from NED to body frame */
_att_rates_ff = R.transposed() * _att_rates_ff;
_att_sp.rollrate_ff = _att_rates_ff(0);
_att_sp.pitchrate_ff = _att_rates_ff(1);
_att_sp.yawrate_ff = _att_rates_ff(2);
_att_sp.thrust = thrust_abs;
_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);
} else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}
} else {
reset_int_z = true;
}
}
} else {
/* position controller disabled, reset setpoints */
_reset_alt_sp = true;
_reset_pos_sp = true;
_mode_auto = false;
_reset_follow_offset = true;
reset_int_z = true;
reset_int_xy = true;
/* manual camera pitch control */
_cam_control.control[1] = _manual.aux2;
}
/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */
reset_int_z_manual = _control_mode.flag_armed && _control_mode.flag_control_manual_enabled && !_control_mode.flag_control_climb_rate_enabled;
/* publish camera control in all modes */
if (_cam_control_pub < 0) {
_cam_control_pub = orb_advertise(ORB_ID(actuator_controls_2), &_cam_control);
} else {
orb_publish(ORB_ID(actuator_controls_2), _cam_control_pub, &_cam_control);
}
}
warnx("stopped");
mavlink_log_info(_mavlink_fd, "[mpc] stopped");
_control_task = -1;
_exit(0);
}
int
MulticopterPositionControl::start()
{
ASSERT(_control_task == -1);
/* start the task */
_control_task = task_spawn_cmd("mc_pos_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
(main_t)&MulticopterPositionControl::task_main_trampoline,
nullptr);
if (_control_task < 0) {
warn("task start failed");
return -errno;
}
return OK;
}
int mc_pos_control_main(int argc, char *argv[])
{
if (argc < 1) {
errx(1, "usage: mc_pos_control {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {
if (pos_control::g_control != nullptr) {
errx(1, "already running");
}
pos_control::g_control = new MulticopterPositionControl;
if (pos_control::g_control == nullptr) {
errx(1, "alloc failed");
}
if (OK != pos_control::g_control->start()) {
delete pos_control::g_control;
pos_control::g_control = nullptr;
err(1, "start failed");
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (pos_control::g_control == nullptr) {
errx(1, "not running");
}
delete pos_control::g_control;
pos_control::g_control = nullptr;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (pos_control::g_control) {
errx(0, "running");
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
return 1;
}
|