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
|
/****************************************************************************
*
* 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 VTOL_att_control_main.cpp
* Implementation of an attitude controller for VTOL airframes. This module receives data
* from both the fixed wing- and the multicopter attitude controllers and processes it.
* It computes the correct actuator controls depending on which mode the vehicle is in (hover,forward-
* flight or transition). It also publishes the resulting controls on the actuator controls topics.
*
* @author Roman Bapst <bapstr@ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.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/actuator_controls_virtual_mc.h>
#include <uORB/topics/actuator_controls_virtual_fw.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/battery_status.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/circuit_breaker.h>
#include <lib/mathlib/mathlib.h>
#include <lib/geo/geo.h>
#include "drivers/drv_pwm_output.h"
#include <nuttx/fs/ioctl.h>
#include <fcntl.h>
extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]);
class VtolAttitudeControl
{
public:
VtolAttitudeControl();
~VtolAttitudeControl();
int start(); /* start the task and return OK on success */
private:
//******************flags & handlers******************************************************
bool _task_should_exit;
int _control_task; //task handle for VTOL attitude controller
/* handlers for subscriptions */
int _v_att_sub; //vehicle attitude subscription
int _v_att_sp_sub; //vehicle attitude setpoint subscription
int _mc_virtual_v_rates_sp_sub; //vehicle rates setpoint subscription
int _fw_virtual_v_rates_sp_sub; //vehicle rates setpoint subscription
int _v_control_mode_sub; //vehicle control mode subscription
int _params_sub; //parameter updates subscription
int _manual_control_sp_sub; //manual control setpoint subscription
int _armed_sub; //arming status subscription
int _local_pos_sub; // sensor subscription
int _airspeed_sub; // airspeed subscription
int _battery_status_sub; // battery status subscription
int _actuator_inputs_mc; //topic on which the mc_att_controller publishes actuator inputs
int _actuator_inputs_fw; //topic on which the fw_att_controller publishes actuator inputs
//handlers for publishers
orb_advert_t _actuators_0_pub; //input for the mixer (roll,pitch,yaw,thrust)
orb_advert_t _actuators_1_pub;
orb_advert_t _vtol_vehicle_status_pub;
orb_advert_t _v_rates_sp_pub;
//*******************data containers***********************************************************
struct vehicle_attitude_s _v_att; //vehicle attitude
struct vehicle_attitude_setpoint_s _v_att_sp; //vehicle attitude setpoint
struct vehicle_rates_setpoint_s _v_rates_sp; //vehicle rates setpoint
struct vehicle_rates_setpoint_s _mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct vehicle_rates_setpoint_s _fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct manual_control_setpoint_s _manual_control_sp; //manual control setpoint
struct vehicle_control_mode_s _v_control_mode; //vehicle control mode
struct vtol_vehicle_status_s _vtol_vehicle_status;
struct actuator_controls_s _actuators_out_0; //actuator controls going to the mc mixer
struct actuator_controls_s _actuators_out_1; //actuator controls going to the fw mixer (used for elevons)
struct actuator_controls_s _actuators_mc_in; //actuator controls from mc_att_control
struct actuator_controls_s _actuators_fw_in; //actuator controls from fw_att_control
struct actuator_armed_s _armed; //actuator arming status
struct vehicle_local_position_s _local_pos;
struct airspeed_s _airspeed; // airspeed
struct battery_status_s _batt_status; // battery status
struct {
param_t idle_pwm_mc; //pwm value for idle in mc mode
param_t vtol_motor_count;
param_t vtol_fw_permanent_stab; // in fw mode stabilize attitude also in manual mode
float mc_airspeed_min; // min airspeed in multicoper mode (including prop-wash)
float mc_airspeed_trim; // trim airspeed in multicopter mode
float mc_airspeed_max; // max airpseed in multicopter mode
float fw_pitch_trim; // trim for neutral elevon position in fw mode
float power_max; // maximum power of one engine
float prop_eff; // factor to calculate prop efficiency
float arsp_lp_gain; // total airspeed estimate low pass gain
} _params;
struct {
param_t idle_pwm_mc;
param_t vtol_motor_count;
param_t vtol_fw_permanent_stab;
param_t mc_airspeed_min;
param_t mc_airspeed_trim;
param_t mc_airspeed_max;
param_t fw_pitch_trim;
param_t power_max;
param_t prop_eff;
param_t arsp_lp_gain;
} _params_handles;
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
/* for multicopters it is usual to have a non-zero idle speed of the engines
* for fixed wings we want to have an idle speed of zero since we do not want
* to waste energy when gliding. */
bool flag_idle_mc; //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"
unsigned _motor_count; // number of motors
float _airspeed_tot;
//*****************Member functions***********************************************************************
void task_main(); //main task
static void task_main_trampoline(int argc, char *argv[]); //Shim for calling task_main from task_create.
void vehicle_control_mode_poll(); //Check for changes in vehicle control mode.
void vehicle_manual_poll(); //Check for changes in manual inputs.
void arming_status_poll(); //Check for arming status updates.
void actuator_controls_mc_poll(); //Check for changes in mc_attitude_control output
void actuator_controls_fw_poll(); //Check for changes in fw_attitude_control output
void vehicle_rates_sp_mc_poll();
void vehicle_rates_sp_fw_poll();
void vehicle_local_pos_poll(); // Check for changes in sensor values
void vehicle_airspeed_poll(); // Check for changes in airspeed
void vehicle_battery_poll(); // Check for battery updates
void parameters_update_poll(); //Check if parameters have changed
int parameters_update(); //Update local paraemter cache
void fill_mc_att_control_output(); //write mc_att_control results to actuator message
void fill_fw_att_control_output(); //write fw_att_control results to actuator message
void fill_mc_att_rates_sp();
void fill_fw_att_rates_sp();
void set_idle_fw();
void set_idle_mc();
void scale_mc_output();
void calc_tot_airspeed(); // estimated airspeed seen by elevons
};
namespace VTOL_att_control
{
VtolAttitudeControl *g_control;
}
/**
* Constructor
*/
VtolAttitudeControl::VtolAttitudeControl() :
_task_should_exit(false),
_control_task(-1),
//init subscription handlers
_v_att_sub(-1),
_v_att_sp_sub(-1),
_mc_virtual_v_rates_sp_sub(-1),
_fw_virtual_v_rates_sp_sub(-1),
_v_control_mode_sub(-1),
_params_sub(-1),
_manual_control_sp_sub(-1),
_armed_sub(-1),
_local_pos_sub(-1),
_airspeed_sub(-1),
_battery_status_sub(-1),
//init publication handlers
_actuators_0_pub(-1),
_actuators_1_pub(-1),
_vtol_vehicle_status_pub(-1),
_v_rates_sp_pub(-1),
_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control nonfinite input"))
{
flag_idle_mc = true;
_airspeed_tot = 0.0f;
memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
_vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/
memset(&_v_att, 0, sizeof(_v_att));
memset(&_v_att_sp, 0, sizeof(_v_att_sp));
memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
memset(&_mc_virtual_v_rates_sp, 0, sizeof(_mc_virtual_v_rates_sp));
memset(&_fw_virtual_v_rates_sp, 0, sizeof(_fw_virtual_v_rates_sp));
memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
memset(&_v_control_mode, 0, sizeof(_v_control_mode));
memset(&_vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
memset(&_actuators_out_0, 0, sizeof(_actuators_out_0));
memset(&_actuators_out_1, 0, sizeof(_actuators_out_1));
memset(&_actuators_mc_in, 0, sizeof(_actuators_mc_in));
memset(&_actuators_fw_in, 0, sizeof(_actuators_fw_in));
memset(&_armed, 0, sizeof(_armed));
memset(&_local_pos,0,sizeof(_local_pos));
memset(&_airspeed,0,sizeof(_airspeed));
memset(&_batt_status,0,sizeof(_batt_status));
_params.idle_pwm_mc = PWM_LOWEST_MIN;
_params.vtol_motor_count = 0;
_params.vtol_fw_permanent_stab = 0;
_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
_params_handles.vtol_motor_count = param_find("VT_MOT_COUNT");
_params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB");
_params_handles.mc_airspeed_min = param_find("VT_MC_ARSPD_MIN");
_params_handles.mc_airspeed_max = param_find("VT_MC_ARSPD_MAX");
_params_handles.mc_airspeed_trim = param_find("VT_MC_ARSPD_TRIM");
_params_handles.fw_pitch_trim = param_find("VT_FW_PITCH_TRIM");
_params_handles.power_max = param_find("VT_POWER_MAX");
_params_handles.prop_eff = param_find("VT_PROP_EFF");
_params_handles.arsp_lp_gain = param_find("VT_ARSP_LP_GAIN");
/* fetch initial parameter values */
parameters_update();
}
/**
* Destructor
*/
VtolAttitudeControl::~VtolAttitudeControl()
{
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);
}
VTOL_att_control::g_control = nullptr;
}
/**
* Check for changes in vehicle control mode.
*/
void VtolAttitudeControl::vehicle_control_mode_poll()
{
bool updated;
/* Check if vehicle control mode has changed */
orb_check(_v_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
}
}
/**
* Check for changes in manual inputs.
*/
void VtolAttitudeControl::vehicle_manual_poll()
{
bool updated;
/* get pilots inputs */
orb_check(_manual_control_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
}
}
/**
* Check for arming status updates.
*/
void VtolAttitudeControl::arming_status_poll()
{
/* check if there is a new setpoint */
bool updated;
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
}
/**
* Check for inputs from mc attitude controller.
*/
void VtolAttitudeControl::actuator_controls_mc_poll()
{
bool updated;
orb_check(_actuator_inputs_mc, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc , &_actuators_mc_in);
}
}
/**
* Check for inputs from fw attitude controller.
*/
void VtolAttitudeControl::actuator_controls_fw_poll()
{
bool updated;
orb_check(_actuator_inputs_fw, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw , &_actuators_fw_in);
}
}
/**
* Check for attitude rates setpoint from mc attitude controller
*/
void VtolAttitudeControl::vehicle_rates_sp_mc_poll()
{
bool updated;
orb_check(_mc_virtual_v_rates_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(mc_virtual_rates_setpoint), _mc_virtual_v_rates_sp_sub , &_mc_virtual_v_rates_sp);
}
}
/**
* Check for attitude rates setpoint from fw attitude controller
*/
void VtolAttitudeControl::vehicle_rates_sp_fw_poll()
{
bool updated;
orb_check(_fw_virtual_v_rates_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(fw_virtual_rates_setpoint), _fw_virtual_v_rates_sp_sub , &_fw_virtual_v_rates_sp);
}
}
/**
* Check for airspeed updates.
*/
void
VtolAttitudeControl::vehicle_airspeed_poll() {
bool updated;
orb_check(_airspeed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(airspeed), _airspeed_sub , &_airspeed);
}
}
/**
* Check for battery updates.
*/
void
VtolAttitudeControl::vehicle_battery_poll() {
bool updated;
orb_check(_battery_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(battery_status), _battery_status_sub , &_batt_status);
}
}
/**
* Check for parameter updates.
*/
void
VtolAttitudeControl::parameters_update_poll()
{
bool updated;
/* Check if parameters have changed */
orb_check(_params_sub, &updated);
if (updated) {
struct parameter_update_s param_update;
orb_copy(ORB_ID(parameter_update), _params_sub, ¶m_update);
parameters_update();
}
}
/**
* Check for sensor updates.
*/
void
VtolAttitudeControl::vehicle_local_pos_poll()
{
bool updated;
/* Check if parameters have changed */
orb_check(_local_pos_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub , &_local_pos);
}
}
/**
* Update parameters.
*/
int
VtolAttitudeControl::parameters_update()
{
float v;
/* idle pwm for mc mode */
param_get(_params_handles.idle_pwm_mc, &_params.idle_pwm_mc);
/* vtol motor count */
param_get(_params_handles.vtol_motor_count, &_params.vtol_motor_count);
/* vtol fw permanent stabilization */
param_get(_params_handles.vtol_fw_permanent_stab, &_params.vtol_fw_permanent_stab);
/* vtol mc mode min airspeed */
param_get(_params_handles.mc_airspeed_min, &v);
_params.mc_airspeed_min = v;
/* vtol mc mode max airspeed */
param_get(_params_handles.mc_airspeed_max, &v);
_params.mc_airspeed_max = v;
/* vtol mc mode trim airspeed */
param_get(_params_handles.mc_airspeed_trim, &v);
_params.mc_airspeed_trim = v;
/* vtol pitch trim for fw mode */
param_get(_params_handles.fw_pitch_trim, &v);
_params.fw_pitch_trim = v;
/* vtol maximum power engine can produce */
param_get(_params_handles.power_max, &v);
_params.power_max = v;
/* vtol propeller efficiency factor */
param_get(_params_handles.prop_eff, &v);
_params.prop_eff = v;
/* vtol total airspeed estimate low pass gain */
param_get(_params_handles.arsp_lp_gain, &v);
_params.arsp_lp_gain = v;
return OK;
}
/**
* Prepare message to acutators with data from mc attitude controller.
*/
void VtolAttitudeControl::fill_mc_att_control_output()
{
_actuators_out_0.control[0] = _actuators_mc_in.control[0];
_actuators_out_0.control[1] = _actuators_mc_in.control[1];
_actuators_out_0.control[2] = _actuators_mc_in.control[2];
_actuators_out_0.control[3] = _actuators_mc_in.control[3];
//set neutral position for elevons
_actuators_out_1.control[0] = _actuators_mc_in.control[2]; //roll elevon
_actuators_out_1.control[1] = _actuators_mc_in.control[1];; //pitch elevon
}
/**
* Prepare message to acutators with data from fw attitude controller.
*/
void VtolAttitudeControl::fill_fw_att_control_output()
{
/*For the first test in fw mode, only use engines for thrust!!!*/
_actuators_out_0.control[0] = 0;
_actuators_out_0.control[1] = 0;
_actuators_out_0.control[2] = 0;
_actuators_out_0.control[3] = _actuators_fw_in.control[3];
/*controls for the elevons */
_actuators_out_1.control[0] = -_actuators_fw_in.control[0]; // roll elevon
_actuators_out_1.control[1] = _actuators_fw_in.control[1] + _params.fw_pitch_trim; // pitch elevon
// unused now but still logged
_actuators_out_1.control[2] = _actuators_fw_in.control[2]; // yaw
_actuators_out_1.control[3] = _actuators_fw_in.control[3]; // throttle
}
/**
* Prepare message for mc attitude rates setpoint topic
*/
void VtolAttitudeControl::fill_mc_att_rates_sp()
{
_v_rates_sp.roll = _mc_virtual_v_rates_sp.roll;
_v_rates_sp.pitch = _mc_virtual_v_rates_sp.pitch;
_v_rates_sp.yaw = _mc_virtual_v_rates_sp.yaw;
_v_rates_sp.thrust = _mc_virtual_v_rates_sp.thrust;
}
/**
* Prepare message for fw attitude rates setpoint topic
*/
void VtolAttitudeControl::fill_fw_att_rates_sp()
{
_v_rates_sp.roll = _fw_virtual_v_rates_sp.roll;
_v_rates_sp.pitch = _fw_virtual_v_rates_sp.pitch;
_v_rates_sp.yaw = _fw_virtual_v_rates_sp.yaw;
_v_rates_sp.thrust = _fw_virtual_v_rates_sp.thrust;
}
/**
* Adjust idle speed for fw mode.
*/
void VtolAttitudeControl::set_idle_fw()
{
int ret;
char *dev = PWM_OUTPUT0_DEVICE_PATH;
int fd = open(dev, 0);
if (fd < 0) {err(1, "can't open %s", dev);}
unsigned pwm_value = PWM_LOWEST_MIN;
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
for (unsigned i = 0; i < _params.vtol_motor_count; i++) {
pwm_values.values[i] = pwm_value;
pwm_values.channel_count++;
}
ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {errx(ret, "failed setting min values");}
close(fd);
}
/**
* Adjust idle speed for mc mode.
*/
void VtolAttitudeControl::set_idle_mc()
{
int ret;
unsigned servo_count;
char *dev = PWM_OUTPUT0_DEVICE_PATH;
int fd = open(dev, 0);
if (fd < 0) {err(1, "can't open %s", dev);}
ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
unsigned pwm_value = _params.idle_pwm_mc;
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
for (unsigned i = 0; i < _params.vtol_motor_count; i++) {
pwm_values.values[i] = pwm_value;
pwm_values.channel_count++;
}
ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {errx(ret, "failed setting min values");}
close(fd);
}
void
VtolAttitudeControl::scale_mc_output() {
// scale around tuning airspeed
float airspeed;
calc_tot_airspeed(); // estimate air velocity seen by elevons
// if airspeed is not updating, we assume the normal average speed
if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s) ||
hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
airspeed = _params.mc_airspeed_trim;
if (nonfinite) {
perf_count(_nonfinite_input_perf);
}
} else {
airspeed = _airspeed_tot;
airspeed = math::constrain(airspeed,_params.mc_airspeed_min, _params.mc_airspeed_max);
}
_vtol_vehicle_status.airspeed_tot = airspeed; // save value for logging
/*
* For scaling our actuators using anything less than the min (close to stall)
* speed doesn't make any sense - its the strongest reasonable deflection we
* want to do in flight and its the baseline a human pilot would choose.
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
float airspeed_scaling = _params.mc_airspeed_trim / ((airspeed < _params.mc_airspeed_min) ? _params.mc_airspeed_min : airspeed);
_actuators_mc_in.control[1] = math::constrain(_actuators_mc_in.control[1]*airspeed_scaling*airspeed_scaling,-1.0f,1.0f);
}
void VtolAttitudeControl::calc_tot_airspeed() {
float airspeed = math::max(1.0f, _airspeed.true_airspeed_m_s); // prevent numerical drama
// calculate momentary power of one engine
float P = _batt_status.voltage_filtered_v * _batt_status.current_a / _params.vtol_motor_count;
P = math::constrain(P,1.0f,_params.power_max);
// calculate prop efficiency
float power_factor = 1.0f - P*_params.prop_eff/_params.power_max;
float eta = (1.0f/(1 + expf(-0.4f * power_factor * airspeed)) - 0.5f)*2.0f;
eta = math::constrain(eta,0.001f,1.0f); // live on the safe side
// calculate induced airspeed by propeller
float v_ind = (airspeed/eta - airspeed)*2.0f;
// calculate total airspeed
float airspeed_raw = airspeed + v_ind;
// apply low-pass filter
_airspeed_tot = _params.arsp_lp_gain * (_airspeed_tot - airspeed_raw) + airspeed_raw;
}
void
VtolAttitudeControl::task_main_trampoline(int argc, char *argv[])
{
VTOL_att_control::g_control->task_main();
}
void VtolAttitudeControl::task_main()
{
warnx("started");
fflush(stdout);
/* do subscriptions */
_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_mc_virtual_v_rates_sp_sub = orb_subscribe(ORB_ID(mc_virtual_rates_setpoint));
_fw_virtual_v_rates_sp_sub = orb_subscribe(ORB_ID(fw_virtual_rates_setpoint));
_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
_actuator_inputs_mc = orb_subscribe(ORB_ID(actuator_controls_virtual_mc));
_actuator_inputs_fw = orb_subscribe(ORB_ID(actuator_controls_virtual_fw));
parameters_update(); // initialize parameter cache
/* update vtol vehicle status*/
_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;
// make sure we start with idle in mc mode
set_idle_mc();
flag_idle_mc = true;
/* wakeup source*/
struct pollfd fds[3]; /*input_mc, input_fw, parameters*/
fds[0].fd = _actuator_inputs_mc;
fds[0].events = POLLIN;
fds[1].fd = _actuator_inputs_fw;
fds[1].events = POLLIN;
fds[2].fd = _params_sub;
fds[2].events = POLLIN;
while (!_task_should_exit) {
/*Advertise/Publish vtol vehicle status*/
if (_vtol_vehicle_status_pub > 0) {
orb_publish(ORB_ID(vtol_vehicle_status), _vtol_vehicle_status_pub, &_vtol_vehicle_status);
} else {
_vtol_vehicle_status.timestamp = hrt_absolute_time();
_vtol_vehicle_status_pub = orb_advertise(ORB_ID(vtol_vehicle_status), &_vtol_vehicle_status);
}
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(100000);
continue;
}
if (fds[2].revents & POLLIN) { //parameters were updated, read them now
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;
vehicle_control_mode_poll(); //Check for changes in vehicle control mode.
vehicle_manual_poll(); //Check for changes in manual inputs.
arming_status_poll(); //Check for arming status updates.
actuator_controls_mc_poll(); //Check for changes in mc_attitude_control output
actuator_controls_fw_poll(); //Check for changes in fw_attitude_control output
vehicle_rates_sp_mc_poll();
vehicle_rates_sp_fw_poll();
parameters_update_poll();
vehicle_local_pos_poll(); // Check for new sensor values
vehicle_airspeed_poll();
vehicle_battery_poll();
if (_manual_control_sp.aux1 <= 0.0f) { /* vehicle is in mc mode */
_vtol_vehicle_status.vtol_in_rw_mode = true;
if (!flag_idle_mc) { /* we want to adjust idle speed for mc mode */
set_idle_mc();
flag_idle_mc = true;
}
/* got data from mc_att_controller */
if (fds[0].revents & POLLIN) {
vehicle_manual_poll(); /* update remote input */
orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);
// scale pitch control with total airspeed
scale_mc_output();
fill_mc_att_control_output();
fill_mc_att_rates_sp();
/* Only publish if the proper mode(s) are enabled */
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled)
{
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
if (_actuators_1_pub > 0) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
} else {
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
}
}
}
}
if (_manual_control_sp.aux1 >= 0.0f) { /* vehicle is in fw mode */
_vtol_vehicle_status.vtol_in_rw_mode = false;
if (flag_idle_mc) { /* we want to adjust idle speed for fixed wing mode */
set_idle_fw();
flag_idle_mc = false;
}
if (fds[1].revents & POLLIN) { /* got data from fw_att_controller */
orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw, &_actuators_fw_in);
vehicle_manual_poll(); //update remote input
fill_fw_att_control_output();
fill_fw_att_rates_sp();
/* Only publish if the proper mode(s) are enabled */
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled)
{
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
if (_actuators_1_pub > 0) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
} else {
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
}
}
}
}
// publish the attitude rates setpoint
if(_v_rates_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_rates_setpoint),_v_rates_sp_pub,&_v_rates_sp);
}
else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint),&_v_rates_sp);
}
}
warnx("exit");
_control_task = -1;
_exit(0);
}
int
VtolAttitudeControl::start()
{
ASSERT(_control_task == -1);
/* start the task */
_control_task = task_spawn_cmd("vtol_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
2048,
(main_t)&VtolAttitudeControl::task_main_trampoline,
nullptr);
if (_control_task < 0) {
warn("task start failed");
return -errno;
}
return OK;
}
int vtol_att_control_main(int argc, char *argv[])
{
if (argc < 1) {
errx(1, "usage: vtol_att_control {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {
if (VTOL_att_control::g_control != nullptr) {
errx(1, "already running");
}
VTOL_att_control::g_control = new VtolAttitudeControl;
if (VTOL_att_control::g_control == nullptr) {
errx(1, "alloc failed");
}
if (OK != VTOL_att_control::g_control->start()) {
delete VTOL_att_control::g_control;
VTOL_att_control::g_control = nullptr;
err(1, "start failed");
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (VTOL_att_control::g_control == nullptr) {
errx(1, "not running");
}
delete VTOL_att_control::g_control;
VTOL_att_control::g_control = nullptr;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (VTOL_att_control::g_control) {
errx(0, "running");
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
return 1;
}
|