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Merge branch 'offboard2' of github.com:elikos/Firmware into offboard2

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This commit is contained in:
andre-nguyen
2014-06-14 15:27:26 -04:00
parent 6cf890b46b 7d05f2df7c
commit 02653f6cd9
3 changed files with 86 additions and 7 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+57 -6
View File
@@ -103,6 +103,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_flow_pub(-1),
_offboard_control_sp_pub(-1),
_local_pos_sp_pub(-1),
_global_vel_sp_pub(-1),
_att_sp_pub(-1),
_rates_sp_pub(-1),
_vicon_position_pub(-1),
@@ -365,30 +366,47 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
ml_armed = true;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
ml_armed = true;
break;
default:
break;
}
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
if (m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES || m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
} else if (m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
/*Temporary hack to use set_quad_swarm_roll_pitch_yaw_thrust msg for position or velocity */
/* Converts INT16 centimeters to float meters */
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / 100.0f;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / 100.0f;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / 100.0f;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / 100.0f;
}
if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
ml_armed = false;
@@ -420,7 +438,7 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
loc_pos_sp.x = offboard_control_sp.p1;
loc_pos_sp.y = offboard_control_sp.p2;
loc_pos_sp.yaw = offboard_control_sp.p3;
loc_pos_sp.z = offboard_control_sp.p4;
loc_pos_sp.z = -offboard_control_sp.p4;
/* Close fds to allow position controller to use attitude controller */
if (_att_sp_pub > 0) {
@@ -433,6 +451,11 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
_rates_sp_pub = -1;
}
if (_global_vel_sp_pub > 0) {
close(_global_vel_sp_pub);
_global_vel_sp_pub = -1;
}
if (_local_pos_sp_pub < 0) {
_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp_pub);
@@ -441,7 +464,30 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
}
} else if (_control_mode.flag_control_velocity_enabled) {
// TODO
/* velocity control */
struct vehicle_global_velocity_setpoint_s global_vel_sp;
memset(&global_vel_sp, 0, sizeof(&global_vel_sp));
global_vel_sp.vx = offboard_control_sp.p1;
global_vel_sp.vy = offboard_control_sp.p2;
global_vel_sp.vz = offboard_control_sp.p3;
if (_att_sp_pub > 0) {
close(_att_sp_pub);
_att_sp_pub = -1;
}
if (_rates_sp_pub > 0) {
close(_rates_sp_pub);
_rates_sp_pub = -1;
}
if (_global_vel_sp_pub < 0) {
_global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint_s), &_global_vel_sp_pub);
} else {
orb_publish(ORB_ID(vehicle_global_velocity_setpoint_s), _global_vel_sp_pub, &global_vel_sp);
}
} else if (_control_mode.flag_control_attitude_enabled) {
/* attitude control */
@@ -1021,6 +1067,11 @@ MavlinkReceiver::receive_thread(void *arg)
_local_pos_sp_pub = -1;
}
if (_global_vel_sp_pub > 0) {
close(_global_vel_sp_pub);
_global_vel_sp_pub = -1;
}
if (_att_sp_pub > 0) {
close(_att_sp_pub);
_att_sp_pub = -1;
src/modules/mavlink/mavlink_receiver.h
+2
View File
@@ -55,6 +55,7 @@
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -138,6 +139,7 @@ private:
orb_advert_t _flow_pub;
orb_advert_t _offboard_control_sp_pub;
orb_advert_t _local_pos_sp_pub;
orb_advert_t _global_vel_sp_pub;
orb_advert_t _att_sp_pub;
orb_advert_t _rates_sp_pub;
orb_advert_t _vicon_position_pub;
src/modules/mc_pos_control/mc_pos_control_main.cpp
+27 -1
View File
@@ -119,6 +119,7 @@ private:
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 */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
@@ -257,6 +258,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_manual_sub(-1),
_arming_sub(-1),
_local_pos_sub(-1),
_global_vel_sp_sub(-1),
_pos_sp_triplet_sub(-1),
/* publications */
@@ -784,6 +786,24 @@ MulticopterPositionControl::task_main()
_vel_sp(2) = _params.land_speed;
}
/* Offboard velocity control mode */
if (_control_mode.flag_control_offboard_enabled) {
bool updated;
orb_check(_global_vel_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_global_velocity_setpoint), _global_vel_sp_sub, &_global_vel_sp);
}
if (!_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_climb_rate_enabled) {
_vel_sp(2) = _global_vel_sp.vz;
}
if (!_control_mode.flag_control_position_enabled && _control_mode.flag_control_velocity_enabled) {
_vel_sp(0) = _global_vel_sp.vx;
_vel_sp(1) = _global_vel_sp.vy;
}
if (!_control_mode.flag_control_manual_enabled) {
/* limit 3D speed only in non-manual modes */
float vel_sp_norm = _vel_sp.edivide(_params.vel_max).length();
@@ -801,10 +821,16 @@ MulticopterPositionControl::task_main()
if (_global_vel_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_global_velocity_setpoint), _global_vel_sp_pub, &_global_vel_sp);
} else {
} else if (!_control_mode.flag_control_offboard_enabled) {
_global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &_global_vel_sp);
}
/* Close fd to let offboard vel sp be advertised in mavlink receiver */
if (_control_mode.flag_control_offboard_enabled && _global_vel_sp_pub > 0) {
close (_global_vel_sp);
_global_vel_sp_pub = -1;
}
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) {