mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-13 07:23:34 +08:00
created controller files
This commit is contained in:
Marvin Harms
@@ -0,0 +1,47 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "FixedwingPositionINDIControl.hpp"
|
||||
|
||||
using math::constrain;
|
||||
using math::max;
|
||||
using math::min;
|
||||
using math::radians;
|
||||
|
||||
using matrix::Dcmf;
|
||||
using matrix::Eulerf;
|
||||
using matrix::Quatf;
|
||||
using matrix::Vector2f;
|
||||
using matrix::Vector2d;
|
||||
using matrix::Vector3f;
|
||||
using matrix::wrap_pi;
|
||||
@@ -0,0 +1,156 @@
|
||||
/**
|
||||
* Implementation of a generic incremental position controller
|
||||
* using incremental nonlinear dynamic inversion and differential flatness
|
||||
* for a fixed wing aircraft during dynamic soaring cycles.
|
||||
* The controller directly outputs actuator deflections for ailerons, elevator and rudder.
|
||||
*
|
||||
* @author Marvin Harms <marv@teleport.ch>
|
||||
*/
|
||||
|
||||
// use inclusion guards
|
||||
#ifndef FIXEDWINGPOSITIONINDICONTROL_HPP_
|
||||
#define FIXEDWINGPOSITIONINDICONTROL_HPP_
|
||||
|
||||
#include <float.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/ecl/geo/geo.h>
|
||||
#include <lib/l1/ECL_L1_Pos_Controller.hpp>
|
||||
#include <lib/npfg/npfg.hpp>
|
||||
#include <lib/tecs/TECS.hpp>
|
||||
#include <lib/landing_slope/Landingslope.hpp>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
#include <uORB/topics/vehicle_command.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <uORB/topics/airspeed_validated.h>
|
||||
#include <uORB/topics/airflow_aoa.h>
|
||||
#include <uORB/topics/airflow_slip.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/vehicle_air_data.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_angular_velocity.h>
|
||||
#include <uORB/topics/vehicle_angular_acceleration.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_local_position.h>
|
||||
#include <uORB/topics/vehicle_odometry.h>
|
||||
#include <uORB/topics/vehicle_acceleration.h>
|
||||
#include <uORB/topics/vehicle_land_detected.h>
|
||||
#include <uORB/topics/vehicle_local_position.h>
|
||||
#include <uORB/topics/vehicle_local_position_setpoint.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/wind.h>
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
|
||||
class FixedwingPositionINDIControl final : public ModuleBase<FixedwingPositionINDIControl>, public ModuleParams,
|
||||
public px4::WorkItem
|
||||
{
|
||||
public:
|
||||
FixedwingPositionINDIControl();
|
||||
~FixedwingPositionINDIControl() override;
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
bool init();
|
||||
|
||||
private:
|
||||
void Run() override;
|
||||
|
||||
orb_advert_t _mavlink_log_pub{nullptr};
|
||||
|
||||
uORB::SubscriptionCallbackWorkItem _local_pos_sub{this, ORB_ID(vehicle_local_position)};
|
||||
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
|
||||
// Subscriptions
|
||||
uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; // airspeed
|
||||
uORB::Subscription _airflow_aoa_sub{ORB_ID(airflow_aoa)}; // angle of attack
|
||||
uORB::Subscription _airflow_slip_sub{ORB_ID(airflow_slip)}; // angle of sideslip
|
||||
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)}; // global position
|
||||
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)}; // local NED position
|
||||
uORB::Subscription _vehicle_odometry_sub{ORB_ID(vehicle_odometry)}; // vehicle velocity
|
||||
uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)}; // vehicle acceleration
|
||||
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; // vehicle attitude
|
||||
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; // vehicle body rates
|
||||
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)}; // vehicle body accel
|
||||
|
||||
|
||||
// Publishers
|
||||
uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_pub;
|
||||
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; ///< navigation capabilities publication
|
||||
|
||||
// Message structs
|
||||
manual_control_setpoint_s _manual_control_setpoint {}; ///< r/c channel data
|
||||
position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items
|
||||
vehicle_attitude_setpoint_s _att_sp {}; ///< vehicle attitude setpoint
|
||||
vehicle_control_mode_s _control_mode {}; ///< control mode
|
||||
vehicle_local_position_s _local_pos {}; ///< vehicle local position
|
||||
vehicle_status_s _vehicle_status {}; ///< vehicle status
|
||||
|
||||
double _current_latitude{0};
|
||||
double _current_longitude{0};
|
||||
float _current_altitude{0.f};
|
||||
|
||||
perf_counter_t _loop_perf; ///< loop performance counter
|
||||
|
||||
float _pitch{0.0f};
|
||||
float _yaw{0.0f};
|
||||
float _yawrate{0.0f};
|
||||
|
||||
matrix::Vector3f _body_acceleration{};
|
||||
matrix::Vector3f _body_velocity{};
|
||||
|
||||
// estimator reset counters
|
||||
uint8_t _pos_reset_counter{0}; ///< captures the number of times the estimator has reset the horizontal position
|
||||
uint8_t _alt_reset_counter{0}; ///< captures the number of times the estimator has reset the altitude state
|
||||
|
||||
|
||||
// Update our local parameter cache.
|
||||
int parameters_update();
|
||||
|
||||
// Update subscriptions
|
||||
void airspeed_poll();
|
||||
void control_update();
|
||||
void manual_control_setpoint_poll();
|
||||
void vehicle_attitude_poll();
|
||||
void vehicle_command_poll();
|
||||
void vehicle_control_mode_poll();
|
||||
void vehicle_status_poll();
|
||||
void wind_poll();
|
||||
|
||||
void status_publish();
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
|
||||
(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
|
||||
(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
|
||||
(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
|
||||
|
||||
)
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif // FIXEDWINGPOSITIONINDICONTROL_HPP_
|
||||
@@ -0,0 +1,74 @@
|
||||
/**
|
||||
* @file fw_dyn_soar_control_params.c
|
||||
*
|
||||
* Parameters defined by the INDI position controller
|
||||
*
|
||||
* @author Marvin Harms <marv@teleport.ch>
|
||||
*/
|
||||
|
||||
/*
|
||||
* Controller parameters, accessible via MAVLink
|
||||
*/
|
||||
|
||||
/**
|
||||
* total takeoff mass
|
||||
* This is the mass of the aircraft, used for the INDI
|
||||
* @unit kg
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_MASS, 1.4f);
|
||||
|
||||
/**
|
||||
* total wing area used for lift and drag computation
|
||||
* @unit m2
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_WING_AREA, 0.4f);
|
||||
|
||||
/**
|
||||
* total wing area used for lift and drag computation
|
||||
* @unit m2
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_WING_AREA, 0.4f);
|
||||
|
||||
/**
|
||||
* air density used for lift and drag computation
|
||||
* @unit kg/m3
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RHO, 1.223f);
|
||||
|
||||
/**
|
||||
* estimated lift coefficients used for lift and drag computation
|
||||
* Used as L = C_l0 + C_l1*alpha,
|
||||
* where alpha is the angle of attack.
|
||||
* @unit ()
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(C_l0, 0.356f);
|
||||
PARAM_DEFINE_FLOAT(C_l1, 2.354f);
|
||||
|
||||
|
||||
/**
|
||||
* estimated drag coefficients used for lift and drag computation
|
||||
* Used as D = C_d0 + C_d1*alpha + C_d2*alpha**2,
|
||||
* where alpha is the angle of attack.
|
||||
* @unit ()
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(C_d0, 0.0288f);
|
||||
PARAM_DEFINE_FLOAT(C_d1, 0.3783f);
|
||||
PARAM_DEFINE_FLOAT(C_d2, 1.984f);
|
||||
|
||||
/**
|
||||
* air density used for lift and drag computation
|
||||
* @unit kg/m3
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RHO, 1.223f);
|
||||
|
||||
/**
|
||||
* coefficients of the butterworth filter used for smoothing the IMU
|
||||
* @unit ()
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FILTER_A1, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FILTER_A2, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FILTER_B1, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FILTER_B2, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FILTER_B3, 0.0f);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user