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mc_att_control_vector: initial rewrite, WIP

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This commit is contained in:
Anton Babushkin 2013-11-17 23:03:19 +04:00
parent d736ed181f
commit 178b9b0a69
4 changed files with 64 additions and 362 deletions
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147
src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
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@ -1,147 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli
*
* 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 ecl_mc_att_control_vector.cpp
*
* Multirotor attitude controller based on concepts in:
*
* Minimum Snap Trajectory Generation and Control for Quadrotors
* http://www.seas.upenn.edu/~dmel/mellingerICRA11.pdf
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*
*/
#include <mathlib/mathlib.h>
#include "ecl_mc_att_control_vector.h"
ECL_MCAttControlVector::ECL_MCAttControlVector() :
_integral_error(0.0f, 0.0f),
_integral_max(1000.0f, 1000.0f),
_integral_lock(false)
{
}
void ECL_MCAttControlVector::control(float dt, const math::Dcm &R_nb, float yaw, const math::Vector &F_des_in,
float Kp, float Kd, float Ki, const math::Vector &angular_rates,
math::Vector &rates_des, float &thrust)
{
// XXX
bool earth = true;
bool integral_reset = false;
math::Matrix R_bn = R_nb.transpose();
float cy = cosf(yaw);
float sy = sinf(yaw);
math::Matrix RYaw = math::Dcm(cy,-sy,0.0f,sy,cy,0.0f,0.0f,0.0f,1.0f);
math::Vector z_b = math::Vector3(R_bn(0,2), R_bn(1,2), R_bn(2,2));
math::Vector3 F_des = F_des_in;
// desired thrust in body frame
// avoid division by zero
// compensates for thrust loss due to roll/pitch
//XXX disable this for first time
//if (F_des(2) >= 0.1f) {
// thrust = F_des(2) / R_bn(2, 2);
//} else {
// F_des(2) = 0.1f;
// thrust= F_des(2) / R_bn(2, 2);
//}
math::Vector3 x_B_des;
math::Vector3 y_B_des;
math::Vector3 z_B_des;
// desired body z axis
if (earth) {
z_B_des = (F_des / F_des.norm());
} else {
z_B_des = RYaw * (F_des / F_des.norm());
}
// desired direction in world coordinates (yaw angle)
math::Vector3 x_C(cy, sy, 0.0f);
// desired body y axis
y_B_des = z_B_des.cross(x_C) / (z_B_des.cross(x_C)).norm();
// desired body x axis
x_B_des = y_B_des.cross(z_B_des);
// desired Rotation Matrix
math::Matrix R_des = math::Dcm(x_B_des(0), x_B_des(1), x_B_des(2),
y_B_des(0), y_B_des(1), y_B_des(2),
z_B_des(0), z_B_des(1), z_B_des(2));
// Attitude Controller
// P controller
// error rotation matrix
math::Matrix e_R = (R_des.transpose() * R_bn - R_bn.transpose() * R_des) * 0.5f;
// error rotation vector
math::Vector e_R_v(3);
e_R_v(0) = e_R(1,2);
e_R_v(1) = e_R(0,2);
e_R_v(2) = e_R(0,1);
// include an integral part
math::Vector intError = math::Vector3(0.0f, 0.0f, 0.0f);
if (!_integral_lock) {
if (thrust > 0.3f && !integral_reset) {
if (fabsf(_integral_error(0)) < _integral_max(0)) {
_integral_error(0) = _integral_error(0) + e_R_v(0) * dt;
}
if (fabsf(_integral_error(1)) < _integral_max(1)) {
_integral_error(1) = _integral_error(1) + e_R_v(1) * dt;
}
} else {
_integral_error(0) = 0.0f;
_integral_error(1) = 0.0f;
}
intError(0) = _integral_error(0);
intError(1) = _integral_error(1);
intError(2) = 0.0f;
}
rates_des = (e_R_v * Kp + angular_rates * Kd + intError * Ki);
}

76
src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h
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@ -1,76 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli
*
* 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 ecl_mc_att_control_vector.cpp
*
* Multirotor attitude controller based on concepts in:
*
* Minimum Snap Trajectory Generation and Control for Quadrotors
* http://www.seas.upenn.edu/~dmel/mellingerICRA11.pdf
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*
*/
#include <mathlib/mathlib.h>
class ECL_MCAttControlVector {
public:
ECL_MCAttControlVector();
void control(float dt, const math::Dcm &R_nb, float yaw, const math::Vector &F_des,
float Kp, float Kd, float Ki, const math::Vector &angular_rates,
math::Vector &rates_des, float &thrust);
void set_imax(float integral_max) {
_integral_max(0) = integral_max;
_integral_max(1) = integral_max;
}
void reset_integral() {
_integral_error(0) = 0.0f;
_integral_error(1) = 0.0f;
}
void lock_integrator(bool lock) {
_integral_lock = lock;
}
protected:
math::Vector2f _integral_error;
math::Vector2f _integral_max;
bool _integral_lock;
};

200
src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp
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@ -1,7 +1,9 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -34,13 +36,16 @@
/**
* @file mc_att_control_vector_main.c
* Implementation of a multicopter attitude controller based on desired thrust vector.
* Implementation of a multicopter attitude controller based on desired rotation matrix.
*
* References
* [1] Daniel Mellinger and Vijay Kumar, "Minimum Snap Trajectory Generation and Control for Quadrotors",
* http://www.seas.upenn.edu/~dmel/mellingerICRA11.pdf
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* Please refer to the library files for the authors and acknowledgements of
* the used control library functions.
*/
#include <nuttx/config.h>
@ -54,7 +59,6 @@
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@ -72,8 +76,6 @@
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
#include "ecl_mc_att_control_vector.h"
/**
* Multicopter attitude control app start / stop handling function
*
@ -107,7 +109,6 @@ private:
int _control_task; /**< task handle for sensor task */
int _att_sub; /**< vehicle attitude subscription */
int _accel_sub; /**< accelerometer subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _attitude_sub; /**< raw rc channels data subscription */
int _control_mode_sub; /**< vehicle control mode subscription */
@ -119,52 +120,27 @@ private:
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct accel_report _accel; /**< body frame accelerations */
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_controls_s _actuators; /**< actuator control inputs */
struct actuator_armed_s _arming; /**< actuator arming status */
struct vehicle_rates_setpoint_s _rates_setpoint; /**< vehicle rates setpoint */
perf_counter_t _loop_perf; /**< loop performance counter */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
struct {
float yaw_p;
float yaw_i;
float yaw_d;
float yaw_imax;
float att_p;
float att_i;
float att_d;
float att_imax;
float att_rate_p;
float yaw_rate_p;
} _parameters; /**< local copies of interesting parameters */
math::Matrix _K; /**< diagonal gain matrix for position error */
math::Matrix _K_rate; /**< diagonal gain matrix for angular rate error */
struct {
param_t yaw_p;
param_t yaw_i;
param_t yaw_d;
param_t yaw_imax;
param_t att_p;
param_t att_i;
param_t att_d;
param_t att_imax;
param_t att_rate_p;
param_t yaw_p;
param_t yaw_rate_p;
} _parameter_handles; /**< handles for interesting parameters */
ECL_MCAttControlVector _att_control;
/**
* Update our local parameter cache.
*/
@ -186,11 +162,6 @@ private:
*/
void vehicle_manual_poll();
/**
* Check for accel updates.
*/
void vehicle_accel_poll();
/**
* Check for set triplet updates.
*/
@ -231,7 +202,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
/* subscriptions */
_att_sub(-1),
_accel_sub(-1),
_control_mode_sub(-1),
_params_sub(-1),
_manual_sub(-1),
@ -244,19 +214,15 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
/* states */
_setpoint_valid(false)
_setpoint_valid(false),
/* gain matrices */
_K(3, 3),
_K_rate(3, 3)
{
_parameter_handles.yaw_p = param_find("MC_YAWPOS_P");
_parameter_handles.yaw_i = param_find("MC_YAWPOS_I");
_parameter_handles.yaw_d = param_find("MC_YAWPOS_D");
_parameter_handles.yaw_imax = param_find("MC_YAWPOS_IMAX");
_parameter_handles.att_p = param_find("MC_ATT_P");
_parameter_handles.att_i = param_find("MC_ATT_I");
_parameter_handles.att_d = param_find("MC_ATT_D");
_parameter_handles.att_imax = param_find("MC_ATT_IMAX");
_parameter_handles.att_rate_p = param_find("MC_ATTRATE_P");
_parameter_handles.yaw_p = param_find("MC_YAWPOS_P");
_parameter_handles.yaw_rate_p = param_find("MC_YAWRATE_P");
/* fetch initial parameter values */
@ -291,29 +257,22 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
int
MulticopterAttitudeControl::parameters_update()
{
float att_p;
float att_rate_p;
float yaw_p;
float yaw_rate_p;
//param_get(_parameter_handles.tconst, &(_parameters.tconst));
param_get(_parameter_handles.att_p, &att_p);
param_get(_parameter_handles.att_rate_p, &att_rate_p);
param_get(_parameter_handles.yaw_p, &yaw_p);
param_get(_parameter_handles.yaw_rate_p, &yaw_rate_p);
param_get(_parameter_handles.yaw_p, &(_parameters.yaw_p));
param_get(_parameter_handles.yaw_i, &(_parameters.yaw_i));
param_get(_parameter_handles.yaw_d, &(_parameters.yaw_d));
param_get(_parameter_handles.yaw_imax, &(_parameters.yaw_imax));
param_get(_parameter_handles.att_p, &(_parameters.att_p));
param_get(_parameter_handles.att_i, &(_parameters.att_i));
param_get(_parameter_handles.att_d, &(_parameters.att_d));
param_get(_parameter_handles.att_imax, &(_parameters.att_imax));
param_get(_parameter_handles.yaw_rate_p, &(_parameters.yaw_rate_p));
param_get(_parameter_handles.att_rate_p, &(_parameters.att_rate_p));
/* att control parameters */
_att_control.set_imax(_parameters.att_imax);
//_att_control.set_tau(_parameters.p_tconst);
// _att_control.set_k_p(math::radians(_parameters.p_p));
// _att_control.set_k_i(math::radians(_parameters.p_i));
// _att_control.set_k_d(math::radians(_parameters.p_d));
_K(0, 0) = att_p;
_K(1, 1) = att_p;
_K(2, 2) = yaw_p;
_K_rate(0, 0) = att_rate_p;
_K_rate(1, 1) = att_rate_p;
_K_rate(2, 2) = yaw_rate_p;
return OK;
}
@ -346,18 +305,6 @@ MulticopterAttitudeControl::vehicle_manual_poll()
}
}
void
MulticopterAttitudeControl::vehicle_accel_poll()
{
/* check if there is a new position */
bool accel_updated;
orb_check(_accel_sub, &accel_updated);
if (accel_updated) {
orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
}
}
void
MulticopterAttitudeControl::vehicle_setpoint_poll()
{
@ -402,7 +349,6 @@ MulticopterAttitudeControl::task_main()
*/
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_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));
@ -418,7 +364,6 @@ MulticopterAttitudeControl::task_main()
/* get an initial update for all sensor and status data */
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
arming_status_poll();
@ -451,11 +396,10 @@ MulticopterAttitudeControl::task_main()
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
/* copy the topic to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
@ -469,29 +413,20 @@ MulticopterAttitudeControl::task_main()
if (deltaT > 1.0f)
deltaT = 0.01f;
/* load local copies */
/* copy attitude topic */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
arming_status_poll();
vehicle_manual_poll();
/* lock integrator until armed */
if (_arming.armed) {
_att_control.lock_integrator(false);
} else {
_att_control.reset_integral();
_att_control.lock_integrator(true);
}
/* decide if in auto or full manual control */
float roll_sp = 0.0f;
float pitch_sp = 0.0f;
float throttle_sp = 0.0f;
float yaw_sp = 0.0f;
/* decide if in auto or manual control */
if (_control_mode.flag_control_manual_enabled) {
roll_sp = _manual.roll;
pitch_sp = _manual.pitch;
@ -505,51 +440,42 @@ MulticopterAttitudeControl::task_main()
throttle_sp = _att_sp.thrust;
}
// XXX take rotation matrix directly from att_sp for auto mode
math::Vector3 F_des(roll_sp, pitch_sp, yaw_sp);
/* construct rotation matrix from euler angles */
math::EulerAngles euler(roll_sp, pitch_sp, yaw_sp);
math::Dcm R_des(euler);
math::Vector3 rates_des;
/* rotation matrix for current state */
math::Dcm R(_att.R);
/* current body angular rates */
math::Vector3 rates(_att.rollspeed, _att.pitchspeed, _att.yawspeed);
math::Dcm R_nb(_att.R);
// XXX actually it's not euler angles rates, but body rates, rename it (?)
math::Vector3 angular_rates(_att.rollspeed, _att.pitchspeed, _att.yawspeed);
/* orientation error between R and R_des */
math::Matrix e_R_m = (R_des.transpose() * R - R.transpose() * R_des).transpose() * 0.5f;
math::Vector3 e_R(-e_R_m(1, 2), e_R_m(0, 2), -e_R_m(0, 1));
_att_control.control(deltaT, R_nb, _att.yaw, F_des,
_parameters.att_p, _parameters.att_d, _parameters.att_i,
angular_rates, rates_des, throttle_sp);
/* angular rates setpoint*/
math::Vector3 rates_sp = K_p * e_R;
math::Vector3 control = K_r_p * (rates_sp - rates);
float roll_out = _parameters.att_rate_p * rates_des(0);
float pitch_out = _parameters.att_rate_p * rates_des(1);
float yaw_out = _parameters.yaw_rate_p * rates_des(2);
_actuators.control[0] = (isfinite(roll_out)) ? roll_out : 0.0f;
_actuators.control[1] = (isfinite(pitch_out)) ? pitch_out : 0.0f;
_actuators.control[2] = (isfinite(yaw_out)) ? yaw_out : 0.0f;
/* throttle passed through */
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
*/
vehicle_rates_setpoint_s rates_sp;
rates_sp.roll = rates_des(0);
rates_sp.pitch = rates_des(1);
rates_sp.yaw = rates_des(2);
rates_sp.timestamp = hrt_absolute_time();
/* publish the attitude rates setpoint */
_rates_setpoint.roll = rates_sp(0);
_rates_setpoint.pitch = rates_sp(1);
_rates_setpoint.yaw = rates_sp(2);
_rates_setpoint.thrust = throttle_sp;
_rates_setpoint.timestamp = hrt_absolute_time();
if (_rate_sp_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_rates_setpoint), _actuators_0_pub, &rates_sp);
orb_publish(ORB_ID(vehicle_rates_setpoint), _actuators_0_pub, &_rates_setpoint);
} else {
/* advertise and publish */
_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_setpoint);
}
/* lazily publish the setpoint only once available */
/* publish the attitude controls */
_actuators.control[0] = (isfinite(control(0))) ? control(0) : 0.0f;
_actuators.control[1] = (isfinite(control(1))) ? control(1) : 0.0f;
_actuators.control[2] = (isfinite(control(2))) ? control(2) : 0.0f;
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
if (_actuators_0_pub > 0) {
@ -566,7 +492,7 @@ MulticopterAttitudeControl::task_main()
perf_end(_loop_perf);
}
warnx("exiting.\n");
warnx("exit");
_control_task = -1;
_exit(0);

3
src/modules/mc_att_control_vector/module.mk
View File

@ -37,5 +37,4 @@
MODULE_COMMAND = mc_att_control_vector
SRCS = mc_att_control_vector_main.cpp \
ecl_mc_att_control_vector.cpp
SRCS = mc_att_control_vector_main.cpp