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removed attitude setpoint generation from mc_att_controller and moved to mc_pos_controller

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This commit is contained in:
tumbili 2015-02-03 09:24:41 +01:00
parent b25808467c
commit 1a6dd7d02e
5 changed files with 102 additions and 134 deletions
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4
msg/vehicle_attitude_setpoint.msg
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@ -3,7 +3,9 @@ uint64 timestamp # in microseconds since system start, is set whenever the wr
float32 roll_body # body angle in NED frame
float32 pitch_body # body angle in NED frame
float32 yaw_body # body angle in NED frame
float32 yaw_body # body angle in NED frame
float32 yaw_sp_move_rate # rad/s (commanded by user)
float32[9] R_body # Rotation matrix describing the setpoint as rotation from the current body frame
bool R_valid # Set to true if rotation matrix is valid

100
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -547,104 +547,13 @@ MulticopterAttitudeControl::vehicle_status_poll()
void
MulticopterAttitudeControl::control_attitude(float dt)
{
float yaw_sp_move_rate = 0.0f;
bool publish_att_sp = false;
if (_v_control_mode.flag_control_manual_enabled) {
/* manual input, set or modify attitude setpoint */
if (_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
vehicle_attitude_setpoint_poll();
}
if (!_v_control_mode.flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude stabilized mode */
_v_att_sp.thrust = _manual_control_sp.z;
publish_att_sp = true;
}
if (!_armed.armed) {
/* reset yaw setpoint when disarmed */
_reset_yaw_sp = true;
}
/* move yaw setpoint in all modes */
if (_v_att_sp.thrust < 0.1f) {
// TODO
//if (_status.condition_landed) {
/* reset yaw setpoint if on ground */
// reset_yaw_sp = true;
//}
} else {
/* move yaw setpoint */
yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
if (yaw_offs < - yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
} else if (yaw_offs > yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
}
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
/* reset yaw setpint to current position if needed */
if (_reset_yaw_sp) {
_reset_yaw_sp = false;
_v_att_sp.yaw_body = _v_att.yaw;
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
if (!_v_control_mode.flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
_v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
} else {
/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
vehicle_attitude_setpoint_poll();
/* reset yaw setpoint after non-manual control mode */
_reset_yaw_sp = true;
}
vehicle_attitude_setpoint_poll();
_thrust_sp = _v_att_sp.thrust;
/* construct attitude setpoint rotation matrix */
math::Matrix<3, 3> R_sp;
if (_v_att_sp.R_valid) {
/* rotation matrix in _att_sp is valid, use it */
R_sp.set(&_v_att_sp.R_body[0]);
} else {
/* rotation matrix in _att_sp is not valid, use euler angles instead */
R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
/* copy rotation matrix back to setpoint struct */
memcpy(&_v_att_sp.R_body[0], &R_sp.data[0], sizeof(_v_att_sp.R_body));
_v_att_sp.R_valid = true;
}
/* publish the attitude setpoint if needed */
if (publish_att_sp && _vehicle_status.is_rotary_wing) {
_v_att_sp.timestamp = hrt_absolute_time();
if (_att_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_v_att_sp);
} else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_v_att_sp);
}
}
R_sp.set(_v_att_sp.R_body);
/* rotation matrix for current state */
math::Matrix<3, 3> R;
@ -720,7 +629,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
/* feed forward yaw setpoint rate */
_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
_rates_sp(2) += _v_att_sp.yaw_sp_move_rate * yaw_w * _params.yaw_ff;
}
/*
@ -860,9 +769,6 @@ MulticopterAttitudeControl::task_main()
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z;
/* reset yaw setpoint after ACRO */
_reset_yaw_sp = true;
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);

29
src/modules/mc_att_control/mc_att_control_params.c
View File

@ -187,35 +187,6 @@ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
/**
* Max manual roll
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
/**
* Max manual pitch
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
/**
* Max manual yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
/**
* Max acro roll rate
*

74
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -163,6 +163,10 @@ private:
param_t tilt_max_air;
param_t land_speed;
param_t tilt_max_land;
param_t man_roll_max;
param_t man_pitch_max;
param_t man_yaw_max;
param_t mc_att_yaw_p;
} _params_handles; /**< handles for interesting parameters */
struct {
@ -171,6 +175,10 @@ private:
float tilt_max_air;
float land_speed;
float tilt_max_land;
float man_roll_max;
float man_pitch_max;
float man_yaw_max;
float mc_att_yaw_p;
math::Vector<3> pos_p;
math::Vector<3> vel_p;
@ -353,6 +361,10 @@ MulticopterPositionControl::MulticopterPositionControl() :
_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.man_roll_max = param_find("MPC_MAN_R_MAX");
_params_handles.man_pitch_max = param_find("MPC_MAN_P_MAX");
_params_handles.man_yaw_max = param_find("MPC_MAN_Y_MAX");
_params_handles.mc_att_yaw_p = param_find("MC_YAW_P");
/* fetch initial parameter values */
parameters_update(true);
@ -438,6 +450,17 @@ MulticopterPositionControl::parameters_update(bool force)
_params.vel_ff(2) = v;
_params.sp_offs_max = _params.vel_max.edivide(_params.pos_p) * 2.0f;
/* mc attitude control parameters*/
/* manual control scale */
param_get(_params_handles.man_roll_max, &_params.man_roll_max);
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
param_get(_params_handles.mc_att_yaw_p,&v);
_params.mc_att_yaw_p = v;
}
return OK;
@ -901,6 +924,7 @@ MulticopterPositionControl::task_main()
bool reset_int_z = true;
bool reset_int_z_manual = false;
bool reset_int_xy = true;
bool reset_yaw_sp = false;
bool was_armed = false;
hrt_abstime t_prev = 0;
@ -948,6 +972,11 @@ MulticopterPositionControl::task_main()
was_armed = _control_mode.flag_armed;
/* check if should reset yaw setpoint for manual attitude control */
if(!_arming.armed || !_control_mode.flag_control_manual_enabled || (!_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_manual_enabled)) {
reset_yaw_sp = true;
}
update_ref();
if (_control_mode.flag_control_altitude_enabled ||
@ -1300,13 +1329,6 @@ MulticopterPositionControl::task_main()
_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;
@ -1322,6 +1344,44 @@ MulticopterPositionControl::task_main()
reset_int_xy = true;
}
if(!_control_mode.flag_control_velocity_enabled) {
/* generate attitude setpoint from manual controls */
/* move yaw setpoint */
float yaw_sp_move_rate = _manual.r * _params.man_yaw_max;
_att_sp.yaw_body = _wrap_pi(_att_sp.yaw_body + yaw_sp_move_rate * dt);
float yaw_offs_max = _params.man_yaw_max / _params.mc_att_yaw_p;
float yaw_offs = _wrap_pi(_att_sp.yaw_body - _att.yaw);
if (yaw_offs < - yaw_offs_max) {
_att_sp.yaw_body = _wrap_pi(_att.yaw - yaw_offs_max);
} else if (yaw_offs > yaw_offs_max) {
_att_sp.yaw_body = _wrap_pi(_att.yaw + yaw_offs_max);
}
/* reset yaw setpoint to current position if needed */
if (reset_yaw_sp) {
reset_yaw_sp = false;
_att_sp.yaw_body = _att.yaw;
}
_att_sp.roll_body = _manual.y * _params.man_roll_max;
_att_sp.pitch_body = -_manual.x * _params.man_pitch_max;
_att_sp.thrust = _control_mode.flag_control_altitude_enabled ? _att_sp.thrust : _manual.z;
_att_sp.yaw_sp_move_rate = yaw_sp_move_rate;
math::Matrix<3,3> R_sp;
R_sp.from_euler(_att_sp.roll_body,_att_sp.pitch_body,_att_sp.yaw_body);
memcpy(&_att_sp.R_body[0], R_sp.data, sizeof(_att_sp.R_body));
_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);
}
/* 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;
}

29
src/modules/mc_pos_control/mc_pos_control_params.c
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@ -208,3 +208,32 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f);
*/
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
/**
* Max manual roll
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX, 35.0f);
/**
* Max manual pitch
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f);
/**
* Max manual yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 120.0f);