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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
2015-02-07 17:36:21 +01:00
parent b25808467c
commit 1a6dd7d02e
5 changed files with 102 additions and 134 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+67 -7
View File
@@ -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;
}
src/modules/mc_pos_control/mc_pos_control_params.c
+29
View File
@@ -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);