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mc_att_control_vector fix, multirotor_attitude_control and multirotor_pos_control removed

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This commit is contained in:
Anton Babushkin 2013-12-30 09:00:23 +04:00
parent 174fd21c6f
commit 3a4a36c736
8 changed files with 0 additions and 1649 deletions
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10
src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp
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@ -523,16 +523,6 @@ MulticopterAttitudeControl::task_main()
}
} else {
if (!_control_mode.flag_control_auto_enabled) {
/* no control, try to stay on place */
if (!_control_mode.flag_control_velocity_enabled) {
/* no velocity control, reset attitude setpoint */
_att_sp.roll_body = 0.0f;
_att_sp.pitch_body = 0.0f;
publish_att_sp = true;
}
}
/* reset yaw setpoint after non-manual control */
reset_yaw_sp = true;
}

42
src/modules/multirotor_att_control/module.mk
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@ -1,42 +0,0 @@
############################################################################
#
# Copyright (c) 2012, 2013 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.
#
############################################################################
#
# Build multirotor attitude controller
#
MODULE_COMMAND = multirotor_att_control
SRCS = multirotor_att_control_main.c \
multirotor_attitude_control.c \
multirotor_rate_control.c

465
src/modules/multirotor_att_control/multirotor_att_control_main.c
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@ -1,465 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: 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
* 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 multirotor_att_control_main.c
*
* Implementation of multirotor attitude control main loop.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <getopt.h>
#include <time.h>
#include <math.h>
#include <poll.h>
#include <sys/prctl.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <drivers/drv_gyro.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include "multirotor_attitude_control.h"
#include "multirotor_rate_control.h"
__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
static bool thread_should_exit;
static int mc_task;
static bool motor_test_mode = false;
static const float min_takeoff_throttle = 0.3f;
static const float yaw_deadzone = 0.01f;
static int
mc_thread_main(int argc, char *argv[])
{
/* declare and safely initialize all structs */
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
struct offboard_control_setpoint_s offboard_sp;
memset(&offboard_sp, 0, sizeof(offboard_sp));
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
struct sensor_combined_s sensor;
memset(&sensor, 0, sizeof(sensor));
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
struct vehicle_status_s status;
memset(&status, 0, sizeof(status));
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
/* subscribe */
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
int vehicle_attitude_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int offboard_control_setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
int vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
int vehicle_rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* publish actuator controls */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
actuators.control[i] = 0.0f;
}
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
/* register the perf counter */
perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control_runtime");
perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval");
perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err");
warnx("starting");
/* store last control mode to detect mode switches */
bool control_yaw_position = true;
bool reset_yaw_sp = true;
struct pollfd fds[1] = {
{ .fd = vehicle_attitude_sub, .events = POLLIN },
};
while (!thread_should_exit) {
/* wait for a sensor update, check for exit condition every 500 ms */
int ret = poll(fds, 1, 500);
if (ret < 0) {
/* poll error, count it in perf */
perf_count(mc_err_perf);
} else if (ret > 0) {
/* only run controller if attitude changed */
perf_begin(mc_loop_perf);
/* attitude */
orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
bool updated;
/* parameters */
orb_check(parameter_update_sub, &updated);
if (updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
/* update parameters */
}
/* control mode */
orb_check(vehicle_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sub, &control_mode);
}
/* manual control setpoint */
orb_check(manual_control_setpoint_sub, &updated);
if (updated) {
orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual);
}
/* attitude setpoint */
orb_check(vehicle_attitude_setpoint_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp);
}
/* offboard control setpoint */
orb_check(offboard_control_setpoint_sub, &updated);
if (updated) {
orb_copy(ORB_ID(offboard_control_setpoint), offboard_control_setpoint_sub, &offboard_sp);
}
/* vehicle status */
orb_check(vehicle_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status);
}
/* sensors */
orb_check(sensor_combined_sub, &updated);
if (updated) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
}
/* set flag to safe value */
control_yaw_position = true;
/* reset yaw setpoint if not armed */
if (!control_mode.flag_armed) {
reset_yaw_sp = true;
}
/* define which input is the dominating control input */
if (control_mode.flag_control_offboard_enabled) {
/* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
rates_sp.roll = offboard_sp.p1;
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
att_sp.timestamp = hrt_absolute_time();
/* publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
/* reset yaw setpoint after offboard control */
reset_yaw_sp = true;
} else if (control_mode.flag_control_manual_enabled) {
/* manual input */
if (control_mode.flag_control_attitude_enabled) {
/* control attitude, update attitude setpoint depending on mode */
if (att_sp.thrust < 0.1f) {
/* no thrust, don't try to control yaw */
rates_sp.yaw = 0.0f;
control_yaw_position = false;
if (status.condition_landed) {
/* reset yaw setpoint if on ground */
reset_yaw_sp = true;
}
} else {
/* only move yaw setpoint if manual input is != 0 */
if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) {
/* control yaw rate */
control_yaw_position = false;
rates_sp.yaw = manual.yaw;
reset_yaw_sp = true; // has no effect on control, just for beautiful log
} else {
control_yaw_position = true;
}
}
if (!control_mode.flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
att_sp.roll_body = manual.roll;
att_sp.pitch_body = manual.pitch;
if (!control_mode.flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude control mode */
att_sp.thrust = manual.throttle;
}
}
/* reset yaw setpint to current position if needed */
if (reset_yaw_sp) {
att_sp.yaw_body = att.yaw;
reset_yaw_sp = false;
}
if (motor_test_mode) {
printf("testmode");
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = 0.1f;
}
att_sp.timestamp = hrt_absolute_time();
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
} else {
/* manual rate inputs (ACRO), from RC control or joystick */
if (control_mode.flag_control_rates_enabled) {
rates_sp.roll = manual.roll;
rates_sp.pitch = manual.pitch;
rates_sp.yaw = manual.yaw;
rates_sp.thrust = manual.throttle;
rates_sp.timestamp = hrt_absolute_time();
}
/* reset yaw setpoint after ACRO */
reset_yaw_sp = true;
}
} else {
if (!control_mode.flag_control_attitude_enabled) {
/* no control, try to stay on place */
if (!control_mode.flag_control_velocity_enabled) {
/* no velocity control, reset attitude setpoint */
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
}
/* reset yaw setpoint after non-manual control */
reset_yaw_sp = true;
}
/* check if we should we reset integrals */
bool reset_integral = !control_mode.flag_armed || att_sp.thrust < 0.1f; // TODO use landed status instead of throttle
/* run attitude controller if needed */
if (control_mode.flag_control_attitude_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, reset_integral);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
/* measure in what intervals the controller runs */
perf_count(mc_interval_perf);
/* run rates controller if needed */
if (control_mode.flag_control_rates_enabled) {
/* get current rate setpoint */
bool rates_sp_updated = false;
orb_check(vehicle_rates_setpoint_sub, &rates_sp_updated);
if (rates_sp_updated) {
orb_copy(ORB_ID(vehicle_rates_setpoint), vehicle_rates_setpoint_sub, &rates_sp);
}
/* apply controller */
float rates[3];
rates[0] = att.rollspeed;
rates[1] = att.pitchspeed;
rates[2] = att.yawspeed;
multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral);
} else {
/* rates controller disabled, set actuators to zero for safety */
actuators.control[0] = 0.0f;
actuators.control[1] = 0.0f;
actuators.control[2] = 0.0f;
actuators.control[3] = 0.0f;
}
/* fill in manual control values */
actuators.control[4] = manual.flaps;
actuators.control[5] = manual.aux1;
actuators.control[6] = manual.aux2;
actuators.control[7] = manual.aux3;
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
perf_end(mc_loop_perf);
}
}
warnx("stopping, disarming motors");
/* kill all outputs */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
actuators.control[i] = 0.0f;
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
close(vehicle_attitude_sub);
close(vehicle_control_mode_sub);
close(manual_control_setpoint_sub);
close(actuator_pub);
close(att_sp_pub);
perf_print_counter(mc_loop_perf);
perf_free(mc_loop_perf);
fflush(stdout);
exit(0);
}
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: multirotor_att_control [-m <mode>] [-t] {start|status|stop}\n");
fprintf(stderr, " <mode> is 'rates' or 'attitude'\n");
fprintf(stderr, " -t enables motor test mode with 10%% thrust\n");
exit(1);
}
int multirotor_att_control_main(int argc, char *argv[])
{
int ch;
unsigned int optioncount = 0;
while ((ch = getopt(argc, argv, "tm:")) != EOF) {
switch (ch) {
case 't':
motor_test_mode = true;
optioncount += 1;
break;
case ':':
usage("missing parameter");
break;
default:
fprintf(stderr, "option: -%c\n", ch);
usage("unrecognized option");
break;
}
}
argc -= optioncount;
//argv += optioncount;
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1 + optioncount], "start")) {
thread_should_exit = false;
mc_task = task_spawn_cmd("multirotor_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
2048,
mc_thread_main,
NULL);
exit(0);
}
if (!strcmp(argv[1 + optioncount], "stop")) {
thread_should_exit = true;
exit(0);
}
usage("unrecognized command");
exit(1);
}

254
src/modules/multirotor_att_control/multirotor_attitude_control.c
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@ -1,254 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Laurens Mackay <mackayl@student.ethz.ch>
* Tobias Naegeli <naegelit@student.ethz.ch>
* Martin Rutschmann <rutmarti@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 multirotor_attitude_control.c
*
* Implementation of attitude controller for multirotors.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include "multirotor_attitude_control.h"
#include <stdio.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <float.h>
#include <math.h>
#include <systemlib/pid/pid.h>
#include <systemlib/param/param.h>
#include <drivers/drv_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 2.0f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 6.8f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);
//PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);
struct mc_att_control_params {
float yaw_p;
float yaw_i;
float yaw_d;
//float yaw_awu;
//float yaw_lim;
float att_p;
float att_i;
float att_d;
//float att_awu;
//float att_lim;
//float att_xoff;
//float att_yoff;
};
struct mc_att_control_param_handles {
param_t yaw_p;
param_t yaw_i;
param_t yaw_d;
//param_t yaw_awu;
//param_t yaw_lim;
param_t att_p;
param_t att_i;
param_t att_d;
//param_t att_awu;
//param_t att_lim;
//param_t att_xoff;
//param_t att_yoff;
};
/**
* Initialize all parameter handles and values
*
*/
static int parameters_init(struct mc_att_control_param_handles *h);
/**
* Update all parameters
*
*/
static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p);
static int parameters_init(struct mc_att_control_param_handles *h)
{
/* PID parameters */
h->yaw_p = param_find("MC_YAWPOS_P");
h->yaw_i = param_find("MC_YAWPOS_I");
h->yaw_d = param_find("MC_YAWPOS_D");
//h->yaw_awu = param_find("MC_YAWPOS_AWU");
//h->yaw_lim = param_find("MC_YAWPOS_LIM");
h->att_p = param_find("MC_ATT_P");
h->att_i = param_find("MC_ATT_I");
h->att_d = param_find("MC_ATT_D");
//h->att_awu = param_find("MC_ATT_AWU");
//h->att_lim = param_find("MC_ATT_LIM");
//h->att_xoff = param_find("MC_ATT_XOFF");
//h->att_yoff = param_find("MC_ATT_YOFF");
return OK;
}
static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p)
{
param_get(h->yaw_p, &(p->yaw_p));
param_get(h->yaw_i, &(p->yaw_i));
param_get(h->yaw_d, &(p->yaw_d));
//param_get(h->yaw_awu, &(p->yaw_awu));
//param_get(h->yaw_lim, &(p->yaw_lim));
param_get(h->att_p, &(p->att_p));
param_get(h->att_i, &(p->att_i));
param_get(h->att_d, &(p->att_d));
//param_get(h->att_awu, &(p->att_awu));
//param_get(h->att_lim, &(p->att_lim));
//param_get(h->att_xoff, &(p->att_xoff));
//param_get(h->att_yoff, &(p->att_yoff));
return OK;
}
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position, bool reset_integral)
{
static uint64_t last_run = 0;
static uint64_t last_input = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
if (last_input != att_sp->timestamp) {
last_input = att_sp->timestamp;
}
static int motor_skip_counter = 0;
static PID_t pitch_controller;
static PID_t roll_controller;
static struct mc_att_control_params p;
static struct mc_att_control_param_handles h;
static bool initialized = false;
static float yaw_error;
/* initialize the pid controllers when the function is called for the first time */
if (initialized == false) {
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&pitch_controller, PID_MODE_DERIVATIV_SET, 0.0f);
pid_init(&roll_controller, PID_MODE_DERIVATIV_SET, 0.0f);
initialized = true;
}
/* load new parameters with lower rate */
if (motor_skip_counter % 500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
/* apply parameters */
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
}
/* reset integrals if needed */
if (reset_integral) {
pid_reset_integral(&pitch_controller);
pid_reset_integral(&roll_controller);
//TODO pid_reset_integral(&yaw_controller);
}
/* calculate current control outputs */
/* control pitch (forward) output */
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
att->pitch, att->pitchspeed, deltaT);
/* control roll (left/right) output */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
att->roll, att->rollspeed, deltaT);
if (control_yaw_position) {
/* control yaw rate */
// TODO use pid lib
/* positive error: rotate to right, negative error, rotate to left (NED frame) */
// yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw);
yaw_error = att_sp->yaw_body - att->yaw;
if (yaw_error > M_PI_F) {
yaw_error -= M_TWOPI_F;
} else if (yaw_error < -M_PI_F) {
yaw_error += M_TWOPI_F;
}
rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
}
rates_sp->thrust = att_sp->thrust;
//need to update the timestamp now that we've touched rates_sp
rates_sp->timestamp = hrt_absolute_time();
motor_skip_counter++;
}

65
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@ -1,65 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Laurens Mackay <mackayl@student.ethz.ch>
* Tobias Naegeli <naegelit@student.ethz.ch>
* Martin Rutschmann <rutmarti@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 multirotor_attitude_control.h
*
* Definition of attitude controller for multirotors.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef MULTIROTOR_ATTITUDE_CONTROL_H_
#define MULTIROTOR_ATTITUDE_CONTROL_H_
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_controls.h>
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position, bool reset_integral);
#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */

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/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
* Julian Oes <joes@student.ethz.ch>
*
* 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 multirotor_rate_control.c
*
* Implementation of rate controller for multirotors.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Julian Oes <joes@student.ethz.ch>
*/
#include "multirotor_rate_control.h"
#include <stdio.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <float.h>
#include <math.h>
#include <systemlib/pid/pid.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
struct mc_rate_control_params {
float yawrate_p;
float yawrate_d;
float yawrate_i;
float attrate_p;
float attrate_d;
float attrate_i;
float rate_lim;
};
struct mc_rate_control_param_handles {
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_d;
param_t attrate_p;
param_t attrate_i;
param_t attrate_d;
};
/**
* Initialize all parameter handles and values
*
*/
static int parameters_init(struct mc_rate_control_param_handles *h);
/**
* Update all parameters
*
*/
static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p);
static int parameters_init(struct mc_rate_control_param_handles *h)
{
/* PID parameters */
h->yawrate_p = param_find("MC_YAWRATE_P");
h->yawrate_i = param_find("MC_YAWRATE_I");
h->yawrate_d = param_find("MC_YAWRATE_D");
h->attrate_p = param_find("MC_ATTRATE_P");
h->attrate_i = param_find("MC_ATTRATE_I");
h->attrate_d = param_find("MC_ATTRATE_D");
return OK;
}
static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p)
{
param_get(h->yawrate_p, &(p->yawrate_p));
param_get(h->yawrate_i, &(p->yawrate_i));
param_get(h->yawrate_d, &(p->yawrate_d));
param_get(h->attrate_p, &(p->attrate_p));
param_get(h->attrate_i, &(p->attrate_i));
param_get(h->attrate_d, &(p->attrate_d));
return OK;
}
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators, bool reset_integral)
{
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
static uint64_t last_input = 0;
if (last_input != rate_sp->timestamp) {
last_input = rate_sp->timestamp;
}
last_run = hrt_absolute_time();
static int motor_skip_counter = 0;
static PID_t pitch_rate_controller;
static PID_t roll_rate_controller;
static PID_t yaw_rate_controller;
static struct mc_rate_control_params p;
static struct mc_rate_control_param_handles h;
static bool initialized = false;
/* initialize the pid controllers when the function is called for the first time */
if (initialized == false) {
parameters_init(&h);
parameters_update(&h, &p);
initialized = true;
pid_init(&pitch_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&roll_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&yaw_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
}
/* load new parameters with lower rate */
if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f);
}
/* reset integrals if needed */
if (reset_integral) {
pid_reset_integral(&pitch_rate_controller);
pid_reset_integral(&roll_rate_controller);
pid_reset_integral(&yaw_rate_controller);
}
/* run pitch, roll and yaw controllers */
float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
float yaw_control = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
actuators->control[2] = yaw_control;
actuators->control[3] = rate_sp->thrust;
motor_skip_counter++;
}

64
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@ -1,64 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Laurens Mackay <mackayl@student.ethz.ch>
* Tobias Naegeli <naegelit@student.ethz.ch>
* Martin Rutschmann <rutmarti@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 multirotor_attitude_control.h
*
* Definition of rate controller for multirotors.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef MULTIROTOR_RATE_CONTROL_H_
#define MULTIROTOR_RATE_CONTROL_H_
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_controls.h>
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators, bool reset_integral);
#endif /* MULTIROTOR_RATE_CONTROL_H_ */

553
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@ -1,553 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: 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
* 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 multirotor_pos_control.c
*
* Multirotor position controller
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <termios.h>
#include <time.h>
#include <sys/prctl.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/mission_item_triplet.h>
#include <systemlib/systemlib.h>
#include <systemlib/pid/pid.h>
#include <mavlink/mavlink_log.h>
#include "multirotor_pos_control_params.h"
#include "thrust_pid.h"
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
__EXPORT int multirotor_pos_control_main(int argc, char *argv[]);
/**
* Mainloop of position controller.
*/
static int multirotor_pos_control_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static float scale_control(float ctl, float end, float dz);
static float norm(float x, float y);
static void usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: multirotor_pos_control {start|stop|status}\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_spawn().
*/
int multirotor_pos_control_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
/* this is not an error */
exit(0);
}
warnx("start");
thread_should_exit = false;
deamon_task = task_spawn_cmd("multirotor_pos_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 60,
4096,
multirotor_pos_control_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
warnx("stop");
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("app is running");
} else {
warnx("app not started");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
static float scale_control(float ctl, float end, float dz)
{
if (ctl > dz) {
return (ctl - dz) / (end - dz);
} else if (ctl < -dz) {
return (ctl + dz) / (end - dz);
} else {
return 0.0f;
}
}
static float norm(float x, float y)
{
return sqrtf(x * x + y * y);
}
static int multirotor_pos_control_thread_main(int argc, char *argv[])
{
/* welcome user */
warnx("started");
static int mavlink_fd;
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd, "[mpc] started");
/* structures */
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
struct vehicle_local_position_s local_pos;
memset(&local_pos, 0, sizeof(local_pos));
struct mission_item_triplet_s triplet;
memset(&triplet, 0, sizeof(triplet));
struct vehicle_global_velocity_setpoint_s global_vel_sp;
memset(&global_vel_sp, 0, sizeof(global_vel_sp));
struct vehicle_local_position_setpoint_s local_pos_sp;
memset(&local_pos_sp, 0, sizeof(local_pos_sp));
/* subscribe to attitude, motor setpoints and system state */
int param_sub = orb_subscribe(ORB_ID(parameter_update));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int mission_triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
/* publish setpoint */
orb_advert_t local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &local_pos_sp);
orb_advert_t global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &global_vel_sp);
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
bool reset_mission_sp = false;
bool global_pos_sp_valid = false;
bool reset_man_sp_z = true;
bool reset_man_sp_xy = true;
bool reset_int_z = true;
bool reset_int_z_manual = false;
bool reset_int_xy = true;
bool was_armed = false;
bool reset_auto_sp_xy = true;
bool reset_auto_sp_z = true;
bool reset_takeoff_sp = true;
hrt_abstime t_prev = 0;
const float alt_ctl_dz = 0.2f;
const float pos_ctl_dz = 0.05f;
float ref_alt = 0.0f;
hrt_abstime ref_alt_t = 0;
uint64_t local_ref_timestamp = 0;
PID_t xy_pos_pids[2];
PID_t xy_vel_pids[2];
PID_t z_pos_pid;
thrust_pid_t z_vel_pid;
thread_running = true;
struct multirotor_position_control_params params;
struct multirotor_position_control_param_handles params_h;
parameters_init(&params_h);
parameters_update(&params_h, &params);
for (int i = 0; i < 2; i++) {
pid_init(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f);
pid_init(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
}
pid_init(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max, PID_MODE_DERIVATIV_SET, 0.02f);
thrust_pid_init(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
while (!thread_should_exit) {
bool param_updated;
orb_check(param_sub, &param_updated);
if (param_updated) {
/* clear updated flag */
struct parameter_update_s ps;
orb_copy(ORB_ID(parameter_update), param_sub, &ps);
/* update params */
parameters_update(&params_h, &params);
for (int i = 0; i < 2; i++) {
pid_set_parameters(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f);
/* use integral_limit_out = tilt_max / 2 */
float i_limit;
if (params.xy_vel_i > 0.0f) {
i_limit = params.tilt_max / params.xy_vel_i / 2.0f;
} else {
i_limit = 0.0f; // not used
}
pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, i_limit, params.tilt_max);
}
pid_set_parameters(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max);
thrust_pid_set_parameters(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min);
}
bool updated;
orb_check(control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
}
orb_check(mission_triplet_sub, &updated);
if (updated) {
orb_copy(ORB_ID(mission_item_triplet), mission_triplet_sub, &triplet);
global_pos_sp_valid = triplet.current_valid;
reset_mission_sp = true;
}
hrt_abstime t = hrt_absolute_time();
float dt;
if (t_prev != 0) {
dt = (t - t_prev) * 0.000001f;
} else {
dt = 0.0f;
}
if (control_mode.flag_armed && !was_armed) {
/* reset setpoints and integrals on arming */
reset_man_sp_z = true;
reset_man_sp_xy = true;
reset_auto_sp_z = true;
reset_auto_sp_xy = true;
reset_takeoff_sp = true;
reset_int_z = true;
reset_int_xy = true;
}
was_armed = control_mode.flag_armed;
t_prev = t;
if (control_mode.flag_control_altitude_enabled || control_mode.flag_control_velocity_enabled || control_mode.flag_control_position_enabled) {
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
float z_sp_offs_max = params.z_vel_max / params.z_p * 2.0f;
float xy_sp_offs_max = params.xy_vel_max / params.xy_p * 2.0f;
float sp_move_rate[3] = { 0.0f, 0.0f, 0.0f };
if (control_mode.flag_control_manual_enabled) {
/* manual control */
/* check for reference point updates and correct setpoint */
if (local_pos.ref_timestamp != ref_alt_t) {
if (ref_alt_t != 0) {
/* home alt changed, don't follow large ground level changes in manual flight */
local_pos_sp.z += local_pos.ref_alt - ref_alt;
}
ref_alt_t = local_pos.ref_timestamp;
ref_alt = local_pos.ref_alt;
// TODO also correct XY setpoint
}
/* reset setpoints to current position if needed */
if (control_mode.flag_control_altitude_enabled) {
if (reset_man_sp_z) {
reset_man_sp_z = false;
local_pos_sp.z = local_pos.z;
mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", (double) - local_pos_sp.z);
}
/* move altitude setpoint with throttle stick */
float z_sp_ctl = scale_control(manual.throttle - 0.5f, 0.5f, alt_ctl_dz);
if (z_sp_ctl != 0.0f) {
sp_move_rate[2] = -z_sp_ctl * params.z_vel_max;
local_pos_sp.z += sp_move_rate[2] * dt;
if (local_pos_sp.z > local_pos.z + z_sp_offs_max) {
local_pos_sp.z = local_pos.z + z_sp_offs_max;
} else if (local_pos_sp.z < local_pos.z - z_sp_offs_max) {
local_pos_sp.z = local_pos.z - z_sp_offs_max;
}
}
}
if (control_mode.flag_control_position_enabled) {
if (reset_man_sp_xy) {
reset_man_sp_xy = false;
local_pos_sp.x = local_pos.x;
local_pos_sp.y = local_pos.y;
pid_reset_integral(&xy_vel_pids[0]);
pid_reset_integral(&xy_vel_pids[1]);
mavlink_log_info(mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y);
}
/* move position setpoint with roll/pitch stick */
float pos_pitch_sp_ctl = scale_control(-manual.pitch / params.rc_scale_pitch, 1.0f, pos_ctl_dz);
float pos_roll_sp_ctl = scale_control(manual.roll / params.rc_scale_roll, 1.0f, pos_ctl_dz);
if (pos_pitch_sp_ctl != 0.0f || pos_roll_sp_ctl != 0.0f) {
/* calculate direction and increment of control in NED frame */
float xy_sp_ctl_dir = att.yaw + atan2f(pos_roll_sp_ctl, pos_pitch_sp_ctl);
float xy_sp_ctl_speed = norm(pos_pitch_sp_ctl, pos_roll_sp_ctl) * params.xy_vel_max;
sp_move_rate[0] = cosf(xy_sp_ctl_dir) * xy_sp_ctl_speed;
sp_move_rate[1] = sinf(xy_sp_ctl_dir) * xy_sp_ctl_speed;
local_pos_sp.x += sp_move_rate[0] * dt;
local_pos_sp.y += sp_move_rate[1] * dt;
/* limit maximum setpoint from position offset and preserve direction
* fail safe, should not happen in normal operation */
float pos_vec_x = local_pos_sp.x - local_pos.x;
float pos_vec_y = local_pos_sp.y - local_pos.y;
float pos_vec_norm = norm(pos_vec_x, pos_vec_y) / xy_sp_offs_max;
if (pos_vec_norm > 1.0f) {
local_pos_sp.x = local_pos.x + pos_vec_x / pos_vec_norm;
local_pos_sp.y = local_pos.y + pos_vec_y / pos_vec_norm;
}
}
}
/* copy yaw setpoint to vehicle_local_position_setpoint topic */
local_pos_sp.yaw = att_sp.yaw_body;
/* local position setpoint is valid and can be used for auto loiter after position controlled mode */
reset_auto_sp_xy = !control_mode.flag_control_position_enabled;
reset_auto_sp_z = !control_mode.flag_control_altitude_enabled;
reset_takeoff_sp = true;
/* force reprojection of global setpoint after manual mode */
reset_mission_sp = true;
}
/* AUTO not implemented */
/* publish local position setpoint */
orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp);
/* run position & altitude controllers, calculate velocity setpoint */
if (control_mode.flag_control_altitude_enabled) {
global_vel_sp.vz = pid_calculate(&z_pos_pid, local_pos_sp.z, local_pos.z, local_pos.vz - sp_move_rate[2], dt) + sp_move_rate[2];
} else {
reset_man_sp_z = true;
global_vel_sp.vz = 0.0f;
}
if (control_mode.flag_control_position_enabled) {
/* calculate velocity set point in NED frame */
global_vel_sp.vx = pid_calculate(&xy_pos_pids[0], local_pos_sp.x, local_pos.x, local_pos.vx - sp_move_rate[0], dt) + sp_move_rate[0];
global_vel_sp.vy = pid_calculate(&xy_pos_pids[1], local_pos_sp.y, local_pos.y, local_pos.vy - sp_move_rate[1], dt) + sp_move_rate[1];
/* limit horizontal speed */
float xy_vel_sp_norm = norm(global_vel_sp.vx, global_vel_sp.vy) / params.xy_vel_max;
if (xy_vel_sp_norm > 1.0f) {
global_vel_sp.vx /= xy_vel_sp_norm;
global_vel_sp.vy /= xy_vel_sp_norm;
}
} else {
reset_man_sp_xy = true;
global_vel_sp.vx = 0.0f;
global_vel_sp.vy = 0.0f;
}
/* publish new velocity setpoint */
orb_publish(ORB_ID(vehicle_global_velocity_setpoint), global_vel_sp_pub, &global_vel_sp);
// TODO subscribe to velocity setpoint if altitude/position control disabled
if (control_mode.flag_control_climb_rate_enabled || control_mode.flag_control_velocity_enabled) {
/* run velocity controllers, calculate thrust vector with attitude-thrust compensation */
float thrust_sp[3] = { 0.0f, 0.0f, 0.0f };
if (control_mode.flag_control_climb_rate_enabled) {
if (reset_int_z) {
reset_int_z = false;
float i = params.thr_min;
if (reset_int_z_manual) {
i = manual.throttle;
if (i < params.thr_min) {
i = params.thr_min;
} else if (i > params.thr_max) {
i = params.thr_max;
}
}
thrust_pid_set_integral(&z_vel_pid, -i);
mavlink_log_info(mavlink_fd, "[mpc] reset hovering thrust: %.2f", (double)i);
}
thrust_sp[2] = thrust_pid_calculate(&z_vel_pid, global_vel_sp.vz, local_pos.vz, dt, att.R[2][2]);
att_sp.thrust = -thrust_sp[2];
} else {
/* reset thrust integral when altitude control enabled */
reset_int_z = true;
}
if (control_mode.flag_control_velocity_enabled) {
/* calculate thrust set point in NED frame */
if (reset_int_xy) {
reset_int_xy = false;
pid_reset_integral(&xy_vel_pids[0]);
pid_reset_integral(&xy_vel_pids[1]);
mavlink_log_info(mavlink_fd, "[mpc] reset pos integral");
}
thrust_sp[0] = pid_calculate(&xy_vel_pids[0], global_vel_sp.vx, local_pos.vx, 0.0f, dt);
thrust_sp[1] = pid_calculate(&xy_vel_pids[1], global_vel_sp.vy, local_pos.vy, 0.0f, dt);
/* thrust_vector now contains desired acceleration (but not in m/s^2) in NED frame */
/* limit horizontal part of thrust */
float thrust_xy_dir = atan2f(thrust_sp[1], thrust_sp[0]);
/* assuming that vertical component of thrust is g,
* horizontal component = g * tan(alpha) */
float tilt = atanf(norm(thrust_sp[0], thrust_sp[1]));
if (tilt > params.tilt_max) {
tilt = params.tilt_max;
}
/* convert direction to body frame */
thrust_xy_dir -= att.yaw;
/* calculate roll and pitch */
att_sp.roll_body = sinf(thrust_xy_dir) * tilt;
att_sp.pitch_body = -cosf(thrust_xy_dir) * tilt / cosf(att_sp.roll_body);
} else {
reset_int_xy = true;
}
att_sp.timestamp = hrt_absolute_time();
/* publish new attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
} else {
/* position controller disabled, reset setpoints */
reset_man_sp_z = true;
reset_man_sp_xy = true;
reset_int_z = true;
reset_int_xy = true;
reset_mission_sp = true;
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
}
/* 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;
/* run at approximately 50 Hz */
usleep(20000);
}
warnx("stopped");
mavlink_log_info(mavlink_fd, "[mpc] stopped");
thread_running = false;
fflush(stdout);
return 0;
}