fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-14 15:00:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of github.com:PX4/Firmware into gps_logging_dual

Browse Source
This commit is contained in:
Lorenz Meier
2014-05-23 12:43:53 +02:00
parent 7d7aaca18c a14dfc5063
commit 3c488f3a41
12 changed files with 137 additions and 892 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/fw_att_control_main.cpp
+52 -9
View File
@@ -134,6 +134,8 @@ private:
struct vehicle_global_position_s _global_pos; /**< global position */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
@@ -310,6 +312,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
_nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")),
/* states */
_setpoint_valid(false)
{
@@ -387,6 +391,10 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
} while (_control_task != -1);
}
perf_free(_loop_perf);
perf_free(_nonfinite_input_perf);
perf_free(_nonfinite_output_perf);
att_control::g_control = nullptr;
}
@@ -592,6 +600,8 @@ FixedwingAttitudeControl::task_main()
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
@@ -672,10 +682,12 @@ FixedwingAttitudeControl::task_main()
float airspeed;
/* if airspeed is not updating, we assume the normal average speed */
if (!isfinite(_airspeed.true_airspeed_m_s) ||
if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s) ||
hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
airspeed = _parameters.airspeed_trim;
if (nonfinite) {
perf_count(_nonfinite_input_perf);
}
} else {
airspeed = _airspeed.true_airspeed_m_s;
}
@@ -755,7 +767,9 @@ FixedwingAttitudeControl::task_main()
speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d;
speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d;
} else {
warnx("Did not get a valid R\n");
if (loop_counter % 10 == 0) {
warnx("Did not get a valid R\n");
}
}
/* Run attitude controllers */
@@ -773,7 +787,12 @@ FixedwingAttitudeControl::task_main()
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
if (!isfinite(roll_u)) {
warnx("roll_u %.4f", (double)roll_u);
_roll_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (loop_counter % 10 == 0) {
warnx("roll_u %.4f", (double)roll_u);
}
}
float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
@@ -782,8 +801,22 @@ FixedwingAttitudeControl::task_main()
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
if (!isfinite(pitch_u)) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(), (double)airspeed, (double)airspeed_scaling, (double)roll_sp, (double)pitch_sp, (double)_roll_ctrl.get_desired_rate(), (double)_pitch_ctrl.get_desired_rate(), (double)_att_sp.roll_body);
_pitch_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
(double)airspeed, (double)airspeed_scaling,
(double)roll_sp, (double)pitch_sp,
(double)_roll_ctrl.get_desired_rate(),
(double)_pitch_ctrl.get_desired_rate(),
(double)_att_sp.roll_body);
}
}
float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
@@ -792,16 +825,25 @@ FixedwingAttitudeControl::task_main()
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
if (!isfinite(yaw_u)) {
warnx("yaw_u %.4f", (double)yaw_u);
_yaw_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through */
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
if (!isfinite(throttle_sp)) {
warnx("throttle_sp %.4f", (double)throttle_sp);
if (loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);
}
}
} else {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
perf_count(_nonfinite_input_perf);
if (loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
}
/*
@@ -865,6 +907,7 @@ FixedwingAttitudeControl::task_main()
}
loop_counter++;
perf_end(_loop_perf);
}