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fw_att_control split header into separate file

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Daniel Agar 2018-02-16 18:17:16 -05:00
parent 80de3f48c8
commit 426f2cce2e
2 changed files with 309 additions and 286 deletions
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308
src/modules/fw_att_control/FixedwingAttitudeControl.hpp Normal file
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@ -0,0 +1,308 @@
/****************************************************************************
*
* Copyright (c) 2013-2017 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.
*
****************************************************************************/
#include <controllib/block/BlockParam.hpp>
#include <controllib/blocks.hpp>
#include <px4_module.h>
#include <drivers/drv_hrt.h>
#include <ecl/attitude_fw/ecl_pitch_controller.h>
#include <ecl/attitude_fw/ecl_roll_controller.h>
#include <ecl/attitude_fw/ecl_wheel_controller.h>
#include <ecl/attitude_fw/ecl_yaw_controller.h>
#include <geo/geo.h>
#include <mathlib/mathlib.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <vtol_att_control/vtol_type.h>
using matrix::Eulerf;
using matrix::Quatf;
using uORB::Subscription;
class FixedwingAttitudeControl final : public control::SuperBlock, public ModuleBase<FixedwingAttitudeControl>
{
public:
FixedwingAttitudeControl();
~FixedwingAttitudeControl() override;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static FixedwingAttitudeControl *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
/** @see ModuleBase::print_status() */
int print_status() override;
private:
int _att_sub; /**< vehicle attitude */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _battery_status_sub; /**< battery status subscription */
int _global_pos_sub; /**< global position subscription */
int _manual_sub; /**< notification of manual control updates */
int _params_sub; /**< notification of parameter updates */
int _vcontrol_mode_sub; /**< vehicle status subscription */
int _vehicle_land_detected_sub; /**< vehicle land detected subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
orb_advert_t _actuators_2_pub; /**< actuator control group 1 setpoint (Airframe) */
orb_advert_t _rate_ctrl_status_pub; /**< rate controller status publication */
orb_id_t _rates_sp_id; // pointer to correct rates setpoint uORB metadata structure
orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure
orb_id_t _attitude_setpoint_id;
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct battery_status_s _battery_status; /**< battery status */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct vehicle_attitude_s _att; /**< vehicle attitude setpoint */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct vehicle_global_position_s _global_pos; /**< global position */
struct vehicle_land_detected_s _vehicle_land_detected; /**< vehicle land detected */
struct vehicle_rates_setpoint_s _rates_sp; /* attitude rates setpoint */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
Subscription<airspeed_s> _sub_airspeed;
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 */
float _flaps_applied;
float _flaperons_applied;
struct {
float p_tc;
float p_p;
float p_i;
float p_ff;
float p_rmax_pos;
float p_rmax_neg;
float p_integrator_max;
float r_tc;
float r_p;
float r_i;
float r_ff;
float r_integrator_max;
float r_rmax;
float y_p;
float y_i;
float y_ff;
float y_integrator_max;
float roll_to_yaw_ff;
float y_rmax;
bool w_en;
float w_p;
float w_i;
float w_ff;
float w_integrator_max;
float w_rmax;
float airspeed_min;
float airspeed_trim;
float airspeed_max;
float trim_roll;
float trim_pitch;
float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
float man_roll_scale; /**< scale factor applied to roll actuator control in pure manual mode */
float man_pitch_scale; /**< scale factor applied to pitch actuator control in pure manual mode */
float man_yaw_scale; /**< scale factor applied to yaw actuator control in pure manual mode */
float acro_max_x_rate_rad;
float acro_max_y_rate_rad;
float acro_max_z_rate_rad;
float flaps_scale; /**< Scale factor for flaps */
float flaperon_scale; /**< Scale factor for flaperons */
float rattitude_thres;
int32_t vtol_type; /**< VTOL type: 0 = tailsitter, 1 = tiltrotor */
int32_t bat_scale_en; /**< Battery scaling enabled */
} _parameters{}; /**< local copies of interesting parameters */
struct {
param_t p_tc;
param_t p_p;
param_t p_i;
param_t p_ff;
param_t p_rmax_pos;
param_t p_rmax_neg;
param_t p_integrator_max;
param_t r_tc;
param_t r_p;
param_t r_i;
param_t r_ff;
param_t r_integrator_max;
param_t r_rmax;
param_t y_p;
param_t y_i;
param_t y_ff;
param_t y_integrator_max;
param_t roll_to_yaw_ff;
param_t y_rmax;
param_t w_en;
param_t w_p;
param_t w_i;
param_t w_ff;
param_t w_integrator_max;
param_t w_rmax;
param_t airspeed_min;
param_t airspeed_trim;
param_t airspeed_max;
param_t trim_roll;
param_t trim_pitch;
param_t trim_yaw;
param_t rollsp_offset_deg;
param_t pitchsp_offset_deg;
param_t man_roll_max;
param_t man_pitch_max;
param_t man_roll_scale;
param_t man_pitch_scale;
param_t man_yaw_scale;
param_t acro_max_x_rate;
param_t acro_max_y_rate;
param_t acro_max_z_rate;
param_t flaps_scale;
param_t flaperon_scale;
param_t rattitude_thres;
param_t vtol_type;
param_t bat_scale_en;
} _parameter_handles{}; /**< handles for interesting parameters */
// Rotation matrix and euler angles to extract from control state
math::Matrix<3, 3> _R;
float _roll{0.0f};
float _pitch{0.0f};
float _yaw{0.0f};
ECL_RollController _roll_ctrl;
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
ECL_WheelController _wheel_ctrl;
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Check for changes in vehicle control mode.
*/
void vehicle_control_mode_poll();
/**
* Check for changes in manual inputs.
*/
void vehicle_manual_poll();
/**
* Check for set triplet updates.
*/
void vehicle_setpoint_poll();
/**
* Check for global position updates.
*/
void global_pos_poll();
/**
* Check for vehicle status updates.
*/
void vehicle_status_poll();
/**
* Check for vehicle land detected updates.
*/
void vehicle_land_detected_poll();
/**
* Check for battery status updates.
*/
void battery_status_poll();
};

287
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -31,52 +31,7 @@
*
****************************************************************************/
/**
* @file fw_att_control_main.c
* Implementation of a generic attitude controller based on classic orthogonal PIDs.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
#include <controllib/block/BlockParam.hpp>
#include <controllib/blocks.hpp>
#include <px4_module.h>
#include <drivers/drv_hrt.h>
#include <ecl/attitude_fw/ecl_pitch_controller.h>
#include <ecl/attitude_fw/ecl_roll_controller.h>
#include <ecl/attitude_fw/ecl_wheel_controller.h>
#include <ecl/attitude_fw/ecl_yaw_controller.h>
#include <geo/geo.h>
#include <mathlib/mathlib.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <vtol_att_control/vtol_type.h>
using matrix::Eulerf;
using matrix::Quatf;
using uORB::Subscription;
#include "FixedwingAttitudeControl.hpp"
/**
* Fixedwing attitude control app start / stop handling function
@ -85,246 +40,6 @@ using uORB::Subscription;
*/
extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]);
class FixedwingAttitudeControl final : public control::SuperBlock, public ModuleBase<FixedwingAttitudeControl>
{
public:
FixedwingAttitudeControl();
~FixedwingAttitudeControl() override;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static FixedwingAttitudeControl *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
/** @see ModuleBase::print_status() */
int print_status() override;
private:
int _att_sub; /**< vehicle attitude */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _battery_status_sub; /**< battery status subscription */
int _global_pos_sub; /**< global position subscription */
int _manual_sub; /**< notification of manual control updates */
int _params_sub; /**< notification of parameter updates */
int _vcontrol_mode_sub; /**< vehicle status subscription */
int _vehicle_land_detected_sub; /**< vehicle land detected subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
orb_advert_t _actuators_2_pub; /**< actuator control group 1 setpoint (Airframe) */
orb_advert_t _rate_ctrl_status_pub; /**< rate controller status publication */
orb_id_t _rates_sp_id; // pointer to correct rates setpoint uORB metadata structure
orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure
orb_id_t _attitude_setpoint_id;
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct battery_status_s _battery_status; /**< battery status */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct vehicle_attitude_s _att; /**< vehicle attitude setpoint */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct vehicle_global_position_s _global_pos; /**< global position */
struct vehicle_land_detected_s _vehicle_land_detected; /**< vehicle land detected */
struct vehicle_rates_setpoint_s _rates_sp; /* attitude rates setpoint */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
Subscription<airspeed_s> _sub_airspeed;
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 */
float _flaps_applied;
float _flaperons_applied;
struct {
float p_tc;
float p_p;
float p_i;
float p_ff;
float p_rmax_pos;
float p_rmax_neg;
float p_integrator_max;
float r_tc;
float r_p;
float r_i;
float r_ff;
float r_integrator_max;
float r_rmax;
float y_p;
float y_i;
float y_ff;
float y_integrator_max;
float roll_to_yaw_ff;
float y_rmax;
bool w_en;
float w_p;
float w_i;
float w_ff;
float w_integrator_max;
float w_rmax;
float airspeed_min;
float airspeed_trim;
float airspeed_max;
float trim_roll;
float trim_pitch;
float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
float man_roll_scale; /**< scale factor applied to roll actuator control in pure manual mode */
float man_pitch_scale; /**< scale factor applied to pitch actuator control in pure manual mode */
float man_yaw_scale; /**< scale factor applied to yaw actuator control in pure manual mode */
float acro_max_x_rate_rad;
float acro_max_y_rate_rad;
float acro_max_z_rate_rad;
float flaps_scale; /**< Scale factor for flaps */
float flaperon_scale; /**< Scale factor for flaperons */
float rattitude_thres;
int32_t vtol_type; /**< VTOL type: 0 = tailsitter, 1 = tiltrotor */
int32_t bat_scale_en; /**< Battery scaling enabled */
} _parameters{}; /**< local copies of interesting parameters */
struct {
param_t p_tc;
param_t p_p;
param_t p_i;
param_t p_ff;
param_t p_rmax_pos;
param_t p_rmax_neg;
param_t p_integrator_max;
param_t r_tc;
param_t r_p;
param_t r_i;
param_t r_ff;
param_t r_integrator_max;
param_t r_rmax;
param_t y_p;
param_t y_i;
param_t y_ff;
param_t y_integrator_max;
param_t roll_to_yaw_ff;
param_t y_rmax;
param_t w_en;
param_t w_p;
param_t w_i;
param_t w_ff;
param_t w_integrator_max;
param_t w_rmax;
param_t airspeed_min;
param_t airspeed_trim;
param_t airspeed_max;
param_t trim_roll;
param_t trim_pitch;
param_t trim_yaw;
param_t rollsp_offset_deg;
param_t pitchsp_offset_deg;
param_t man_roll_max;
param_t man_pitch_max;
param_t man_roll_scale;
param_t man_pitch_scale;
param_t man_yaw_scale;
param_t acro_max_x_rate;
param_t acro_max_y_rate;
param_t acro_max_z_rate;
param_t flaps_scale;
param_t flaperon_scale;
param_t rattitude_thres;
param_t vtol_type;
param_t bat_scale_en;
} _parameter_handles{}; /**< handles for interesting parameters */
// Rotation matrix and euler angles to extract from control state
math::Matrix<3, 3> _R;
float _roll{0.0f};
float _pitch{0.0f};
float _yaw{0.0f};
ECL_RollController _roll_ctrl;
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
ECL_WheelController _wheel_ctrl;
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Check for changes in vehicle control mode.
*/
void vehicle_control_mode_poll();
/**
* Check for changes in manual inputs.
*/
void vehicle_manual_poll();
/**
* Check for set triplet updates.
*/
void vehicle_setpoint_poll();
/**
* Check for global position updates.
*/
void global_pos_poll();
/**
* Check for vehicle status updates.
*/
void vehicle_status_poll();
/**
* Check for vehicle land detected updates.
*/
void vehicle_land_detected_poll();
/**
* Check for battery status updates.
*/
void battery_status_poll();
};
FixedwingAttitudeControl::FixedwingAttitudeControl() :
SuperBlock(nullptr, "FW_ATT"),
/* subscriptions */