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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-10 16:18:54 +08:00
added offboard mode to dyn_soar_controller
This commit is contained in:
Marvin Harms
@@ -13,7 +13,7 @@ ekf2 start &
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#
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# Start attitude controller.
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#
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#fw_att_control start
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fw_att_control start
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fw_pos_control_l1 start
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fw_dyn_soar_control start
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airspeed_selector start
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@@ -207,6 +207,14 @@ FixedwingPositionINDIControl::airflow_slip_poll()
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_slip_valid = slip_valid;
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}
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void
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FixedwingPositionINDIControl::vehicle_status_poll()
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{
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if(_vehicle_status_sub.update(&_vehicle_status)){
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print_message(_vehicle_status);
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}
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}
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void
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FixedwingPositionINDIControl::vehicle_attitude_poll()
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{
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@@ -264,10 +272,10 @@ FixedwingPositionINDIControl::soaring_controller_status_poll()
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{
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if (_soaring_controller_status_sub.update(&_soaring_controller_status)){
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if (!_soaring_controller_status.soaring_controller_running){
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PX4_INFO("Soaring controller turned off");
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//PX4_INFO("Soaring controller turned off");
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}
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if (_soaring_controller_status.timeout_detected){
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PX4_INFO("Controller timeout detected");
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//PX4_INFO("Controller timeout detected");
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}
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}
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}
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@@ -371,6 +379,7 @@ FixedwingPositionINDIControl::Run()
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// run polls
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_set_wind_estimate(Vector3f(0.f,0.f,0.f));
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vehicle_status_poll();
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airspeed_poll();
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airflow_aoa_poll();
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airflow_slip_poll();
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@@ -403,7 +412,7 @@ FixedwingPositionINDIControl::Run()
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Vector3f pos_ref = _pos + Vector3f{1.f,0.f,1.f}; // in inertial ENU
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Vector3f vel_ref = Vector3f{15.f,0.f,0.f}; // in inertial ENU
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Vector3f acc_ref = Vector3f{0.f,0.f,0.f}; // gravity-corrected acceleration (ENU)
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Quatf q = _get_attitude_ref(0.f,10.f);
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//Quatf q = _get_attitude_ref(0.f,10.f);
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Vector3f omega_ref = Vector3f{0.f,0.f,0.f}; // body angular velocity
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Vector3f alpha_ref = Vector3f{0.f,0.f,0.f}; // body angular acceleration
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@@ -414,6 +423,15 @@ FixedwingPositionINDIControl::Run()
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// =====================
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Vector3f ctrl = _compute_NDI_stage_1(pos_ref, vel_ref, acc_ref, omega_ref, alpha_ref);
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// =================================
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// publish offboard control commands
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// =================================
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offboard_control_mode_s ocm{};
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ocm.actuator = true;
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ocm.timestamp = hrt_absolute_time();
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_offboard_control_mode_pub.publish(ocm);
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/*
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// =====================
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// publish control input
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// =====================
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@@ -449,6 +467,7 @@ FixedwingPositionINDIControl::Run()
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_angular_vel_sp.pitch = omega_ref(1);
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_angular_vel_sp.yaw = omega_ref(2);
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_angular_vel_sp_pub.publish(_angular_vel_sp);
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*/
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// ============================
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// compute actuator deflections
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@@ -459,15 +478,18 @@ FixedwingPositionINDIControl::Run()
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// =========================
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// publish acutator controls
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// =========================
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_actuators = {};
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_actuators.timestamp = hrt_absolute_time();
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_actuators.timestamp_sample = hrt_absolute_time();
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_actuators.control[actuator_controls_s::INDEX_ROLL] = ctrl2(0);
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_actuators.control[actuator_controls_s::INDEX_PITCH] = ctrl2(1);
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_actuators.control[actuator_controls_s::INDEX_YAW] = ctrl2(2);
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_actuators.control[actuator_controls_s::INDEX_THROTTLE] = 1.0f;
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_actuators_0_pub.publish(_actuators);
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//print_message(_actuators);
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// Publish actuator controls only once in OFFBOARD
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if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) {
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_actuators = {};
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_actuators.timestamp = hrt_absolute_time();
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_actuators.timestamp_sample = hrt_absolute_time();
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_actuators.control[actuator_controls_s::INDEX_ROLL] = ctrl2(0);
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_actuators.control[actuator_controls_s::INDEX_PITCH] = ctrl2(1);
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_actuators.control[actuator_controls_s::INDEX_YAW] = ctrl2(2);
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_actuators.control[actuator_controls_s::INDEX_THROTTLE] = 1.0f;
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_actuators_0_pub.publish(_actuators);
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print_message(_actuators);
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}
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// ===========================
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// publish rate control status
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@@ -479,13 +501,6 @@ FixedwingPositionINDIControl::Run()
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rate_ctrl_status.yawspeed_integ = 0.0f;
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_rate_ctrl_status_pub.publish(rate_ctrl_status);
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/*
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PX4_INFO("control setpoints:\t%.4f\t%.4f\t%.4f",
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(double)vec(0),
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(double)vec(1),
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(double)vec(2));
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*/
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// ==============================
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// publish soaring control status
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// ==============================
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@@ -493,7 +508,8 @@ FixedwingPositionINDIControl::Run()
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_soaring_controller_heartbeat.timestamp = hrt_absolute_time();
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_soaring_controller_heartbeat.heartbeat = hrt_absolute_time();
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_soaring_controller_heartbeat_pub.publish(_soaring_controller_heartbeat);
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//print_message(_soaring_controller_heartbeat);
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}
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perf_end(_loop_perf);
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@@ -60,6 +60,7 @@
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/soaring_controller_heartbeat.h>
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#include <uORB/topics/soaring_controller_status.h>
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#include <uORB/topics/offboard_control_mode.h>
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#include <uORB/topics/wind.h>
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#include <uORB/uORB.h>
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#include <iostream>
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@@ -105,6 +106,7 @@ private:
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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// Subscriptions
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; // vehicle status
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uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; // airspeed
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uORB::Subscription _airflow_aoa_sub{ORB_ID(airflow_aoa)}; // angle of attack
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uORB::Subscription _airflow_slip_sub{ORB_ID(airflow_slip)}; // angle of sideslip
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@@ -120,7 +122,8 @@ private:
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uORB::Publication<vehicle_rates_setpoint_s> _angular_vel_sp_pub{ORB_ID(vehicle_rates_setpoint)};
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uORB::Publication<vehicle_angular_acceleration_setpoint_s> _angular_accel_sp_pub{ORB_ID(vehicle_angular_acceleration_setpoint)};
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uORB::PublicationMulti<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
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uORB::Publication<soaring_controller_heartbeat_s> _soaring_controller_heartbeat_pub{ORB_ID(soaring_controller_status)};
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uORB::Publication<soaring_controller_heartbeat_s> _soaring_controller_heartbeat_pub{ORB_ID(soaring_controller_status)};
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uORB::Publication<offboard_control_mode_s> _offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
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// Message structs
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vehicle_angular_acceleration_setpoint_s _angular_accel_sp {};
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@@ -134,6 +137,7 @@ private:
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vehicle_angular_acceleration_s _angular_accel {}; ///< vehicle angular acceleration
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home_position_s _home_pos {}; ///< home position
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vehicle_control_mode_s _control_mode {}; ///< control mode
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offboard_control_mode_s _offboard_control_mode {}; ///< offboard control mode
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vehicle_status_s _vehicle_status {}; ///< vehicle status
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soaring_controller_status_s _soaring_controller_status {}; ///< soaring controller status
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soaring_controller_heartbeat_s _soaring_controller_heartbeat{}; ///< soaring controller hrt
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