mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-07 07:30:34 +08:00
multirotor_pos_control cleanup
This commit is contained in:
Anton Babushkin
@@ -1,235 +0,0 @@
|
||||
// /****************************************************************************
|
||||
// *
|
||||
// * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
// * Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
// * @author Laurens Mackay <mackayl@student.ethz.ch>
|
||||
// * @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
// * @author Martin Rutschmann <rutmarti@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_position_control.c
|
||||
// * Implementation of the position control for a multirotor VTOL
|
||||
// */
|
||||
|
||||
// #include <stdio.h>
|
||||
// #include <stdlib.h>
|
||||
// #include <stdio.h>
|
||||
// #include <stdint.h>
|
||||
// #include <math.h>
|
||||
// #include <stdbool.h>
|
||||
// #include <float.h>
|
||||
// #include <systemlib/pid/pid.h>
|
||||
|
||||
// #include "multirotor_position_control.h"
|
||||
|
||||
// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
|
||||
// const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
|
||||
// const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp)
|
||||
// {
|
||||
// static PID_t distance_controller;
|
||||
|
||||
// static int read_ret;
|
||||
// static global_data_position_t position_estimated;
|
||||
|
||||
// static uint16_t counter;
|
||||
|
||||
// static bool initialized;
|
||||
// static uint16_t pm_counter;
|
||||
|
||||
// static float lat_next;
|
||||
// static float lon_next;
|
||||
|
||||
// static float pitch_current;
|
||||
|
||||
// static float thrust_total;
|
||||
|
||||
|
||||
// if (initialized == false) {
|
||||
|
||||
// pid_init(&distance_controller,
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
|
||||
// PID_MODE_DERIVATIV_CALC, 150);//150
|
||||
|
||||
// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
|
||||
// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
|
||||
|
||||
// thrust_total = 0.0f;
|
||||
|
||||
// /* Position initialization */
|
||||
// /* Wait for new position estimate */
|
||||
// do {
|
||||
// read_ret = read_lock_position(&position_estimated);
|
||||
// } while (read_ret != 0);
|
||||
|
||||
// lat_next = position_estimated.lat;
|
||||
// lon_next = position_estimated.lon;
|
||||
|
||||
// /* attitude initialization */
|
||||
// global_data_lock(&global_data_attitude->access_conf);
|
||||
// pitch_current = global_data_attitude->pitch;
|
||||
// global_data_unlock(&global_data_attitude->access_conf);
|
||||
|
||||
// initialized = true;
|
||||
// }
|
||||
|
||||
// /* load new parameters with 10Hz */
|
||||
// if (counter % 50 == 0) {
|
||||
// if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
|
||||
// /* check whether new parameters are available */
|
||||
// if (global_data_parameter_storage->counter > pm_counter) {
|
||||
// pid_set_parameters(&distance_controller,
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);
|
||||
|
||||
// //
|
||||
// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
|
||||
// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
|
||||
|
||||
// pm_counter = global_data_parameter_storage->counter;
|
||||
// printf("Position controller changed pid parameters\n");
|
||||
// }
|
||||
// }
|
||||
|
||||
// global_data_unlock(&global_data_parameter_storage->access_conf);
|
||||
// }
|
||||
|
||||
|
||||
// /* Wait for new position estimate */
|
||||
// do {
|
||||
// read_ret = read_lock_position(&position_estimated);
|
||||
// } while (read_ret != 0);
|
||||
|
||||
// /* Get next waypoint */ //TODO: add local copy
|
||||
|
||||
// if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
|
||||
// lat_next = global_data_position_setpoint->x;
|
||||
// lon_next = global_data_position_setpoint->y;
|
||||
// global_data_unlock(&global_data_position_setpoint->access_conf);
|
||||
// }
|
||||
|
||||
// /* Get distance to waypoint */
|
||||
// float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
|
||||
// // if(counter % 5 == 0)
|
||||
// // printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
|
||||
|
||||
// /* Get bearing to waypoint (direction on earth surface to next waypoint) */
|
||||
// float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);
|
||||
|
||||
// if (counter % 5 == 0)
|
||||
// printf("bearing: %.4f\n", bearing);
|
||||
|
||||
// /* Calculate speed in direction of bearing (needed for controller) */
|
||||
// float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy);
|
||||
// // if(counter % 5 == 0)
|
||||
// // printf("speed_norm: %.4f\n", speed_norm);
|
||||
// float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
|
||||
|
||||
// /* Control Thrust in bearing direction */
|
||||
// float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
|
||||
// CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
|
||||
|
||||
// // if(counter % 5 == 0)
|
||||
// // printf("horizontal thrust: %.4f\n", horizontal_thrust);
|
||||
|
||||
// /* Get total thrust (from remote for now) */
|
||||
// if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
|
||||
// thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum?
|
||||
// global_data_unlock(&global_data_rc_channels->access_conf);
|
||||
// }
|
||||
|
||||
// const float max_gas = 500.0f;
|
||||
// thrust_total *= max_gas / 20000.0f; //TODO: check this
|
||||
// thrust_total += max_gas / 2.0f;
|
||||
|
||||
|
||||
// if (horizontal_thrust > thrust_total) {
|
||||
// horizontal_thrust = thrust_total;
|
||||
|
||||
// } else if (horizontal_thrust < -thrust_total) {
|
||||
// horizontal_thrust = -thrust_total;
|
||||
// }
|
||||
|
||||
|
||||
|
||||
// //TODO: maybe we want to add a speed controller later...
|
||||
|
||||
// /* Calclulate thrust in east and north direction */
|
||||
// float thrust_north = cosf(bearing) * horizontal_thrust;
|
||||
// float thrust_east = sinf(bearing) * horizontal_thrust;
|
||||
|
||||
// if (counter % 10 == 0) {
|
||||
// printf("thrust north: %.4f\n", thrust_north);
|
||||
// printf("thrust east: %.4f\n", thrust_east);
|
||||
// fflush(stdout);
|
||||
// }
|
||||
|
||||
// /* Get current attitude */
|
||||
// if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
|
||||
// pitch_current = global_data_attitude->pitch;
|
||||
// global_data_unlock(&global_data_attitude->access_conf);
|
||||
// }
|
||||
|
||||
// /* Get desired pitch & roll */
|
||||
// float pitch_desired = 0.0f;
|
||||
// float roll_desired = 0.0f;
|
||||
|
||||
// if (thrust_total != 0) {
|
||||
// float pitch_fraction = -thrust_north / thrust_total;
|
||||
// float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);
|
||||
|
||||
// if (roll_fraction < -1) {
|
||||
// roll_fraction = -1;
|
||||
|
||||
// } else if (roll_fraction > 1) {
|
||||
// roll_fraction = 1;
|
||||
// }
|
||||
|
||||
// // if(counter % 5 == 0)
|
||||
// // {
|
||||
// // printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
|
||||
// // fflush(stdout);
|
||||
// // }
|
||||
|
||||
// pitch_desired = asinf(pitch_fraction);
|
||||
// roll_desired = asinf(roll_fraction);
|
||||
// }
|
||||
|
||||
// att_sp.roll = roll_desired;
|
||||
// att_sp.pitch = pitch_desired;
|
||||
|
||||
// counter++;
|
||||
// }
|
||||
@@ -1,50 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Laurens Mackay <mackayl@student.ethz.ch>
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Martin Rutschmann <rutmarti@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_position_control.h
|
||||
* Definition of the position control for a multirotor VTOL
|
||||
*/
|
||||
|
||||
// #ifndef POSITION_CONTROL_H_
|
||||
// #define POSITION_CONTROL_H_
|
||||
|
||||
// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
|
||||
// const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
|
||||
// const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp);
|
||||
|
||||
// #endif /* POSITION_CONTROL_H_ */
|
||||
Reference in New Issue
Block a user