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mc att control: make the main app use the base class, move euroc functions into own class

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This commit is contained in:
Thomas Gubler
2014-12-05 09:00:21 +01:00
parent 33647c494e
commit 4c950eb76b
6 changed files with 241 additions and 401 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+21 -279
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@@ -75,6 +75,7 @@
#include <systemlib/circuit_breaker.h>
#include <lib/mathlib/mathlib.h>
#include <lib/geo/geo.h>
#include "mc_att_control_base.h"
/**
* Multicopter attitude control app start / stop handling function
@@ -87,7 +88,8 @@ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f
class MulticopterAttitudeControl
class MulticopterAttitudeControl :
public MulticopterAttitudeControlBase
{
public:
/**
@@ -108,7 +110,6 @@ public:
int start();
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
@@ -124,28 +125,6 @@ private:
orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
struct vehicle_attitude_s _v_att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator controls */
struct actuator_armed_s _armed; /**< actuator arming status */
perf_counter_t _loop_perf; /**< loop performance counter */
math::Vector<3> _rates_prev; /**< angular rates on previous step */
math::Vector<3> _rates_sp; /**< angular rates setpoint */
math::Vector<3> _rates_int; /**< angular rates integral error */
float _thrust_sp; /**< thrust setpoint */
math::Vector<3> _att_control; /**< attitude control vector */
math::Matrix<3, 3> _I; /**< identity matrix */
bool _reset_yaw_sp; /**< reset yaw setpoint flag */
struct {
param_t roll_p;
param_t roll_rate_p;
@@ -170,19 +149,7 @@ private:
param_t acro_yaw_max;
} _params_handles; /**< handles for interesting parameters */
struct {
math::Vector<3> att_p; /**< P gain for angular error */
math::Vector<3> rate_p; /**< P gain for angular rate error */
math::Vector<3> rate_i; /**< I gain for angular rate error */
math::Vector<3> rate_d; /**< D gain for angular rate error */
float yaw_ff; /**< yaw control feed-forward */
float yaw_rate_max; /**< max yaw rate */
float man_roll_max;
float man_pitch_max;
float man_yaw_max;
math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
} _params;
perf_counter_t _loop_perf; /**< loop performance counter */
/**
* Update our local parameter cache.
@@ -219,16 +186,6 @@ private:
*/
void arming_status_poll();
/**
* Attitude controller.
*/
void control_attitude(float dt);
/**
* Attitude rates controller.
*/
void control_attitude_rates(float dt);
/**
* Shim for calling task_main from task_create.
*/
@@ -253,11 +210,8 @@ MulticopterAttitudeControl *g_control;
}
MulticopterAttitudeControl::MulticopterAttitudeControl() :
_task_should_exit(false),
_control_task(-1),
/* subscriptions */
MulticopterAttitudeControlBase(),
/* subscriptions */
_v_att_sub(-1),
_v_att_sp_sub(-1),
_v_control_mode_sub(-1),
@@ -265,14 +219,12 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_manual_control_sp_sub(-1),
_armed_sub(-1),
/* publications */
/* publications */
_att_sp_pub(-1),
_v_rates_sp_pub(-1),
_actuators_0_pub(-1),
_actuators_0_circuit_breaker_enabled(false),
/* performance counters */
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
{
@@ -489,229 +441,6 @@ MulticopterAttitudeControl::arming_status_poll()
}
}
/*
* Attitude controller.
* Input: 'manual_control_setpoint' and 'vehicle_attitude_setpoint' topics (depending on mode)
* Output: '_rates_sp' vector, '_thrust_sp', 'vehicle_attitude_setpoint' topic (for manual modes)
*/
void
MulticopterAttitudeControl::control_attitude(float dt)
{
float yaw_sp_move_rate = 0.0f;
bool publish_att_sp = false;
if (_v_control_mode.flag_control_manual_enabled) {
/* manual input, set or modify attitude setpoint */
if (_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
vehicle_attitude_setpoint_poll();
}
if (!_v_control_mode.flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude stabilized mode */
_v_att_sp.thrust = _manual_control_sp.z;
publish_att_sp = true;
}
if (!_armed.armed) {
/* reset yaw setpoint when disarmed */
_reset_yaw_sp = true;
}
/* move yaw setpoint in all modes */
if (_v_att_sp.thrust < 0.1f) {
// TODO
//if (_status.condition_landed) {
/* reset yaw setpoint if on ground */
// reset_yaw_sp = true;
//}
} else {
/* move yaw setpoint */
yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
if (yaw_offs < - yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
} else if (yaw_offs > yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
}
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
/* reset yaw setpint to current position if needed */
if (_reset_yaw_sp) {
_reset_yaw_sp = false;
_v_att_sp.yaw_body = _v_att.yaw;
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
if (!_v_control_mode.flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
_v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
} else {
/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
vehicle_attitude_setpoint_poll();
/* reset yaw setpoint after non-manual control mode */
_reset_yaw_sp = true;
}
_thrust_sp = _v_att_sp.thrust;
/* construct attitude setpoint rotation matrix */
math::Matrix<3, 3> R_sp;
if (_v_att_sp.R_valid) {
/* rotation matrix in _att_sp is valid, use it */
R_sp.set(&_v_att_sp.R_body[0][0]);
} else {
/* rotation matrix in _att_sp is not valid, use euler angles instead */
R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
/* copy rotation matrix back to setpoint struct */
memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], sizeof(_v_att_sp.R_body));
_v_att_sp.R_valid = true;
}
/* publish the attitude setpoint if needed */
if (publish_att_sp) {
_v_att_sp.timestamp = hrt_absolute_time();
if (_att_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_v_att_sp);
} else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_v_att_sp);
}
}
/* rotation matrix for current state */
math::Matrix<3, 3> R;
R.set(_v_att.R);
/* all input data is ready, run controller itself */
/* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2));
math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
/* axis and sin(angle) of desired rotation */
math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z);
/* calculate angle error */
float e_R_z_sin = e_R.length();
float e_R_z_cos = R_z * R_sp_z;
/* calculate weight for yaw control */
float yaw_w = R_sp(2, 2) * R_sp(2, 2);
/* calculate rotation matrix after roll/pitch only rotation */
math::Matrix<3, 3> R_rp;
if (e_R_z_sin > 0.0f) {
/* get axis-angle representation */
float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos);
math::Vector<3> e_R_z_axis = e_R / e_R_z_sin;
e_R = e_R_z_axis * e_R_z_angle;
/* cross product matrix for e_R_axis */
math::Matrix<3, 3> e_R_cp;
e_R_cp.zero();
e_R_cp(0, 1) = -e_R_z_axis(2);
e_R_cp(0, 2) = e_R_z_axis(1);
e_R_cp(1, 0) = e_R_z_axis(2);
e_R_cp(1, 2) = -e_R_z_axis(0);
e_R_cp(2, 0) = -e_R_z_axis(1);
e_R_cp(2, 1) = e_R_z_axis(0);
/* rotation matrix for roll/pitch only rotation */
R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
} else {
/* zero roll/pitch rotation */
R_rp = R;
}
/* R_rp and R_sp has the same Z axis, calculate yaw error */
math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
if (e_R_z_cos < 0.0f) {
/* for large thrust vector rotations use another rotation method:
* calculate angle and axis for R -> R_sp rotation directly */
math::Quaternion q;
q.from_dcm(R.transposed() * R_sp);
math::Vector<3> e_R_d = q.imag();
e_R_d.normalize();
e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0));
/* use fusion of Z axis based rotation and direct rotation */
float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;
e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w;
}
/* calculate angular rates setpoint */
_rates_sp = _params.att_p.emult(e_R);
/* limit yaw rate */
_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
/* feed forward yaw setpoint rate */
_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
}
/*
* Attitude rates controller.
* Input: '_rates_sp' vector, '_thrust_sp'
* Output: '_att_control' vector
*/
void
MulticopterAttitudeControl::control_attitude_rates(float dt)
{
/* reset integral if disarmed */
if (!_armed.armed) {
_rates_int.zero();
}
/* current body angular rates */
math::Vector<3> rates;
rates(0) = _v_att.rollspeed;
rates(1) = _v_att.pitchspeed;
rates(2) = _v_att.yawspeed;
/* angular rates error */
math::Vector<3> rates_err = _rates_sp - rates;
_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
_rates_prev = rates;
/* update integral only if not saturated on low limit */
if (_thrust_sp > MIN_TAKEOFF_THRUST) {
for (int i = 0; i < 3; i++) {
if (fabsf(_att_control(i)) < _thrust_sp) {
float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
_rates_int(i) = rate_i;
}
}
}
}
}
void
MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
{
@@ -787,6 +516,19 @@ MulticopterAttitudeControl::task_main()
if (_v_control_mode.flag_control_attitude_enabled) {
control_attitude(dt);
/* publish the attitude setpoint if needed */
if (_publish_att_sp) {
_v_att_sp.timestamp = hrt_absolute_time();
if (_att_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
&_v_att_sp);
} else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
&_v_att_sp);
}
}
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);