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mc att control multiplatform alongside normal mc att control

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This commit is contained in:
Thomas Gubler
2015-01-05 16:12:15 +01:00
parent 941ff05720
commit 5876ff11ec
15 changed files with 1349 additions and 88 deletions
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src/modules/mc_att_control/mc_att_control.cpp
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@@ -1,298 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 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.
*
****************************************************************************/
/**
* @file mc_att_control.cpp
* Multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Julian Oes <julian@oes.ch>
* @author Roman Bapst <bapstr@ethz.ch>
*/
#include "mc_att_control.h"
#include "mc_att_control_params.h"
#include "math.h"
#define YAW_DEADZONE 0.05f
#define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f
namespace mc_att_control
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
}
MulticopterAttitudeControl::MulticopterAttitudeControl() :
MulticopterAttitudeControlBase(),
_task_should_exit(false),
_actuators_0_circuit_breaker_enabled(false),
/* publications */
_att_sp_pub(nullptr),
_v_rates_sp_pub(nullptr),
_actuators_0_pub(nullptr),
_n(),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
{
_params_handles.roll_p = PX4_PARAM_INIT(MC_ROLL_P);
_params_handles.roll_rate_p = PX4_PARAM_INIT(MC_ROLLRATE_P);
_params_handles.roll_rate_i = PX4_PARAM_INIT(MC_ROLLRATE_I);
_params_handles.roll_rate_d = PX4_PARAM_INIT(MC_ROLLRATE_D);
_params_handles.pitch_p = PX4_PARAM_INIT(MC_PITCH_P);
_params_handles.pitch_rate_p = PX4_PARAM_INIT(MC_PITCHRATE_P);
_params_handles.pitch_rate_i = PX4_PARAM_INIT(MC_PITCHRATE_I);
_params_handles.pitch_rate_d = PX4_PARAM_INIT(MC_PITCHRATE_D);
_params_handles.yaw_p = PX4_PARAM_INIT(MC_YAW_P);
_params_handles.yaw_rate_p = PX4_PARAM_INIT(MC_YAWRATE_P);
_params_handles.yaw_rate_i = PX4_PARAM_INIT(MC_YAWRATE_I);
_params_handles.yaw_rate_d = PX4_PARAM_INIT(MC_YAWRATE_D);
_params_handles.yaw_ff = PX4_PARAM_INIT(MC_YAW_FF);
_params_handles.yaw_rate_max = PX4_PARAM_INIT(MC_YAWRATE_MAX);
_params_handles.man_roll_max = PX4_PARAM_INIT(MC_MAN_R_MAX);
_params_handles.man_pitch_max = PX4_PARAM_INIT(MC_MAN_P_MAX);
_params_handles.man_yaw_max = PX4_PARAM_INIT(MC_MAN_Y_MAX);
_params_handles.acro_roll_max = PX4_PARAM_INIT(MC_ACRO_R_MAX);
_params_handles.acro_pitch_max = PX4_PARAM_INIT(MC_ACRO_P_MAX);
_params_handles.acro_yaw_max = PX4_PARAM_INIT(MC_ACRO_Y_MAX);
/* fetch initial parameter values */
parameters_update();
/*
* do subscriptions
*/
_v_att = PX4_SUBSCRIBE(_n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
_v_att_sp = PX4_SUBSCRIBE(_n, vehicle_attitude_setpoint, 0);
_v_rates_sp = PX4_SUBSCRIBE(_n, vehicle_rates_setpoint, 0);
_v_control_mode = PX4_SUBSCRIBE(_n, vehicle_control_mode, 0);
_parameter_update = PX4_SUBSCRIBE(_n, parameter_update,
MulticopterAttitudeControl::handle_parameter_update, this, 1000);
_manual_control_sp = PX4_SUBSCRIBE(_n, manual_control_setpoint, 0);
_armed = PX4_SUBSCRIBE(_n, actuator_armed, 0);
_v_status = PX4_SUBSCRIBE(_n, vehicle_status, 0);
}
MulticopterAttitudeControl::~MulticopterAttitudeControl()
{
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
/* roll gains */
PX4_PARAM_GET(_params_handles.roll_p, &v);
_params.att_p(0) = v;
PX4_PARAM_GET(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v;
PX4_PARAM_GET(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
PX4_PARAM_GET(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v;
/* pitch gains */
PX4_PARAM_GET(_params_handles.pitch_p, &v);
_params.att_p(1) = v;
PX4_PARAM_GET(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v;
PX4_PARAM_GET(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
PX4_PARAM_GET(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v;
/* yaw gains */
PX4_PARAM_GET(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
PX4_PARAM_GET(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
PX4_PARAM_GET(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
PX4_PARAM_GET(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
PX4_PARAM_GET(_params_handles.yaw_ff, &_params.yaw_ff);
PX4_PARAM_GET(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
/* manual control scale */
PX4_PARAM_GET(_params_handles.man_roll_max, &_params.man_roll_max);
PX4_PARAM_GET(_params_handles.man_pitch_max, &_params.man_pitch_max);
PX4_PARAM_GET(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
/* acro control scale */
PX4_PARAM_GET(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
PX4_PARAM_GET(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
PX4_PARAM_GET(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
return OK;
}
void MulticopterAttitudeControl::handle_parameter_update(const PX4_TOPIC_T(parameter_update) &msg)
{
parameters_update();
}
void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
perf_begin(_loop_perf);
/* run controller on attitude changes */
static uint64_t last_run = 0;
float dt = (px4::get_time_micros() - last_run) / 1000000.0f;
last_run = px4::get_time_micros();
/* guard against too small (< 2ms) and too large (> 20ms) dt's */
if (dt < 0.002f) {
dt = 0.002f;
} else if (dt > 0.02f) {
dt = 0.02f;
}
if (_v_control_mode->get().flag_control_attitude_enabled) {
control_attitude(dt);
/* publish the attitude setpoint if needed */
if (_publish_att_sp && _v_status->get().is_rotary_wing) {
_v_att_sp_mod.timestamp = px4::get_time_micros();
if (_att_sp_pub != nullptr) {
_att_sp_pub->publish(_v_att_sp_mod);
} else {
_att_sp_pub = PX4_ADVERTISE(_n, vehicle_attitude_setpoint);
}
}
/* publish attitude rates setpoint */
_v_rates_sp_mod.roll = _rates_sp(0);
_v_rates_sp_mod.pitch = _rates_sp(1);
_v_rates_sp_mod.yaw = _rates_sp(2);
_v_rates_sp_mod.thrust = _thrust_sp;
_v_rates_sp_mod.timestamp = px4::get_time_micros();
if (_v_rates_sp_pub != nullptr) {
_v_rates_sp_pub->publish(_v_rates_sp_mod);
} else {
if (_v_status->get().is_vtol) {
_v_rates_sp_pub = PX4_ADVERTISE(_n, mc_virtual_rates_setpoint);
} else {
_v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint);
}
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode->get().flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp->get().y, -_manual_control_sp->get().x,
_manual_control_sp->get().r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp->get().z;
/* reset yaw setpoint after ACRO */
_reset_yaw_sp = true;
/* publish attitude rates setpoint */
_v_rates_sp_mod.roll = _rates_sp(0);
_v_rates_sp_mod.pitch = _rates_sp(1);
_v_rates_sp_mod.yaw = _rates_sp(2);
_v_rates_sp_mod.thrust = _thrust_sp;
_v_rates_sp_mod.timestamp = px4::get_time_micros();
if (_v_rates_sp_pub != nullptr) {
_v_rates_sp_pub->publish(_v_rates_sp_mod);
} else {
if (_v_status->get().is_vtol) {
_v_rates_sp_pub = PX4_ADVERTISE(_n, mc_virtual_rates_setpoint);
} else {
_v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint);
}
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
_rates_sp(0) = _v_rates_sp->get().roll;
_rates_sp(1) = _v_rates_sp->get().pitch;
_rates_sp(2) = _v_rates_sp->get().yaw;
_thrust_sp = _v_rates_sp->get().thrust;
}
}
if (_v_control_mode->get().flag_control_rates_enabled) {
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = px4::get_time_micros();
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub != nullptr) {
_actuators_0_pub->publish(_actuators);
} else {
if (_v_status->get().is_vtol) {
_actuators_0_pub = PX4_ADVERTISE(_n, actuator_controls_virtual_mc);
} else {
_actuators_0_pub = PX4_ADVERTISE(_n, actuator_controls_0);
}
}
}
}
}
src/modules/mc_att_control/mc_att_control.h
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/****************************************************************************
*
* Copyright (c) 2013, 2014 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.
*
****************************************************************************/
/**
* @file mc_att_control.h
* Multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Julian Oes <julian@oes.ch>
* @author Roman Bapst <bapstr@ethz.ch>
*
* The controller has two loops: P loop for angular error and PD loop for angular rate error.
* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
* For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
* so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
* These two approaches fused seamlessly with weight depending on angular error.
* When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
*/
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <systemlib/perf_counter.h>
// #include <systemlib/systemlib.h>
#include <systemlib/circuit_breaker.h>
#include <lib/mathlib/mathlib.h>
#include "mc_att_control_base.h"
class MulticopterAttitudeControl :
public MulticopterAttitudeControlBase
{
public:
/**
* Constructor
*/
MulticopterAttitudeControl();
/**
* Destructor, also kills the sensors task.
*/
~MulticopterAttitudeControl();
/* Callbacks for topics */
void handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg);
void handle_parameter_update(const PX4_TOPIC_T(parameter_update) &msg);
void spin() { _n.spin(); }
private:
bool _task_should_exit; /**< if true, sensor task should exit */
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
px4::Publisher * _att_sp_pub; /**< attitude setpoint publication */
px4::Publisher * _v_rates_sp_pub; /**< rate setpoint publication */
px4::Publisher * _actuators_0_pub; /**< attitude actuator controls publication */
px4::NodeHandle _n;
struct {
px4_param_t roll_p;
px4_param_t roll_rate_p;
px4_param_t roll_rate_i;
px4_param_t roll_rate_d;
px4_param_t pitch_p;
px4_param_t pitch_rate_p;
px4_param_t pitch_rate_i;
px4_param_t pitch_rate_d;
px4_param_t yaw_p;
px4_param_t yaw_rate_p;
px4_param_t yaw_rate_i;
px4_param_t yaw_rate_d;
px4_param_t yaw_ff;
px4_param_t yaw_rate_max;
px4_param_t man_roll_max;
px4_param_t man_pitch_max;
px4_param_t man_yaw_max;
px4_param_t acro_roll_max;
px4_param_t acro_pitch_max;
px4_param_t acro_yaw_max;
px4_param_t autostart_id;
} _params_handles; /**< handles for interesting parameters */
perf_counter_t _loop_perf; /**< loop performance counter */
/**
* Update our local parameter cache.
*/
int parameters_update();
};
src/modules/mc_att_control/mc_att_control_base.cpp
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/* Copyright (c) 2014 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.
*
****************************************************************************/
/**
* @file mc_att_control_base.cpp
*
* MC Attitude Controller : Control and math code
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Julian Oes <julian@oes.ch>
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
#include "mc_att_control_base.h"
#include <geo/geo.h>
#include <math.h>
#include <lib/mathlib/mathlib.h>
#ifdef CONFIG_ARCH_ARM
#else
#include <cmath>
using namespace std;
#endif
MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
_publish_att_sp(false)
{
memset(&_v_att_sp_mod, 0, sizeof(_v_att_sp_mod));
memset(&_v_rates_sp_mod, 0, sizeof(_v_rates_sp_mod));
memset(&_actuators, 0, sizeof(_actuators));
_params.att_p.zero();
_params.rate_p.zero();
_params.rate_i.zero();
_params.rate_d.zero();
_params.yaw_ff = 0.0f;
_params.yaw_rate_max = 0.0f;
_params.man_roll_max = 0.0f;
_params.man_pitch_max = 0.0f;
_params.man_yaw_max = 0.0f;
_params.acro_rate_max.zero();
_rates_prev.zero();
_rates_sp.zero();
_rates_int.zero();
_thrust_sp = 0.0f;
_att_control.zero();
_I.identity();
}
MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase()
{
}
void MulticopterAttitudeControlBase::control_attitude(float dt)
{
float yaw_sp_move_rate = 0.0f;
_publish_att_sp = false;
if (_v_control_mode->get().flag_control_manual_enabled) {
/* manual input, set or modify attitude setpoint */
if (_v_control_mode->get().flag_control_velocity_enabled
|| _v_control_mode->get().flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
memcpy(&_v_att_sp_mod, _v_att_sp->get_void_ptr(), sizeof(_v_att_sp_mod));
}
if (!_v_control_mode->get().flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude stabilized mode */
_v_att_sp_mod.thrust = _manual_control_sp->get().z;
_publish_att_sp = true;
}
if (!_armed->get().armed) {
/* reset yaw setpoint when disarmed */
_reset_yaw_sp = true;
}
/* move yaw setpoint in all modes */
if (_v_att_sp_mod.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->get().r * _params.man_yaw_max;
_v_att_sp_mod.yaw_body = _wrap_pi(
_v_att_sp_mod.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_mod.yaw_body - _v_att->get().yaw);
if (yaw_offs < -yaw_offs_max) {
_v_att_sp_mod.yaw_body = _wrap_pi(_v_att->get().yaw - yaw_offs_max);
} else if (yaw_offs > yaw_offs_max) {
_v_att_sp_mod.yaw_body = _wrap_pi(_v_att->get().yaw + yaw_offs_max);
}
_v_att_sp_mod.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_mod.yaw_body = _v_att->get().yaw;
_v_att_sp_mod.R_valid = false;
// _publish_att_sp = true;
}
if (!_v_control_mode->get().flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
_v_att_sp_mod.roll_body = _manual_control_sp->get().y * _params.man_roll_max;
_v_att_sp_mod.pitch_body = -_manual_control_sp->get().x
* _params.man_pitch_max;
_v_att_sp_mod.R_valid = false;
// _publish_att_sp = true;
}
} else {
/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
memcpy(&_v_att_sp_mod, _v_att_sp->get_void_ptr(), sizeof(_v_att_sp_mod));
/* reset yaw setpoint after non-manual control mode */
_reset_yaw_sp = true;
}
_thrust_sp = _v_att_sp_mod.thrust;
/* construct attitude setpoint rotation matrix */
math::Matrix<3, 3> R_sp;
if (_v_att_sp_mod.R_valid) {
/* rotation matrix in _att_sp is valid, use it */
R_sp.set(&_v_att_sp_mod.R_body[0]);
} else {
/* rotation matrix in _att_sp is not valid, use euler angles instead */
R_sp.from_euler(_v_att_sp_mod.roll_body, _v_att_sp_mod.pitch_body,
_v_att_sp_mod.yaw_body);
/* copy rotation matrix back to setpoint struct */
memcpy(&_v_att_sp_mod.R_body[0], &R_sp.data[0][0],
sizeof(_v_att_sp_mod.R_body));
_v_att_sp_mod.R_valid = true;
}
/* rotation matrix for current state */
math::Matrix<3, 3> R;
R.set(_v_att->get().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;
}
void MulticopterAttitudeControlBase::control_attitude_rates(float dt)
{
/* reset integral if disarmed */
if (!_armed->get().armed || !_v_status->get().is_rotary_wing) {
_rates_int.zero();
}
/* current body angular rates */
math::Vector < 3 > rates;
rates(0) = _v_att->get().rollspeed;
rates(1) = _v_att->get().pitchspeed;
rates(2) = _v_att->get().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 MulticopterAttitudeControlBase::set_actuator_controls()
{
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
}
src/modules/mc_att_control/mc_att_control_base.h
-134
View File
@@ -1,134 +0,0 @@
#ifndef MC_ATT_CONTROL_BASE_H_
#define MC_ATT_CONTROL_BASE_H_
/* Copyright (c) 2014 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.
*
****************************************************************************/
/**
* @file mc_att_control_base.h
*
* MC Attitude Controller : Control and math code
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Julian Oes <julian@oes.ch>
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
#include <px4.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <math.h>
#include <systemlib/perf_counter.h>
#include <lib/mathlib/mathlib.h>
#define YAW_DEADZONE 0.05f
#define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f
class MulticopterAttitudeControlBase
{
public:
/**
* Constructor
*/
MulticopterAttitudeControlBase();
/**
* Destructor
*/
~MulticopterAttitudeControlBase();
/**
* Start the sensors task.
*
* @return OK on success.
*/
void control_attitude(float dt);
void control_attitude_rates(float dt);
void set_actuator_controls();
protected:
px4::PX4_SUBSCRIBER(vehicle_attitude) *_v_att; /**< vehicle attitude */
px4::PX4_SUBSCRIBER(vehicle_attitude_setpoint) *_v_att_sp; /**< vehicle attitude setpoint */
px4::PX4_SUBSCRIBER(vehicle_rates_setpoint) *_v_rates_sp; /**< vehicle rates setpoint */
px4::PX4_SUBSCRIBER(vehicle_control_mode) *_v_control_mode; /**< vehicle control mode */
px4::PX4_SUBSCRIBER(parameter_update) *_parameter_update; /**< parameter update */
px4::PX4_SUBSCRIBER(manual_control_setpoint) *_manual_control_sp; /**< manual control setpoint */
px4::PX4_SUBSCRIBER(actuator_armed) *_armed; /**< actuator arming status */
px4::PX4_SUBSCRIBER(vehicle_status) *_v_status; /**< vehicle status */
PX4_TOPIC_T(vehicle_attitude_setpoint) _v_att_sp_mod; /**< modified vehicle attitude setpoint
that gets published eventually */
PX4_TOPIC_T(vehicle_rates_setpoint) _v_rates_sp_mod; /**< vehicle rates setpoint
that gets published eventually*/
PX4_TOPIC_T(actuator_controls) _actuators; /**< actuator controls */
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 {
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 */
int32_t autostart_id;
} _params;
bool _publish_att_sp;
};
#endif /* MC_ATT_CONTROL_BASE_H_ */
src/modules/mc_att_control/mc_att_control_main.cpp
+894 -60
View File
@@ -38,9 +38,6 @@
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Julian Oes <julian@oes.ch>
* @author Roman Bapst <bapstr@ethz.ch>
*
* The controller has two loops: P loop for angular error and PD loop for angular rate error.
* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
@@ -52,91 +49,928 @@
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <cstdlib>
#include "mc_att_control.h"
#include <unistd.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/circuit_breaker.h>
#include <lib/mathlib/mathlib.h>
#include <lib/geo/geo.h>
static bool thread_running = false; /**< Deamon status flag */
static int daemon_task; /**< Handle of deamon task / thread */
namespace px4
{
bool task_should_exit = false;
}
using namespace px4;
PX4_MAIN_FUNCTION(mc_att_control);
void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) {
PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
}
#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__))
/**
* Multicopter attitude control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[])
#define YAW_DEADZONE 0.05f
#define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f
class MulticopterAttitudeControl
{
if (argc < 1) {
errx(1, "usage: mc_att_control {start|stop|status}");
public:
/**
* Constructor
*/
MulticopterAttitudeControl();
/**
* Destructor, also kills the main task
*/
~MulticopterAttitudeControl();
/**
* Start the multicopter attitude control task.
*
* @return OK on success.
*/
int start();
private:
bool _task_should_exit; /**< if true, task_main() should exit */
int _control_task; /**< task handle */
int _v_att_sub; /**< vehicle attitude subscription */
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
int _v_control_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< parameter updates subscription */
int _manual_control_sp_sub; /**< manual control setpoint subscription */
int _armed_sub; /**< arming status subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
orb_advert_t _actuators_0_pub; /**< attitude actuator controls 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 */
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 */
struct vehicle_status_s _vehicle_status; /**< vehicle 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;
param_t roll_rate_i;
param_t roll_rate_d;
param_t pitch_p;
param_t pitch_rate_p;
param_t pitch_rate_i;
param_t pitch_rate_d;
param_t yaw_p;
param_t yaw_rate_p;
param_t yaw_rate_i;
param_t yaw_rate_d;
param_t yaw_ff;
param_t yaw_rate_max;
param_t man_roll_max;
param_t man_pitch_max;
param_t man_yaw_max;
param_t acro_roll_max;
param_t acro_pitch_max;
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;
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Check for parameter update and handle it.
*/
void parameter_update_poll();
/**
* Check for changes in vehicle control mode.
*/
void vehicle_control_mode_poll();
/**
* Check for changes in manual inputs.
*/
void vehicle_manual_poll();
/**
* Check for attitude setpoint updates.
*/
void vehicle_attitude_setpoint_poll();
/**
* Check for rates setpoint updates.
*/
void vehicle_rates_setpoint_poll();
/**
* Check for arming status updates.
*/
void arming_status_poll();
/**
* Attitude controller.
*/
void control_attitude(float dt);
/**
* Attitude rates controller.
*/
void control_attitude_rates(float dt);
/**
* Check for vehicle status updates.
*/
void vehicle_status_poll();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main attitude control task.
*/
void task_main();
};
namespace mc_att_control
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
MulticopterAttitudeControl *g_control;
}
MulticopterAttitudeControl::MulticopterAttitudeControl() :
_task_should_exit(false),
_control_task(-1),
/* subscriptions */
_v_att_sub(-1),
_v_att_sp_sub(-1),
_v_control_mode_sub(-1),
_params_sub(-1),
_manual_control_sp_sub(-1),
_armed_sub(-1),
_vehicle_status_sub(-1),
/* publications */
_att_sp_pub(-1),
_v_rates_sp_pub(-1),
_actuators_0_pub(-1),
_rates_sp_id(0),
_actuators_id(0),
_actuators_0_circuit_breaker_enabled(false),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
{
memset(&_v_att, 0, sizeof(_v_att));
memset(&_v_att_sp, 0, sizeof(_v_att_sp));
memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
memset(&_v_control_mode, 0, sizeof(_v_control_mode));
memset(&_actuators, 0, sizeof(_actuators));
memset(&_armed, 0, sizeof(_armed));
memset(&_vehicle_status, 0, sizeof(_vehicle_status));
_vehicle_status.is_rotary_wing = true;
_params.att_p.zero();
_params.rate_p.zero();
_params.rate_i.zero();
_params.rate_d.zero();
_params.yaw_ff = 0.0f;
_params.yaw_rate_max = 0.0f;
_params.man_roll_max = 0.0f;
_params.man_pitch_max = 0.0f;
_params.man_yaw_max = 0.0f;
_params.acro_rate_max.zero();
_rates_prev.zero();
_rates_sp.zero();
_rates_int.zero();
_thrust_sp = 0.0f;
_att_control.zero();
_I.identity();
_params_handles.roll_p = param_find("MC_ROLL_P");
_params_handles.roll_rate_p = param_find("MC_ROLLRATE_P");
_params_handles.roll_rate_i = param_find("MC_ROLLRATE_I");
_params_handles.roll_rate_d = param_find("MC_ROLLRATE_D");
_params_handles.pitch_p = param_find("MC_PITCH_P");
_params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P");
_params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I");
_params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D");
_params_handles.yaw_p = param_find("MC_YAW_P");
_params_handles.yaw_rate_p = param_find("MC_YAWRATE_P");
_params_handles.yaw_rate_i = param_find("MC_YAWRATE_I");
_params_handles.yaw_rate_d = param_find("MC_YAWRATE_D");
_params_handles.yaw_ff = param_find("MC_YAW_FF");
_params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX");
_params_handles.man_roll_max = param_find("MC_MAN_R_MAX");
_params_handles.man_pitch_max = param_find("MC_MAN_P_MAX");
_params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX");
_params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX");
_params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX");
_params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX");
/* fetch initial parameter values */
parameters_update();
}
MulticopterAttitudeControl::~MulticopterAttitudeControl()
{
if (_control_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_control_task);
break;
}
} while (_control_task != -1);
}
mc_att_control::g_control = nullptr;
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v;
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v;
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v;
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v;
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v;
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
/* manual control scale */
param_get(_params_handles.man_roll_max, &_params.man_roll_max);
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
/* acro control scale */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
return OK;
}
void
MulticopterAttitudeControl::parameter_update_poll()
{
bool updated;
/* Check if parameters have changed */
orb_check(_params_sub, &updated);
if (updated) {
struct parameter_update_s param_update;
orb_copy(ORB_ID(parameter_update), _params_sub, &param_update);
parameters_update();
}
}
void
MulticopterAttitudeControl::vehicle_control_mode_poll()
{
bool updated;
/* Check if vehicle control mode has changed */
orb_check(_v_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
}
}
void
MulticopterAttitudeControl::vehicle_manual_poll()
{
bool updated;
/* get pilots inputs */
orb_check(_manual_control_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
}
}
void
MulticopterAttitudeControl::vehicle_attitude_setpoint_poll()
{
/* check if there is a new setpoint */
bool updated;
orb_check(_v_att_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp);
}
}
void
MulticopterAttitudeControl::vehicle_rates_setpoint_poll()
{
/* check if there is a new setpoint */
bool updated;
orb_check(_v_rates_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp);
}
}
void
MulticopterAttitudeControl::arming_status_poll()
{
/* check if there is a new setpoint */
bool updated;
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
}
void
MulticopterAttitudeControl::vehicle_status_poll()
{
/* check if there is new status information */
bool vehicle_status_updated;
orb_check(_vehicle_status_sub, &vehicle_status_updated);
if (vehicle_status_updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
/* set correct uORB ID, depending on if vehicle is VTOL or not */
if (!_rates_sp_id) {
if (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(mc_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_mc);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
}
}
/*
* 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]);
} 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], &R_sp.data[0], sizeof(_v_att_sp.R_body));
_v_att_sp.R_valid = true;
}
/* publish the attitude setpoint if needed */
if (publish_att_sp && _vehicle_status.is_rotary_wing) {
_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 || !_vehicle_status.is_rotary_wing) {
_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[])
{
mc_att_control::g_control->task_main();
}
void
MulticopterAttitudeControl::task_main()
{
/*
* do subscriptions
*/
_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* initialize parameters cache */
parameters_update();
/* wakeup source: vehicle attitude */
struct pollfd fds[1];
fds[0].fd = _v_att_sub;
fds[0].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit */
if (pret == 0)
continue;
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(100000);
continue;
}
perf_begin(_loop_perf);
/* run controller on attitude changes */
if (fds[0].revents & POLLIN) {
static uint64_t last_run = 0;
float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too small (< 2ms) and too large (> 20ms) dt's */
if (dt < 0.002f) {
dt = 0.002f;
} else if (dt > 0.02f) {
dt = 0.02f;
}
/* copy attitude topic */
orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
/* check for updates in other topics */
parameter_update_poll();
vehicle_control_mode_poll();
arming_status_poll();
vehicle_manual_poll();
vehicle_status_poll();
if (_v_control_mode.flag_control_attitude_enabled) {
control_attitude(dt);
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else if (_rates_sp_id) {
_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z;
/* reset yaw setpoint after ACRO */
_reset_yaw_sp = true;
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else if (_rates_sp_id) {
_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
}
}
if (_v_control_mode.flag_control_rates_enabled) {
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub > 0) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else if (_actuators_id) {
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
}
}
}
}
perf_end(_loop_perf);
}
warnx("exit");
_control_task = -1;
_exit(0);
}
int
MulticopterAttitudeControl::start()
{
ASSERT(_control_task == -1);
/* start the task */
_control_task = task_spawn_cmd("mc_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
(main_t)&MulticopterAttitudeControl::task_main_trampoline,
nullptr);
if (_control_task < 0) {
warn("task start failed");
return -errno;
}
return OK;
}
int mc_att_control_main(int argc, char *argv[])
{
if (argc < 1)
errx(1, "usage: mc_att_control {start|stop|status}");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
/* this is not an error */
exit(0);
if (mc_att_control::g_control != nullptr)
errx(1, "already running");
mc_att_control::g_control = new MulticopterAttitudeControl;
if (mc_att_control::g_control == nullptr)
errx(1, "alloc failed");
if (OK != mc_att_control::g_control->start()) {
delete mc_att_control::g_control;
mc_att_control::g_control = nullptr;
err(1, "start failed");
}
task_should_exit = false;
daemon_task = task_spawn_cmd("mc_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
3000,
mc_att_control_task_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
task_should_exit = true;
if (mc_att_control::g_control == nullptr)
errx(1, "not running");
delete mc_att_control::g_control;
mc_att_control::g_control = nullptr;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("is running");
if (mc_att_control::g_control) {
errx(0, "running");
} else {
warnx("not started");
errx(1, "not running");
}
exit(0);
}
warnx("unrecognized command");
return 1;
}
#endif
PX4_MAIN_FUNCTION(mc_att_control)
{
px4::init(argc, argv, "mc_att_control");
PX4_INFO("starting");
MulticopterAttitudeControl attctl;
thread_running = true;
attctl.spin();
PX4_INFO("exiting.");
thread_running = false;
return 0;
}
src/modules/mc_att_control/mc_att_control_params.c
+20 -22
View File
@@ -40,8 +40,6 @@
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <px4_defines.h>
#include "mc_att_control_params.h"
#include <systemlib/param/param.h>
/**
@@ -52,7 +50,7 @@
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
/**
* Roll rate P gain
@@ -62,7 +60,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
/**
* Roll rate I gain
@@ -72,7 +70,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
/**
* Roll rate D gain
@@ -82,7 +80,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
/**
* Pitch P gain
@@ -93,7 +91,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
/**
* Pitch rate P gain
@@ -103,7 +101,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
/**
* Pitch rate I gain
@@ -113,7 +111,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
/**
* Pitch rate D gain
@@ -123,7 +121,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
/**
* Yaw P gain
@@ -134,7 +132,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
/**
* Yaw rate P gain
@@ -144,7 +142,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
/**
* Yaw rate I gain
@@ -154,7 +152,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
/**
* Yaw rate D gain
@@ -164,7 +162,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
/**
* Yaw feed forward
@@ -175,7 +173,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
* @max 1.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
/**
* Max yaw rate
@@ -187,7 +185,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
* @max 360.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
/**
* Max manual roll
@@ -197,7 +195,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
* @max 90.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX);
PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
/**
* Max manual pitch
@@ -207,7 +205,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX);
* @max 90.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX);
PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
/**
* Max manual yaw rate
@@ -216,7 +214,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX);
PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
/**
* Max acro roll rate
@@ -226,7 +224,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX);
* @max 360.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
/**
* Max acro pitch rate
@@ -236,7 +234,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
* @max 360.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
/**
* Max acro yaw rate
@@ -245,4 +243,4 @@ PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX);
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);
src/modules/mc_att_control/mc_att_control_params.h
-65
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@@ -1,65 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 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.
*
****************************************************************************/
/**
* @file mc_att_control_params.h
* Parameters for multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#pragma once
#define PARAM_MC_ROLL_P_DEFAULT 6.0f
#define PARAM_MC_ROLLRATE_P_DEFAULT 0.1f
#define PARAM_MC_ROLLRATE_I_DEFAULT 0.0f
#define PARAM_MC_ROLLRATE_D_DEFAULT 0.002f
#define PARAM_MC_PITCH_P_DEFAULT 6.0f
#define PARAM_MC_PITCHRATE_P_DEFAULT 0.1f
#define PARAM_MC_PITCHRATE_I_DEFAULT 0.0f
#define PARAM_MC_PITCHRATE_D_DEFAULT 0.002f
#define PARAM_MC_YAW_P_DEFAULT 2.0f
#define PARAM_MC_YAWRATE_P_DEFAULT 0.3f
#define PARAM_MC_YAWRATE_I_DEFAULT 0.0f
#define PARAM_MC_YAWRATE_D_DEFAULT 0.0f
#define PARAM_MC_YAW_FF_DEFAULT 0.5f
#define PARAM_MC_YAWRATE_MAX_DEFAULT 120.0f
#define PARAM_MC_MAN_R_MAX_DEFAULT 35.0f
#define PARAM_MC_MAN_P_MAX_DEFAULT 35.0f
#define PARAM_MC_MAN_Y_MAX_DEFAULT 120.0f
#define PARAM_MC_ACRO_R_MAX_DEFAULT 35.0f
#define PARAM_MC_ACRO_P_MAX_DEFAULT 35.0f
#define PARAM_MC_ACRO_Y_MAX_DEFAULT 120.0f
src/modules/mc_att_control/mc_att_control_sim.cpp
-142
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@@ -1,142 +0,0 @@
/* Copyright (c) 2014 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.
*
****************************************************************************/
/**
* @file mc_att_control_sim.cpp
*
* MC Attitude Controller Interface for usage in a simulator
*
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
#include "mc_att_control_sim.h"
#include <geo/geo.h>
#include <math.h>
#ifdef CONFIG_ARCH_ARM
#else
#include <cmath>
using namespace std;
#endif
MulticopterAttitudeControlSim::MulticopterAttitudeControlSim()
{
/* setup standard gains */
//XXX: make these configurable
_params.att_p(0) = 5.0;
_params.rate_p(0) = 0.05;
_params.rate_i(0) = 0.0;
_params.rate_d(0) = 0.003;
/* pitch gains */
_params.att_p(1) = 5.0;
_params.rate_p(1) = 0.05;
_params.rate_i(1) = 0.0;
_params.rate_d(1) = 0.003;
/* yaw gains */
_params.att_p(2) = 2.8;
_params.rate_p(2) = 0.2;
_params.rate_i(2) = 0.1;
_params.rate_d(2) = 0.0;
_params.yaw_rate_max = 0.5;
_params.yaw_ff = 0.5;
_params.man_roll_max = 0.6;
_params.man_pitch_max = 0.6;
_params.man_yaw_max = 0.6;
}
MulticopterAttitudeControlSim::~MulticopterAttitudeControlSim()
{
}
void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude)
{
math::Quaternion quat;
quat(0) = (float)attitude.w();
quat(1) = (float)attitude.x();
quat(2) = (float)attitude.y();
quat(3) = (float)attitude.z();
_v_att.q[0] = quat(0);
_v_att.q[1] = quat(1);
_v_att.q[2] = quat(2);
_v_att.q[3] = quat(3);
math::Matrix<3, 3> Rot = quat.to_dcm();
_v_att.R[0][0] = Rot(0, 0);
_v_att.R[1][0] = Rot(1, 0);
_v_att.R[2][0] = Rot(2, 0);
_v_att.R[0][1] = Rot(0, 1);
_v_att.R[1][1] = Rot(1, 1);
_v_att.R[2][1] = Rot(2, 1);
_v_att.R[0][2] = Rot(0, 2);
_v_att.R[1][2] = Rot(1, 2);
_v_att.R[2][2] = Rot(2, 2);
_v_att.R_valid = true;
}
void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d &angular_rate)
{
// check if this is consistent !!!
_v_att.rollspeed = angular_rate(0);
_v_att.pitchspeed = angular_rate(1);
_v_att.yawspeed = angular_rate(2);
}
void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference)
{
_v_att_sp.roll_body = control_attitude_thrust_reference(0);
_v_att_sp.pitch_body = control_attitude_thrust_reference(1);
_v_att_sp.yaw_body = control_attitude_thrust_reference(2);
_v_att_sp.thrust = (control_attitude_thrust_reference(3) - 30) * (-1) / 30;
// setup rotation matrix
math::Matrix<3, 3> Rot_sp;
Rot_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
_v_att_sp.R_body[0][0] = Rot_sp(0, 0);
_v_att_sp.R_body[1][0] = Rot_sp(1, 0);
_v_att_sp.R_body[2][0] = Rot_sp(2, 0);
_v_att_sp.R_body[0][1] = Rot_sp(0, 1);
_v_att_sp.R_body[1][1] = Rot_sp(1, 1);
_v_att_sp.R_body[2][1] = Rot_sp(2, 1);
_v_att_sp.R_body[0][2] = Rot_sp(0, 2);
_v_att_sp.R_body[1][2] = Rot_sp(1, 2);
_v_att_sp.R_body[2][2] = Rot_sp(2, 2);
}
void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d &motor_inputs)
{
motor_inputs(0) = _actuators.control[0];
motor_inputs(1) = _actuators.control[1];
motor_inputs(2) = _actuators.control[2];
motor_inputs(3) = _actuators.control[3];
}
src/modules/mc_att_control/mc_att_control_sim.h
-97
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@@ -1,97 +0,0 @@
#ifndef MC_ATT_CONTROL_BASE_H_
#define MC_ATT_CONTROL_BASE_H_
/* Copyright (c) 2014 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.
*
****************************************************************************/
/**
* @file mc_att_control_sim.h
*
* MC Attitude Controller Interface for usage in a simulator
*
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/actuator_armed.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <lib/mathlib/mathlib.h>
#inlcude "mc_att_control_base.h"
#define YAW_DEADZONE 0.05f
#define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f
class MulticopterAttitudeControlSim :
public MulticopterAttitudeControlBase
{
public:
/**
* Constructor
*/
MulticopterAttitudeControlSim();
/**
* Destructor
*/
~MulticopterAttitudeControlSim();
/* setters and getters for interface with euroc-gazebo simulator */
void set_attitude(const Eigen::Quaternion<double> attitude);
void set_attitude_rates(const Eigen::Vector3d &angular_rate);
void set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference);
void get_mixer_input(Eigen::Vector4d &motor_inputs);
protected:
void vehicle_attitude_setpoint_poll() {};
};
#endif /* MC_ATT_CONTROL_BASE_H_ */
src/modules/mc_att_control/module.mk
+1 -3
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@@ -38,6 +38,4 @@
MODULE_COMMAND = mc_att_control
SRCS = mc_att_control_main.cpp \
mc_att_control.cpp \
mc_att_control_base.cpp \
mc_att_control_params.c
mc_att_control_params.c