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multiplatform port of #1741 and #1801: port attitude setpoint generation in manual to mc_pos_control_multiplatform

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This commit is contained in:
Thomas Gubler
2015-02-24 20:33:32 +01:00
parent a56c16dfab
commit 61398f5c03
2 changed files with 78 additions and 15 deletions
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src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+66 -4
View File
@@ -41,6 +41,9 @@
#include "mc_pos_control.h"
#include "mc_pos_control_params.h"
/* The following inclue is needed because the pos controller depens on a parameter from attitude control to set a
* reasonable yaw setpoint in manual mode */
#include <mc_att_control_multiplatform/mc_att_control_params.h>
#define TILT_COS_MAX 0.7f
#define SIGMA 0.000001f
@@ -83,9 +86,10 @@ MulticopterPositionControl::MulticopterPositionControl() :
.tilt_max_air = px4::ParameterFloat("MPC_TILTMAX_AIR", PARAM_MPC_TILTMAX_AIR_DEFAULT),
.land_speed = px4::ParameterFloat("MPC_LAND_SPEED", PARAM_MPC_LAND_SPEED_DEFAULT),
.tilt_max_land = px4::ParameterFloat("MPC_TILTMAX_LND", PARAM_MPC_TILTMAX_LND_DEFAULT),
.man_roll_max = px4::ParameterFloat("MC_MAN_R_MAX", PARAM_MPC_MAN_R_MAX_DEFAULT),
.man_pitch_max = px4::ParameterFloat("MC_MAN_P_MAX", PARAM_MPC_MAN_P_MAX_DEFAULT),
.man_yaw_max = px4::ParameterFloat("MC_MAN_Y_MAX", PARAM_MPC_MAN_Y_MAX_DEFAULT)
.man_roll_max = px4::ParameterFloat("MPC_MAN_R_MAX", PARAM_MPC_MAN_R_MAX_DEFAULT),
.man_pitch_max = px4::ParameterFloat("MPC_MAN_P_MAX", PARAM_MPC_MAN_P_MAX_DEFAULT),
.man_yaw_max = px4::ParameterFloat("MPC_MAN_Y_MAX", PARAM_MPC_MAN_Y_MAX_DEFAULT),
.mc_att_yaw_p = px4::ParameterFloat("MC_YAW_P", PARAM_MC_YAW_P_DEFAULT)
}),
_ref_alt(0.0f),
_ref_timestamp(0),
@@ -102,7 +106,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
* Do subscriptions
*/
_att = _n.subscribe<px4_vehicle_attitude>(&MulticopterPositionControl::handle_vehicle_attitude, this, 0);
_v_att_sp = _n.subscribe<px4_vehicle_attitude_setpoint>(0);
_control_mode = _n.subscribe<px4_vehicle_control_mode>(0);
_parameter_update = _n.subscribe<px4_parameter_update>(
&MulticopterPositionControl::handle_parameter_update, this, 1000);
@@ -154,6 +157,8 @@ MulticopterPositionControl::parameters_update()
_params.man_pitch_max = math::radians(_params_handles.man_pitch_max.update());
_params.man_yaw_max = math::radians(_params_handles.man_yaw_max.update());
_params.mc_att_yaw_p = _params_handles.mc_att_yaw_p.update();
_params.pos_p(0) = _params.pos_p(1) = _params_handles.xy_p.update();
_params.pos_p(2) = _params_handles.z_p.update();
_params.vel_p(0) = _params.vel_p(1) = _params_handles.xy_vel_p.update();
@@ -577,6 +582,7 @@ void MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti
static bool reset_int_z = true;
static bool reset_int_z_manual = false;
static bool reset_int_xy = true;
static bool reset_yaw_sp = true;
static bool was_armed = false;
static uint64_t t_prev = 0;
@@ -590,8 +596,10 @@ void MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti
_reset_alt_sp = true;
reset_int_z = true;
reset_int_xy = true;
reset_yaw_sp = true;
}
/* Update previous arming state */
was_armed = _control_mode->data().flag_armed;
update_ref();
@@ -975,6 +983,60 @@ void MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti
reset_int_xy = true;
}
/* generate attitude setpoint from manual controls */
if(_control_mode->data().flag_control_manual_enabled && _control_mode->data().flag_control_attitude_enabled) {
/* reset yaw setpoint to current position if needed */
if (reset_yaw_sp) {
reset_yaw_sp = false;
_att_sp_msg.data().yaw_body = _att->data().yaw;
}
// do not move yaw while arming
else if (_manual_control_sp->data().z > 0.1f)
{
const float YAW_OFFSET_MAX = _params.man_yaw_max / _params.mc_att_yaw_p;
_att_sp_msg.data().yaw_sp_move_rate = _manual_control_sp->data().r * _params.man_yaw_max;
_att_sp_msg.data().yaw_body = _wrap_pi(_att_sp_msg.data().yaw_body + _att_sp_msg.data().yaw_sp_move_rate * dt);
float yaw_offs = _wrap_pi(_att_sp_msg.data().yaw_body - _att->data().yaw);
if (yaw_offs < - YAW_OFFSET_MAX) {
_att_sp_msg.data().yaw_body = _wrap_pi(_att->data().yaw - YAW_OFFSET_MAX);
} else if (yaw_offs > YAW_OFFSET_MAX) {
_att_sp_msg.data().yaw_body = _wrap_pi(_att->data().yaw + YAW_OFFSET_MAX);
}
}
/* Control roll and pitch directly if we no aiding velocity controller is active */
if(!_control_mode->data().flag_control_velocity_enabled) {
_att_sp_msg.data().roll_body = _manual_control_sp->data().y * _params.man_roll_max;
_att_sp_msg.data().pitch_body = -_manual_control_sp->data().x * _params.man_pitch_max;
}
/* Control climb rate directly if no aiding altitude controller is active */
if(!_control_mode->data().flag_control_climb_rate_enabled) {
_att_sp_msg.data().thrust = _manual_control_sp->data().z;
}
/* Construct attitude setpoint rotation matrix */
math::Matrix<3,3> R_sp;
R_sp.from_euler(_att_sp_msg.data().roll_body,_att_sp_msg.data().pitch_body,_att_sp_msg.data().yaw_body);
memcpy(&_att_sp_msg.data().R_body[0], R_sp.data, sizeof(_att_sp_msg.data().R_body));
_att_sp_msg.data().timestamp = get_time_micros();
}
else {
reset_yaw_sp = true;
}
/* publish attitude setpoint */
if (_att_sp_pub != nullptr) {
_att_sp_pub->publish(_att_sp_msg);
} else {
_att_sp_pub = _n.advertise<px4_vehicle_attitude_setpoint>();
}
/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */
reset_int_z_manual = _control_mode->data().flag_armed && _control_mode->data().flag_control_manual_enabled && !_control_mode->data().flag_control_climb_rate_enabled;
}
src/modules/mc_pos_control_multiplatform/mc_pos_control.h
+12 -11
View File
@@ -88,19 +88,18 @@ protected:
Publisher<px4_vehicle_attitude_setpoint> *_att_sp_pub; /**< attitude setpoint publication */
Publisher<px4_vehicle_local_position_setpoint> *_local_pos_sp_pub; /**< vehicle local position setpoint publication */
Publisher<px4_vehicle_global_velocity_setpoint> *_global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
Publisher<px4_vehicle_global_velocity_setpoint> *_global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
Subscriber<px4_vehicle_attitude> *_att; /**< vehicle attitude */
Subscriber<px4_vehicle_attitude_setpoint> *_v_att_sp; /**< vehicle attitude setpoint */
Subscriber<px4_vehicle_control_mode> *_control_mode; /**< vehicle control mode */
Subscriber<px4_parameter_update> *_parameter_update; /**< parameter update */
Subscriber<px4_manual_control_setpoint> *_manual_control_sp; /**< manual control setpoint */
Subscriber<px4_actuator_armed> *_armed; /**< actuator arming status */
Subscriber<px4_vehicle_local_position> *_local_pos; /**< local position */
Subscriber<px4_position_setpoint_triplet> *_pos_sp_triplet; /**< local position */
Subscriber<px4_vehicle_local_position_setpoint> *_local_pos_sp; /**< local position */
Subscriber<px4_vehicle_global_velocity_setpoint> *_global_vel_sp; /**< local position */
Subscriber<px4_vehicle_attitude> *_att; /**< vehicle attitude */
Subscriber<px4_vehicle_control_mode> *_control_mode; /**< vehicle control mode */
Subscriber<px4_parameter_update> *_parameter_update; /**< parameter update */
Subscriber<px4_manual_control_setpoint> *_manual_control_sp; /**< manual control setpoint */
Subscriber<px4_actuator_armed> *_armed; /**< actuator arming status */
Subscriber<px4_vehicle_local_position> *_local_pos; /**< local position */
Subscriber<px4_position_setpoint_triplet> *_pos_sp_triplet; /**< local position */
Subscriber<px4_vehicle_local_position_setpoint> *_local_pos_sp; /**< local position */
Subscriber<px4_vehicle_global_velocity_setpoint> *_global_vel_sp; /**< local position */
px4_vehicle_attitude_setpoint _att_sp_msg;
px4_vehicle_local_position_setpoint _local_pos_sp_msg;
@@ -129,6 +128,7 @@ protected:
px4::ParameterFloat man_roll_max;
px4::ParameterFloat man_pitch_max;
px4::ParameterFloat man_yaw_max;
px4::ParameterFloat mc_att_yaw_p; // needed for calculating reasonable attitude setpoints in manual
} _params_handles; /**< handles for interesting parameters */
struct {
@@ -140,6 +140,7 @@ protected:
float man_roll_max;
float man_pitch_max;
float man_yaw_max;
float mc_att_yaw_p;
math::Vector<3> pos_p;
math::Vector<3> vel_p;