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Merge pull request #979 from PX4/acro2

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ACRO mode
This commit is contained in:
Lorenz Meier
2014-05-20 08:36:49 -07:00
parent 4fdc016308 559bfbb11c
commit 639d86eab2
11 changed files with 160 additions and 15 deletions
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src/modules/commander/commander.cpp
+23 -2
View File
@@ -453,6 +453,10 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
main_res = main_state_transition(status, MAIN_STATE_AUTO);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
/* ACRO */
main_res = main_state_transition(status, MAIN_STATE_ACRO);
}
} else {
@@ -652,6 +656,7 @@ int commander_thread_main(int argc, char *argv[])
main_states_str[1] = "ALTCTL";
main_states_str[2] = "POSCTL";
main_states_str[3] = "AUTO";
main_states_str[4] = "ACRO";
char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[0] = "INIT";
@@ -1206,7 +1211,7 @@ int commander_thread_main(int argc, char *argv[])
* do it only for rotary wings */
if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
(status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
(status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) &&
sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
@@ -1619,7 +1624,12 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break;
case SWITCH_POS_OFF: // MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
if (sp_man->acro_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_ACRO);
} else {
res = main_state_transition(status, MAIN_STATE_MANUAL);
}
// TRANSITION_DENIED is not possible here
break;
@@ -1731,6 +1741,17 @@ set_control_mode()
navigator_enabled = true;
break;
case MAIN_STATE_ACRO:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
default:
break;
}
src/modules/commander/px4_custom_mode.h
+1
View File
@@ -15,6 +15,7 @@ enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_ALTCTL,
PX4_CUSTOM_MAIN_MODE_POSCTL,
PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_MAIN_MODE_ACRO,
};
enum PX4_CUSTOM_SUB_MODE_AUTO {
src/modules/commander/state_machine_helper.cpp
+4
View File
@@ -222,6 +222,10 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
ret = TRANSITION_CHANGED;
break;
case MAIN_STATE_ACRO:
ret = TRANSITION_CHANGED;
break;
case MAIN_STATE_ALTCTL:
/* need at minimum altitude estimate */
src/modules/mavlink/mavlink_messages.cpp
+5
View File
@@ -136,6 +136,11 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (status->main_state == MAIN_STATE_ACRO) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
}
} else {
src/modules/mc_att_control/mc_att_control_main.cpp
+46 -5
View File
@@ -162,6 +162,9 @@ private:
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 {
@@ -175,6 +178,7 @@ private:
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;
/**
@@ -284,6 +288,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_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();
@@ -310,6 +315,9 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_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();
@@ -386,6 +394,14 @@ MulticopterAttitudeControl::parameters_update()
_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);
return OK;
}
@@ -782,11 +798,36 @@ MulticopterAttitudeControl::task_main()
} 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_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(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_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) {
src/modules/mc_att_control/mc_att_control_params.c
+29
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@@ -215,3 +215,32 @@ PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
/**
* Max acro roll rate
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
/**
* Max acro pitch rate
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
/**
* Max acro yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);
src/modules/sensors/sensor_params.c
+25
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@@ -625,6 +625,15 @@ PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
/**
* Acro switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
/**
* Flaps channel mapping.
*
@@ -756,3 +765,19 @@ PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
*
*/
PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
/**
* Threshold for selecting acro mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
*/
PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
src/modules/sensors/sensors.cpp
+16
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@@ -263,6 +263,7 @@ private:
int rc_map_return_sw;
int rc_map_posctl_sw;
int rc_map_loiter_sw;
int rc_map_acro_sw;
int rc_map_flaps;
@@ -278,11 +279,13 @@ private:
float rc_posctl_th;
float rc_return_th;
float rc_loiter_th;
float rc_acro_th;
bool rc_assist_inv;
bool rc_auto_inv;
bool rc_posctl_inv;
bool rc_return_inv;
bool rc_loiter_inv;
bool rc_acro_inv;
float battery_voltage_scaling;
float battery_current_scaling;
@@ -315,6 +318,7 @@ private:
param_t rc_map_return_sw;
param_t rc_map_posctl_sw;
param_t rc_map_loiter_sw;
param_t rc_map_acro_sw;
param_t rc_map_flaps;
@@ -330,6 +334,7 @@ private:
param_t rc_posctl_th;
param_t rc_return_th;
param_t rc_loiter_th;
param_t rc_acro_th;
param_t battery_voltage_scaling;
param_t battery_current_scaling;
@@ -530,6 +535,7 @@ Sensors::Sensors() :
/* optional mode switches, not mapped per default */
_parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
_parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
@@ -544,6 +550,7 @@ Sensors::Sensors() :
_parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");
_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
_parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
/* gyro offsets */
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
@@ -687,6 +694,10 @@ Sensors::parameters_update()
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_acro_sw, &(_parameters.rc_map_acro_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx("%s", paramerr);
}
@@ -712,6 +723,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th));
_parameters.rc_loiter_inv = (_parameters.rc_loiter_th < 0);
_parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th);
param_get(_parameter_handles.rc_acro_th, &(_parameters.rc_acro_th));
_parameters.rc_acro_inv = (_parameters.rc_acro_th < 0);
_parameters.rc_acro_th = fabs(_parameters.rc_acro_th);
/* update RC function mappings */
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -723,6 +737,7 @@ Sensors::parameters_update()
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1;
_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -1508,6 +1523,7 @@ Sensors::rc_poll()
manual.posctl_switch = get_rc_sw2pos_position(POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
manual.acro_switch = get_rc_sw2pos_position(ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {
src/modules/uORB/topics/manual_control_setpoint.h
+1
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@@ -97,6 +97,7 @@ struct manual_control_setpoint_s {
switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */
switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */
}; /**< manual control inputs */
/**
src/modules/uORB/topics/rc_channels.h
+9 -8
View File
@@ -45,12 +45,12 @@
/**
* The number of RC channel inputs supported.
* Current (Q4/2013) radios support up to 18 channels,
* leaving at a sane value of 15.
* leaving at a sane value of 16.
* This number can be greater then number of RC channels,
* because single RC channel can be mapped to multiple
* functions, e.g. for various mode switches.
*/
#define RC_CHANNELS_MAPPED_MAX 15
#define RC_CHANNELS_MAPPED_MAX 16
/**
* This defines the mapping of the RC functions.
@@ -67,12 +67,13 @@ enum RC_CHANNELS_FUNCTION {
POSCTL = 6,
LOITER = 7,
OFFBOARD_MODE = 8,
FLAPS = 9,
AUX_1 = 10,
AUX_2 = 11,
AUX_3 = 12,
AUX_4 = 13,
AUX_5 = 14,
ACRO = 9,
FLAPS = 10,
AUX_1 = 11,
AUX_2 = 12,
AUX_3 = 13,
AUX_4 = 14,
AUX_5 = 15,
RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
};
src/modules/uORB/topics/vehicle_status.h
+1
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@@ -66,6 +66,7 @@ typedef enum {
MAIN_STATE_ALTCTL,
MAIN_STATE_POSCTL,
MAIN_STATE_AUTO,
MAIN_STATE_ACRO,
MAIN_STATE_MAX
} main_state_t;