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mc_att_control: refactor to ModuleBase & add module documentation
This commit is contained in:
Beat Küng
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/****************************************************************************
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*
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* Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <lib/mathlib/mathlib.h>
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#include <lib/mixer/mixer.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <systemlib/perf_counter.h>
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_module.h>
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#include <px4_posix.h>
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#include <px4_tasks.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/multirotor_motor_limits.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/rate_ctrl_status.h>
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#include <uORB/topics/sensor_bias.h>
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#include <uORB/topics/sensor_correction.h>
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#include <uORB/topics/sensor_gyro.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_status.h>
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/**
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* Multicopter attitude control app start / stop handling function
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*/
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extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
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#define MAX_GYRO_COUNT 3
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class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>
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{
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public:
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MulticopterAttitudeControl();
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virtual ~MulticopterAttitudeControl() = default;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static MulticopterAttitudeControl *instantiate(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::run() */
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void run() override;
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private:
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int _v_att_sub; /**< vehicle attitude subscription */
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int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
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int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
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int _v_control_mode_sub; /**< vehicle control mode subscription */
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int _params_sub; /**< parameter updates subscription */
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int _manual_control_sp_sub; /**< manual control setpoint subscription */
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int _vehicle_status_sub; /**< vehicle status subscription */
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int _motor_limits_sub; /**< motor limits subscription */
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int _battery_status_sub; /**< battery status subscription */
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int _sensor_gyro_sub[MAX_GYRO_COUNT]; /**< gyro data subscription */
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int _sensor_correction_sub; /**< sensor thermal correction subscription */
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int _sensor_bias_sub; /**< sensor in-run bias correction subscription */
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unsigned _gyro_count;
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int _selected_gyro;
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orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
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orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
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orb_advert_t _controller_status_pub; /**< controller status publication */
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orb_id_t _rates_sp_id; /**< pointer to correct rates setpoint uORB metadata structure */
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orb_id_t _actuators_id; /**< pointer to correct actuator controls0 uORB metadata structure */
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bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
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struct vehicle_attitude_s _v_att; /**< vehicle attitude */
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struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
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struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
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struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
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struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
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struct actuator_controls_s _actuators; /**< actuator controls */
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struct vehicle_status_s _vehicle_status; /**< vehicle status */
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struct battery_status_s _battery_status; /**< battery status */
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struct sensor_gyro_s _sensor_gyro; /**< gyro data before thermal correctons and ekf bias estimates are applied */
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struct sensor_correction_s _sensor_correction; /**< sensor thermal corrections */
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struct sensor_bias_s _sensor_bias; /**< sensor in-run bias corrections */
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MultirotorMixer::saturation_status _saturation_status{};
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perf_counter_t _loop_perf; /**< loop performance counter */
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perf_counter_t _controller_latency_perf;
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math::LowPassFilter2p _lp_filters_d[3]; /**< low-pass filters for D-term (roll, pitch & yaw) */
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static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
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float _loop_update_rate_hz; /**< current rate-controller loop update rate in [Hz] */
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math::Vector<3> _rates_prev; /**< angular rates on previous step */
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math::Vector<3> _rates_prev_filtered; /**< angular rates on previous step (low-pass filtered) */
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math::Vector<3> _rates_sp; /**< angular rates setpoint */
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math::Vector<3> _rates_int; /**< angular rates integral error */
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float _thrust_sp; /**< thrust setpoint */
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math::Vector<3> _att_control; /**< attitude control vector */
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math::Matrix<3, 3> _board_rotation = {}; /**< rotation matrix for the orientation that the board is mounted */
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struct {
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param_t roll_p;
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param_t roll_rate_p;
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param_t roll_rate_i;
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param_t roll_rate_integ_lim;
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param_t roll_rate_d;
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param_t roll_rate_ff;
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param_t pitch_p;
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param_t pitch_rate_p;
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param_t pitch_rate_i;
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param_t pitch_rate_integ_lim;
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param_t pitch_rate_d;
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param_t pitch_rate_ff;
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param_t d_term_cutoff_freq;
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param_t tpa_breakpoint_p;
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param_t tpa_breakpoint_i;
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param_t tpa_breakpoint_d;
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param_t tpa_rate_p;
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param_t tpa_rate_i;
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param_t tpa_rate_d;
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param_t yaw_p;
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param_t yaw_rate_p;
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param_t yaw_rate_i;
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param_t yaw_rate_integ_lim;
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param_t yaw_rate_d;
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param_t yaw_rate_ff;
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param_t yaw_ff;
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param_t roll_rate_max;
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param_t pitch_rate_max;
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param_t yaw_rate_max;
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param_t yaw_auto_max;
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param_t acro_roll_max;
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param_t acro_pitch_max;
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param_t acro_yaw_max;
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param_t acro_expo;
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param_t acro_superexpo;
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param_t rattitude_thres;
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param_t vtol_wv_yaw_rate_scale;
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param_t bat_scale_en;
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param_t board_rotation;
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param_t board_offset[3];
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} _params_handles; /**< handles for interesting parameters */
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struct {
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matrix::Vector3f attitude_p; /**< P gain for attitude control */
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math::Vector<3> rate_p; /**< P gain for angular rate error */
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math::Vector<3> rate_i; /**< I gain for angular rate error */
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math::Vector<3> rate_int_lim; /**< integrator state limit for rate loop */
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math::Vector<3> rate_d; /**< D gain for angular rate error */
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math::Vector<3> rate_ff; /**< Feedforward gain for desired rates */
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float yaw_ff; /**< yaw control feed-forward */
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float d_term_cutoff_freq; /**< Cutoff frequency for the D-term filter */
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float tpa_breakpoint_p; /**< Throttle PID Attenuation breakpoint */
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float tpa_breakpoint_i; /**< Throttle PID Attenuation breakpoint */
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float tpa_breakpoint_d; /**< Throttle PID Attenuation breakpoint */
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float tpa_rate_p; /**< Throttle PID Attenuation slope */
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float tpa_rate_i; /**< Throttle PID Attenuation slope */
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float tpa_rate_d; /**< Throttle PID Attenuation slope */
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float roll_rate_max;
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float pitch_rate_max;
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float yaw_rate_max;
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float yaw_auto_max;
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math::Vector<3> mc_rate_max; /**< attitude rate limits in stabilized modes */
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math::Vector<3> auto_rate_max; /**< attitude rate limits in auto modes */
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matrix::Vector3f acro_rate_max; /**< max attitude rates in acro mode */
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float acro_expo; /**< function parameter for expo stick curve shape */
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float acro_superexpo; /**< function parameter for superexpo stick curve shape */
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float rattitude_thres;
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float vtol_wv_yaw_rate_scale; /**< Scale value [0, 1] for yaw rate setpoint */
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int32_t bat_scale_en;
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int32_t board_rotation;
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float board_offset[3];
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} _params;
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/**
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* Update our local parameter cache.
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*/
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void parameters_update();
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/**
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* Check for parameter update and handle it.
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*/
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void battery_status_poll();
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void parameter_update_poll();
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void sensor_bias_poll();
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void sensor_correction_poll();
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void vehicle_attitude_poll();
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void vehicle_attitude_setpoint_poll();
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void vehicle_control_mode_poll();
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void vehicle_manual_poll();
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void vehicle_motor_limits_poll();
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void vehicle_rates_setpoint_poll();
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void vehicle_status_poll();
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/**
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* Attitude controller.
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*/
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void control_attitude(float dt);
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/**
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* Attitude rates controller.
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*/
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void control_attitude_rates(float dt);
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/**
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* Throttle PID attenuation.
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*/
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math::Vector<3> pid_attenuations(float tpa_breakpoint, float tpa_rate);
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};
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