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Merge pull request #444 from PX4/multirotor_att_control_fix
multirotor_att_control: cleanup, some refactoring
This commit is contained in:
Lorenz Meier
@@ -89,18 +89,18 @@ static int
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mc_thread_main(int argc, char *argv[])
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mc_thread_main(int argc, char *argv[])
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{
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{
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/* declare and safely initialize all structs */
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/* declare and safely initialize all structs */
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struct vehicle_control_mode_s control_mode;
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memset(&control_mode, 0, sizeof(control_mode));
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struct vehicle_attitude_s att;
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struct vehicle_attitude_s att;
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memset(&att, 0, sizeof(att));
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memset(&att, 0, sizeof(att));
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struct vehicle_attitude_setpoint_s att_sp;
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struct vehicle_attitude_setpoint_s att_sp;
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memset(&att_sp, 0, sizeof(att_sp));
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memset(&att_sp, 0, sizeof(att_sp));
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struct manual_control_setpoint_s manual;
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memset(&manual, 0, sizeof(manual));
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struct sensor_combined_s raw;
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memset(&raw, 0, sizeof(raw));
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struct offboard_control_setpoint_s offboard_sp;
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struct offboard_control_setpoint_s offboard_sp;
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memset(&offboard_sp, 0, sizeof(offboard_sp));
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memset(&offboard_sp, 0, sizeof(offboard_sp));
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struct vehicle_control_mode_s control_mode;
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memset(&control_mode, 0, sizeof(control_mode));
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struct manual_control_setpoint_s manual;
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memset(&manual, 0, sizeof(manual));
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struct sensor_combined_s sensor;
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memset(&sensor, 0, sizeof(sensor));
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struct vehicle_rates_setpoint_s rates_sp;
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struct vehicle_rates_setpoint_s rates_sp;
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memset(&rates_sp, 0, sizeof(rates_sp));
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memset(&rates_sp, 0, sizeof(rates_sp));
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struct vehicle_status_s status;
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struct vehicle_status_s status;
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@@ -108,29 +108,16 @@ mc_thread_main(int argc, char *argv[])
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struct actuator_controls_s actuators;
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struct actuator_controls_s actuators;
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memset(&actuators, 0, sizeof(actuators));
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memset(&actuators, 0, sizeof(actuators));
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/* subscribe to attitude, motor setpoints and system state */
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/* subscribe */
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int param_sub = orb_subscribe(ORB_ID(parameter_update));
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int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
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int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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int vehicle_attitude_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
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int offboard_control_setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
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int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
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int vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
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int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
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int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
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int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
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int vehicle_rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
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int status_sub = orb_subscribe(ORB_ID(vehicle_status));
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int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
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/*
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* Do not rate-limit the loop to prevent aliasing
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* if rate-limiting would be desired later, the line below would
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* enable it.
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*
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* rate-limit the attitude subscription to 200Hz to pace our loop
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* orb_set_interval(att_sub, 5);
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*/
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struct pollfd fds[2] = {
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{ .fd = att_sub, .events = POLLIN },
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{ .fd = param_sub, .events = POLLIN }
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};
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/* publish actuator controls */
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/* publish actuator controls */
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
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@@ -146,233 +133,246 @@ mc_thread_main(int argc, char *argv[])
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perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval");
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perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval");
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perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err");
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perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err");
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/* welcome user */
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warnx("starting");
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warnx("starting");
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/* store last control mode to detect mode switches */
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/* store last control mode to detect mode switches */
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bool control_yaw_position = true;
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bool control_yaw_position = true;
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bool reset_yaw_sp = true;
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bool reset_yaw_sp = true;
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struct pollfd fds[1] = {
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{ .fd = vehicle_attitude_sub, .events = POLLIN },
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};
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while (!thread_should_exit) {
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while (!thread_should_exit) {
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/* wait for a sensor update, check for exit condition every 500 ms */
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/* wait for a sensor update, check for exit condition every 500 ms */
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int ret = poll(fds, 2, 500);
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int ret = poll(fds, 1, 500);
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if (ret < 0) {
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if (ret < 0) {
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/* poll error, count it in perf */
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/* poll error, count it in perf */
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perf_count(mc_err_perf);
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perf_count(mc_err_perf);
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} else if (ret == 0) {
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} else if (ret > 0) {
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/* no return value, ignore */
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/* only run controller if attitude changed */
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} else {
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perf_begin(mc_loop_perf);
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/* only update parameters if they changed */
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/* attitude */
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if (fds[1].revents & POLLIN) {
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orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
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/* read from param to clear updated flag */
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bool updated;
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/* parameters */
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orb_check(parameter_update_sub, &updated);
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if (updated) {
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struct parameter_update_s update;
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struct parameter_update_s update;
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orb_copy(ORB_ID(parameter_update), param_sub, &update);
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orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
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/* update parameters */
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/* update parameters */
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}
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}
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/* only run controller if attitude changed */
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/* control mode */
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if (fds[0].revents & POLLIN) {
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orb_check(vehicle_control_mode_sub, &updated);
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perf_begin(mc_loop_perf);
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if (updated) {
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orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sub, &control_mode);
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}
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/* get a local copy of system state */
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/* manual control setpoint */
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bool updated;
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orb_check(manual_control_setpoint_sub, &updated);
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orb_check(control_mode_sub, &updated);
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if (updated) {
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if (updated) {
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orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
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orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual);
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}
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/* attitude setpoint */
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orb_check(vehicle_attitude_setpoint_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp);
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}
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/* offboard control setpoint */
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orb_check(offboard_control_setpoint_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(offboard_control_setpoint), offboard_control_setpoint_sub, &offboard_sp);
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}
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/* vehicle status */
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orb_check(vehicle_status_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status);
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}
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/* sensors */
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orb_check(sensor_combined_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
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}
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/* set flag to safe value */
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control_yaw_position = true;
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/* reset yaw setpoint if not armed */
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if (!control_mode.flag_armed) {
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reset_yaw_sp = true;
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}
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/* define which input is the dominating control input */
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if (control_mode.flag_control_offboard_enabled) {
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/* offboard inputs */
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if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
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rates_sp.roll = offboard_sp.p1;
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rates_sp.pitch = offboard_sp.p2;
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rates_sp.yaw = offboard_sp.p3;
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rates_sp.thrust = offboard_sp.p4;
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rates_sp.timestamp = hrt_absolute_time();
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
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} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
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att_sp.roll_body = offboard_sp.p1;
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att_sp.pitch_body = offboard_sp.p2;
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att_sp.yaw_body = offboard_sp.p3;
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att_sp.thrust = offboard_sp.p4;
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att_sp.timestamp = hrt_absolute_time();
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/* publish the result to the vehicle actuators */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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}
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}
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/* get a local copy of manual setpoint */
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/* reset yaw setpoint after offboard control */
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orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
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reset_yaw_sp = true;
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/* get a local copy of attitude */
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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/* get a local copy of attitude setpoint */
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orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
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/* get a local copy of rates setpoint */
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orb_check(setpoint_sub, &updated);
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if (updated) {
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} else if (control_mode.flag_control_manual_enabled) {
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orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
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/* manual input */
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}
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if (control_mode.flag_control_attitude_enabled) {
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/* control attitude, update attitude setpoint depending on mode */
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if (att_sp.thrust < 0.1f) {
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/* no thrust, don't try to control yaw */
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rates_sp.yaw = 0.0f;
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control_yaw_position = false;
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/* get a local copy of status */
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if (status.condition_landed) {
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orb_check(status_sub, &updated);
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/* reset yaw setpoint if on ground */
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reset_yaw_sp = true;
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if (updated) {
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orb_copy(ORB_ID(vehicle_status), status_sub, &status);
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}
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/* get a local copy of the current sensor values */
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orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
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/* set flag to safe value */
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control_yaw_position = true;
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/* reset yaw setpoint if not armed */
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if (!control_mode.flag_armed) {
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reset_yaw_sp = true;
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}
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/* define which input is the dominating control input */
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if (control_mode.flag_control_offboard_enabled) {
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/* offboard inputs */
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if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
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rates_sp.roll = offboard_sp.p1;
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rates_sp.pitch = offboard_sp.p2;
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rates_sp.yaw = offboard_sp.p3;
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rates_sp.thrust = offboard_sp.p4;
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rates_sp.timestamp = hrt_absolute_time();
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
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} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
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att_sp.roll_body = offboard_sp.p1;
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att_sp.pitch_body = offboard_sp.p2;
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att_sp.yaw_body = offboard_sp.p3;
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att_sp.thrust = offboard_sp.p4;
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att_sp.timestamp = hrt_absolute_time();
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/* publish the result to the vehicle actuators */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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}
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/* reset yaw setpoint after offboard control */
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reset_yaw_sp = true;
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} else if (control_mode.flag_control_manual_enabled) {
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/* manual input */
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if (control_mode.flag_control_attitude_enabled) {
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/* control attitude, update attitude setpoint depending on mode */
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if (att_sp.thrust < 0.1f) {
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/* no thrust, don't try to control yaw */
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rates_sp.yaw = 0.0f;
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control_yaw_position = false;
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if (status.condition_landed) {
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/* reset yaw setpoint if on ground */
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reset_yaw_sp = true;
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}
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} else {
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/* only move yaw setpoint if manual input is != 0 */
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if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) {
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/* control yaw rate */
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control_yaw_position = false;
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rates_sp.yaw = manual.yaw;
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reset_yaw_sp = true; // has no effect on control, just for beautiful log
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} else {
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control_yaw_position = true;
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}
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}
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}
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if (!control_mode.flag_control_velocity_enabled) {
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/* update attitude setpoint if not in position control mode */
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att_sp.roll_body = manual.roll;
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att_sp.pitch_body = manual.pitch;
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if (!control_mode.flag_control_climb_rate_enabled) {
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/* pass throttle directly if not in altitude control mode */
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att_sp.thrust = manual.throttle;
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}
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}
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/* reset yaw setpint to current position if needed */
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if (reset_yaw_sp) {
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att_sp.yaw_body = att.yaw;
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reset_yaw_sp = false;
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}
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if (motor_test_mode) {
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printf("testmode");
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att_sp.roll_body = 0.0f;
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att_sp.pitch_body = 0.0f;
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att_sp.yaw_body = 0.0f;
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att_sp.thrust = 0.1f;
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}
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att_sp.timestamp = hrt_absolute_time();
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/* publish the attitude setpoint */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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} else {
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} else {
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/* manual rate inputs (ACRO), from RC control or joystick */
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/* only move yaw setpoint if manual input is != 0 */
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if (control_mode.flag_control_rates_enabled) {
|
if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) {
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rates_sp.roll = manual.roll;
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/* control yaw rate */
|
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rates_sp.pitch = manual.pitch;
|
control_yaw_position = false;
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rates_sp.yaw = manual.yaw;
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rates_sp.yaw = manual.yaw;
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rates_sp.thrust = manual.throttle;
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reset_yaw_sp = true; // has no effect on control, just for beautiful log
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rates_sp.timestamp = hrt_absolute_time();
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}
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||||||
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/* reset yaw setpoint after ACRO */
|
} else {
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reset_yaw_sp = true;
|
control_yaw_position = true;
|
||||||
|
}
|
||||||
}
|
}
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||||||
|
|
||||||
|
if (!control_mode.flag_control_velocity_enabled) {
|
||||||
|
/* update attitude setpoint if not in position control mode */
|
||||||
|
att_sp.roll_body = manual.roll;
|
||||||
|
att_sp.pitch_body = manual.pitch;
|
||||||
|
|
||||||
|
if (!control_mode.flag_control_climb_rate_enabled) {
|
||||||
|
/* pass throttle directly if not in altitude control mode */
|
||||||
|
att_sp.thrust = manual.throttle;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/* reset yaw setpint to current position if needed */
|
||||||
|
if (reset_yaw_sp) {
|
||||||
|
att_sp.yaw_body = att.yaw;
|
||||||
|
reset_yaw_sp = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (motor_test_mode) {
|
||||||
|
printf("testmode");
|
||||||
|
att_sp.roll_body = 0.0f;
|
||||||
|
att_sp.pitch_body = 0.0f;
|
||||||
|
att_sp.yaw_body = 0.0f;
|
||||||
|
att_sp.thrust = 0.1f;
|
||||||
|
}
|
||||||
|
|
||||||
|
att_sp.timestamp = hrt_absolute_time();
|
||||||
|
|
||||||
|
/* publish the attitude setpoint */
|
||||||
|
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
|
||||||
|
|
||||||
} else {
|
} else {
|
||||||
if (!control_mode.flag_control_auto_enabled) {
|
/* manual rate inputs (ACRO), from RC control or joystick */
|
||||||
/* no control, try to stay on place */
|
if (control_mode.flag_control_rates_enabled) {
|
||||||
if (!control_mode.flag_control_velocity_enabled) {
|
rates_sp.roll = manual.roll;
|
||||||
/* no velocity control, reset attitude setpoint */
|
rates_sp.pitch = manual.pitch;
|
||||||
att_sp.roll_body = 0.0f;
|
rates_sp.yaw = manual.yaw;
|
||||||
att_sp.pitch_body = 0.0f;
|
rates_sp.thrust = manual.throttle;
|
||||||
att_sp.timestamp = hrt_absolute_time();
|
rates_sp.timestamp = hrt_absolute_time();
|
||||||
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/* reset yaw setpoint after non-manual control */
|
/* reset yaw setpoint after ACRO */
|
||||||
reset_yaw_sp = true;
|
reset_yaw_sp = true;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* check if we should we reset integrals */
|
} else {
|
||||||
bool reset_integral = !control_mode.flag_armed || att_sp.thrust < 0.1f; // TODO use landed status instead of throttle
|
if (!control_mode.flag_control_auto_enabled) {
|
||||||
|
/* no control, try to stay on place */
|
||||||
/* run attitude controller if needed */
|
if (!control_mode.flag_control_velocity_enabled) {
|
||||||
if (control_mode.flag_control_attitude_enabled) {
|
/* no velocity control, reset attitude setpoint */
|
||||||
multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, reset_integral);
|
att_sp.roll_body = 0.0f;
|
||||||
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
|
att_sp.pitch_body = 0.0f;
|
||||||
}
|
att_sp.timestamp = hrt_absolute_time();
|
||||||
|
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
|
||||||
/* measure in what intervals the controller runs */
|
|
||||||
perf_count(mc_interval_perf);
|
|
||||||
|
|
||||||
/* run rates controller if needed */
|
|
||||||
if (control_mode.flag_control_rates_enabled) {
|
|
||||||
/* get current rate setpoint */
|
|
||||||
bool rates_sp_updated = false;
|
|
||||||
orb_check(rates_sp_sub, &rates_sp_updated);
|
|
||||||
|
|
||||||
if (rates_sp_updated) {
|
|
||||||
orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/* apply controller */
|
|
||||||
float rates[3];
|
|
||||||
rates[0] = att.rollspeed;
|
|
||||||
rates[1] = att.pitchspeed;
|
|
||||||
rates[2] = att.yawspeed;
|
|
||||||
multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral);
|
|
||||||
|
|
||||||
} else {
|
|
||||||
/* rates controller disabled, set actuators to zero for safety */
|
|
||||||
actuators.control[0] = 0.0f;
|
|
||||||
actuators.control[1] = 0.0f;
|
|
||||||
actuators.control[2] = 0.0f;
|
|
||||||
actuators.control[3] = 0.0f;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
actuators.timestamp = hrt_absolute_time();
|
/* reset yaw setpoint after non-manual control */
|
||||||
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
|
reset_yaw_sp = true;
|
||||||
|
}
|
||||||
|
|
||||||
perf_end(mc_loop_perf);
|
/* check if we should we reset integrals */
|
||||||
} /* end of poll call for attitude updates */
|
bool reset_integral = !control_mode.flag_armed || att_sp.thrust < 0.1f; // TODO use landed status instead of throttle
|
||||||
} /* end of poll return value check */
|
|
||||||
|
/* run attitude controller if needed */
|
||||||
|
if (control_mode.flag_control_attitude_enabled) {
|
||||||
|
multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, reset_integral);
|
||||||
|
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* measure in what intervals the controller runs */
|
||||||
|
perf_count(mc_interval_perf);
|
||||||
|
|
||||||
|
/* run rates controller if needed */
|
||||||
|
if (control_mode.flag_control_rates_enabled) {
|
||||||
|
/* get current rate setpoint */
|
||||||
|
bool rates_sp_updated = false;
|
||||||
|
orb_check(vehicle_rates_setpoint_sub, &rates_sp_updated);
|
||||||
|
|
||||||
|
if (rates_sp_updated) {
|
||||||
|
orb_copy(ORB_ID(vehicle_rates_setpoint), vehicle_rates_setpoint_sub, &rates_sp);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* apply controller */
|
||||||
|
float rates[3];
|
||||||
|
rates[0] = att.rollspeed;
|
||||||
|
rates[1] = att.pitchspeed;
|
||||||
|
rates[2] = att.yawspeed;
|
||||||
|
multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
/* rates controller disabled, set actuators to zero for safety */
|
||||||
|
actuators.control[0] = 0.0f;
|
||||||
|
actuators.control[1] = 0.0f;
|
||||||
|
actuators.control[2] = 0.0f;
|
||||||
|
actuators.control[3] = 0.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
actuators.timestamp = hrt_absolute_time();
|
||||||
|
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
|
||||||
|
|
||||||
|
perf_end(mc_loop_perf);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
warnx("stopping, disarming motors");
|
warnx("stopping, disarming motors");
|
||||||
@@ -383,10 +383,9 @@ mc_thread_main(int argc, char *argv[])
|
|||||||
|
|
||||||
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
|
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
|
||||||
|
|
||||||
|
close(vehicle_attitude_sub);
|
||||||
close(att_sub);
|
close(vehicle_control_mode_sub);
|
||||||
close(control_mode_sub);
|
close(manual_control_setpoint_sub);
|
||||||
close(manual_sub);
|
|
||||||
close(actuator_pub);
|
close(actuator_pub);
|
||||||
close(att_sp_pub);
|
close(att_sp_pub);
|
||||||
|
|
||||||
|
|||||||
Reference in New Issue
Block a user