rename TranslationControl to PositionControl

src/modules/mc_pos_control/PositionControl.hpp

@@ -0,0 +1,138 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 PositionControl.hpp
+ *
+ * @inputs: position-, velocity-, acceleration-, thrust-setpoints
+ * @outputs: thrust vector
+ *
+ */
+
+#include <matrix/matrix/math.hpp>
+
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_local_position_setpoint.h>
+#include <systemlib/param/param.h>
+
+#pragma once
+
+/* Constraints based on mode:
+ * Eventually this structure should be part of local position message
+ */
+namespace Controller
+{
+struct Constraints {
+	float tilt_max;
+};
+}
+
+class PositionControl
+{
+public:
+	PositionControl();
+
+	~PositionControl() {};
+
+	void updateState(const struct vehicle_local_position_s state, const matrix::Vector3f &vel_dot,
+			 const matrix::Matrix<float, 3, 3> &R);
+	void updateSetpoint(struct vehicle_local_position_setpoint_s setpoint);
+	void updateConstraints(const Controller::Constraints &constraints);
+	void generateThrustYawSetpoint(const float &dt);
+
+	matrix::Vector3f getThrustSetpoint() {return _thr_sp;}
+	float getYawSetpoint() { return _yaw_sp;}
+	float getYawspeedSetpoint() {return _yawspeed_sp;}
+	matrix::Vector3f getVelSp() {return _vel_sp;}
+	matrix::Vector3f getPosSp() {return _pos_sp;}
+
+private:
+
+	/* States */
+	matrix::Vector3f _pos{};
+	matrix::Vector3f _vel{};
+	matrix::Vector3f _vel_dot{};
+	matrix::Vector3f _acc{};
+	matrix::Vector3f _thr{};
+	float _yaw{0.0f};
+	matrix::Matrix<float, 3, 3> _R{};
+
+	/* Setpoints */
+	matrix::Vector3f _pos_sp{};
+	matrix::Vector3f _vel_sp{};
+	matrix::Vector3f _acc_sp{};
+	matrix::Vector3f _thr_sp{};
+	float _yaw_sp{};
+	float _yawspeed_sp{};
+
+	/* Other variables */
+	matrix::Vector3f _thr_int{};
+	float _yaw_sp_int{};
+	Controller::Constraints _constraints{};
+
+	/* Parameter handles */
+	int _parameter_sub{-1};
+	param_t _Pz_h{PARAM_INVALID};
+	param_t _Pvz_h{PARAM_INVALID};
+	param_t _Ivz_h{PARAM_INVALID};
+	param_t _Dvz_h{PARAM_INVALID};
+	param_t _Pxy_h{PARAM_INVALID};
+	param_t _Pvxy_h{PARAM_INVALID};
+	param_t _Ivxy_h{PARAM_INVALID};
+	param_t _Dvxy_h{PARAM_INVALID};
+	param_t _VelMaxXY_h{PARAM_INVALID};
+	param_t _VelMaxZdown_h{PARAM_INVALID};
+	param_t _VelMaxZup_h{PARAM_INVALID};
+	param_t _ThrHover_h{PARAM_INVALID};
+	param_t _ThrMax_h{PARAM_INVALID};
+	param_t _ThrMin_h{PARAM_INVALID};
+	param_t _YawRateMax_h{PARAM_INVALID};
+	param_t _Pyaw_h{PARAM_INVALID}; //only temporary: this will be moved into attitude controller
+
+	/* Parameters */
+	matrix::Vector3f Pp, Pv, Iv, Dv = matrix::Vector3f{0.0f, 0.0f, 0.0f};
+	float _VelMaxXY{};
+	float _VelMaxZ[2]; //index 0: index up; 1: down
+	float _ThrHover{0.5f};
+	float _ThrLimit[2]; //index 0: max, index 1: min
+	float _Pyaw{};
+	float _YawRateMax{};
+
+	/* Helper methods */
+	void _interfaceMapping();
+	void _positionController();
+	void _velocityController(const float &dt);
+	void _yawController(const float &dt);
+	void _updateParams();
+	void _setParams();
+};