Moved multirotor controllers

src/modules/multirotor_att_control/module.mk

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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.
+#
+############################################################################
+
+#
+# Makefile to build the multirotor attitude controller
+#
+
+MODULE_COMMAND	= multirotor_att_control
+
+SRCS		= multirotor_att_control_main.c \
+		  multirotor_attitude_control.c \
+		  multirotor_rate_control.c

src/modules/multirotor_att_control/multirotor_att_control_main.c

@@ -0,0 +1,485 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 multirotor_att_control_main.c
+ *
+ * Implementation of multirotor attitude control main loop.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+#include <getopt.h>
+#include <time.h>
+#include <math.h>
+#include <poll.h>
+#include <sys/prctl.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/uORB.h>
+#include <drivers/drv_gyro.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/offboard_control_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/parameter_update.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+
+#include "multirotor_attitude_control.h"
+#include "multirotor_rate_control.h"
+
+PARAM_DEFINE_FLOAT(MC_RCLOSS_THR, 0.0f); // This defines the throttle when the RC signal is lost.
+
+__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
+
+static bool thread_should_exit;
+static int mc_task;
+static bool motor_test_mode = false;
+
+static orb_advert_t actuator_pub;
+
+static struct vehicle_status_s state;
+
+static int
+mc_thread_main(int argc, char *argv[])
+{
+	/* declare and safely initialize all structs */
+	memset(&state, 0, sizeof(state));
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	struct vehicle_attitude_setpoint_s att_sp;
+	memset(&att_sp, 0, sizeof(att_sp));
+	struct manual_control_setpoint_s manual;
+	memset(&manual, 0, sizeof(manual));
+	struct sensor_combined_s raw;
+	memset(&raw, 0, sizeof(raw));
+	struct offboard_control_setpoint_s offboard_sp;
+	memset(&offboard_sp, 0, sizeof(offboard_sp));
+	struct vehicle_rates_setpoint_s rates_sp;
+	memset(&rates_sp, 0, sizeof(rates_sp));
+
+	struct actuator_controls_s actuators;
+	memset(&actuators, 0, sizeof(actuators));
+
+	/* subscribe to attitude, motor setpoints and system state */
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int param_sub = orb_subscribe(ORB_ID(parameter_update));
+	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
+	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
+	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+
+	/*
+	 * Do not rate-limit the loop to prevent aliasing
+	 * if rate-limiting would be desired later, the line below would
+	 * enable it.
+	 *
+	 * rate-limit the attitude subscription to 200Hz to pace our loop
+	 * orb_set_interval(att_sub, 5);
+	 */
+	struct pollfd fds[2] = {
+		{ .fd = att_sub, .events = POLLIN },
+		{ .fd = param_sub, .events = POLLIN }
+	};
+
+	/* publish actuator controls */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
+		actuators.control[i] = 0.0f;
+	}
+
+	actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
+	orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
+	orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
+	int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
+
+	/* register the perf counter */
+	perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control_runtime");
+	perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval");
+	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err");
+
+	/* welcome user */
+	printf("[multirotor_att_control] starting\n");
+
+	/* store last control mode to detect mode switches */
+	bool flag_control_manual_enabled = false;
+	bool flag_control_attitude_enabled = false;
+	bool flag_system_armed = false;
+
+	/* store if yaw position or yaw speed has been changed */
+	bool control_yaw_position = true;
+
+	/* store if we stopped a yaw movement */
+	bool first_time_after_yaw_speed_control = true;
+
+	/* prepare the handle for the failsafe throttle */
+	param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR");
+	float failsafe_throttle = 0.0f;
+
+
+	while (!thread_should_exit) {
+
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		int ret = poll(fds, 2, 500);
+
+		if (ret < 0) {
+			/* poll error, count it in perf */
+			perf_count(mc_err_perf);
+
+		} else if (ret == 0) {
+			/* no return value, ignore */
+		} else {
+
+			/* only update parameters if they changed */
+			if (fds[1].revents & POLLIN) {
+				/* read from param to clear updated flag */
+				struct parameter_update_s update;
+				orb_copy(ORB_ID(parameter_update), param_sub, &update);
+
+				/* update parameters */
+				// XXX no params here yet
+			}
+
+			/* only run controller if attitude changed */
+			if (fds[0].revents & POLLIN) {
+
+				perf_begin(mc_loop_perf);
+
+				/* get a local copy of system state */
+				bool updated;
+				orb_check(state_sub, &updated);
+
+				if (updated) {
+					orb_copy(ORB_ID(vehicle_status), state_sub, &state);
+				}
+
+				/* get a local copy of manual setpoint */
+				orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
+				/* get a local copy of attitude */
+				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+				/* get a local copy of attitude setpoint */
+				orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
+				/* get a local copy of rates setpoint */
+				orb_check(setpoint_sub, &updated);
+
+				if (updated) {
+					orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
+				}
+
+				/* get a local copy of the current sensor values */
+				orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
+
+
+				/** STEP 1: Define which input is the dominating control input */
+				if (state.flag_control_offboard_enabled) {
+					/* offboard inputs */
+					if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
+						rates_sp.roll = offboard_sp.p1;
+						rates_sp.pitch = offboard_sp.p2;
+						rates_sp.yaw = offboard_sp.p3;
+						rates_sp.thrust = offboard_sp.p4;
+//						printf("thrust_rate=%8.4f\n",offboard_sp.p4);
+						rates_sp.timestamp = hrt_absolute_time();
+						orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
+
+					} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
+						att_sp.roll_body = offboard_sp.p1;
+						att_sp.pitch_body = offboard_sp.p2;
+						att_sp.yaw_body = offboard_sp.p3;
+						att_sp.thrust = offboard_sp.p4;
+//						printf("thrust_att=%8.4f\n",offboard_sp.p4);
+						att_sp.timestamp = hrt_absolute_time();
+						/* STEP 2: publish the result to the vehicle actuators */
+						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+					}
+
+
+				} else if (state.flag_control_manual_enabled) {
+
+					if (state.flag_control_attitude_enabled) {
+
+						/* initialize to current yaw if switching to manual or att control */
+						if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
+						    state.flag_control_manual_enabled != flag_control_manual_enabled ||
+						    state.flag_system_armed != flag_system_armed) {
+							att_sp.yaw_body = att.yaw;
+						}
+
+						static bool rc_loss_first_time = true;
+
+						/* if the RC signal is lost, try to stay level and go slowly back down to ground */
+						if (state.rc_signal_lost) {
+							/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
+							param_get(failsafe_throttle_handle, &failsafe_throttle);
+							att_sp.roll_body = 0.0f;
+							att_sp.pitch_body = 0.0f;
+
+							/*
+							 * Only go to failsafe throttle if last known throttle was
+							 * high enough to create some lift to make hovering state likely.
+							 *
+							 * This is to prevent that someone landing, but not disarming his
+							 * multicopter (throttle = 0) does not make it jump up in the air
+							 * if shutting down his remote.
+							 */
+							if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
+								att_sp.thrust = failsafe_throttle;
+
+							} else {
+								att_sp.thrust = 0.0f;
+							}
+
+							/* keep current yaw, do not attempt to go to north orientation,
+							 * since if the pilot regains RC control, he will be lost regarding
+							 * the current orientation.
+							 */
+							if (rc_loss_first_time)
+								att_sp.yaw_body = att.yaw;
+
+							rc_loss_first_time = false;
+
+						} else {
+							rc_loss_first_time = true;
+
+							att_sp.roll_body = manual.roll;
+							att_sp.pitch_body = manual.pitch;
+
+							/* set attitude if arming */
+							if (!flag_control_attitude_enabled && state.flag_system_armed) {
+								att_sp.yaw_body = att.yaw;
+							}
+
+							/* act if stabilization is active or if the (nonsense) direct pass through mode is set */
+							if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS ||
+							    state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+
+								if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) {
+									rates_sp.yaw = manual.yaw;
+									control_yaw_position = false;
+
+								} else {
+									/*
+									 * This mode SHOULD be the default mode, which is:
+									 * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS
+									 *
+									 * However, we fall back to this setting for all other (nonsense)
+									 * settings as well.
+									 */
+
+									/* only move setpoint if manual input is != 0 */
+									if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
+										rates_sp.yaw = manual.yaw;
+										control_yaw_position = false;
+										first_time_after_yaw_speed_control = true;
+
+									} else {
+										if (first_time_after_yaw_speed_control) {
+											att_sp.yaw_body = att.yaw;
+											first_time_after_yaw_speed_control = false;
+										}
+
+										control_yaw_position = true;
+									}
+								}
+							}
+
+							att_sp.thrust = manual.throttle;
+							att_sp.timestamp = hrt_absolute_time();
+						}
+
+						/* STEP 2: publish the controller output */
+						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+
+						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();
+							/* STEP 2: publish the result to the vehicle actuators */
+							orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+						}
+
+					} else {
+						/* manual rate inputs, from RC control or joystick */
+						if (state.flag_control_rates_enabled &&
+						    state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
+							rates_sp.roll = manual.roll;
+
+							rates_sp.pitch = manual.pitch;
+							rates_sp.yaw = manual.yaw;
+							rates_sp.thrust = manual.throttle;
+							rates_sp.timestamp = hrt_absolute_time();
+						}
+					}
+
+				}
+
+				/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
+				if (state.flag_control_attitude_enabled) {
+					multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position);
+
+					orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
+				}
+
+				/* measure in what intervals the controller runs */
+				perf_count(mc_interval_perf);
+
+				float gyro[3];
+
+				/* get current rate setpoint */
+				bool rates_sp_valid = false;
+				orb_check(rates_sp_sub, &rates_sp_valid);
+
+				if (rates_sp_valid) {
+					orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
+				}
+
+				/* apply controller */
+				gyro[0] = att.rollspeed;
+				gyro[1] = att.pitchspeed;
+				gyro[2] = att.yawspeed;
+
+				multirotor_control_rates(&rates_sp, gyro, &actuators);
+				orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+
+				/* update state */
+				flag_control_attitude_enabled = state.flag_control_attitude_enabled;
+				flag_control_manual_enabled = state.flag_control_manual_enabled;
+				flag_system_armed = state.flag_system_armed;
+
+				perf_end(mc_loop_perf);
+			} /* end of poll call for attitude updates */
+		} /* end of poll return value check */
+	}
+
+	printf("[multirotor att control] stopping, disarming motors.\n");
+
+	/* kill all outputs */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+		actuators.control[i] = 0.0f;
+
+	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+
+
+	close(att_sub);
+	close(state_sub);
+	close(manual_sub);
+	close(actuator_pub);
+	close(att_sp_pub);
+
+	perf_print_counter(mc_loop_perf);
+	perf_free(mc_loop_perf);
+
+	fflush(stdout);
+	exit(0);
+}
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage: multirotor_att_control [-m <mode>] [-t] {start|status|stop}\n");
+	fprintf(stderr, "    <mode> is 'rates' or 'attitude'\n");
+	fprintf(stderr, "    -t enables motor test mode with 10%% thrust\n");
+	exit(1);
+}
+
+int multirotor_att_control_main(int argc, char *argv[])
+{
+	int	ch;
+	unsigned int optioncount = 0;
+
+	while ((ch = getopt(argc, argv, "tm:")) != EOF) {
+		switch (ch) {
+		case 't':
+			motor_test_mode = true;
+			optioncount += 1;
+			break;
+
+		case ':':
+			usage("missing parameter");
+			break;
+
+		default:
+			fprintf(stderr, "option: -%c\n", ch);
+			usage("unrecognized option");
+			break;
+		}
+	}
+
+	argc -= optioncount;
+	//argv += optioncount;
+
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1 + optioncount], "start")) {
+
+		thread_should_exit = false;
+		mc_task = task_spawn("multirotor_att_control",
+				     SCHED_DEFAULT,
+				     SCHED_PRIORITY_MAX - 15,
+				     2048,
+				     mc_thread_main,
+				     NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1 + optioncount], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}

src/modules/multirotor_att_control/multirotor_attitude_control.c

@@ -0,0 +1,249 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Laurens Mackay <mackayl@student.ethz.ch>
+ *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 multirotor_attitude_control.c
+ * Implementation of attitude controller
+ */
+
+#include "multirotor_attitude_control.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <float.h>
+#include <math.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/param/param.h>
+#include <drivers/drv_hrt.h>
+
+PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
+//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
+
+PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f);
+PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f);
+//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
+//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);
+
+//PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);
+
+struct mc_att_control_params {
+	float yaw_p;
+	float yaw_i;
+	float yaw_d;
+	//float yaw_awu;
+	//float yaw_lim;
+
+	float att_p;
+	float att_i;
+	float att_d;
+	//float att_awu;
+	//float att_lim;
+
+	//float att_xoff;
+	//float att_yoff;
+};
+
+struct mc_att_control_param_handles {
+	param_t yaw_p;
+	param_t yaw_i;
+	param_t yaw_d;
+	//param_t yaw_awu;
+	//param_t yaw_lim;
+
+	param_t att_p;
+	param_t att_i;
+	param_t att_d;
+	//param_t att_awu;
+	//param_t att_lim;
+
+	//param_t att_xoff;
+	//param_t att_yoff;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+static int parameters_init(struct mc_att_control_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p);
+
+
+static int parameters_init(struct mc_att_control_param_handles *h)
+{
+	/* PID parameters */
+	h->yaw_p 	=	param_find("MC_YAWPOS_P");
+	h->yaw_i 	=	param_find("MC_YAWPOS_I");
+	h->yaw_d 	=	param_find("MC_YAWPOS_D");
+	//h->yaw_awu 	=	param_find("MC_YAWPOS_AWU");
+	//h->yaw_lim 	=	param_find("MC_YAWPOS_LIM");
+
+	h->att_p 	= 	param_find("MC_ATT_P");
+	h->att_i 	= 	param_find("MC_ATT_I");
+	h->att_d 	= 	param_find("MC_ATT_D");
+	//h->att_awu 	= 	param_find("MC_ATT_AWU");
+	//h->att_lim 	= 	param_find("MC_ATT_LIM");
+
+	//h->att_xoff 	= 	param_find("MC_ATT_XOFF");
+	//h->att_yoff 	= 	param_find("MC_ATT_YOFF");
+
+	return OK;
+}
+
+static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p)
+{
+	param_get(h->yaw_p, &(p->yaw_p));
+	param_get(h->yaw_i, &(p->yaw_i));
+	param_get(h->yaw_d, &(p->yaw_d));
+	//param_get(h->yaw_awu, &(p->yaw_awu));
+	//param_get(h->yaw_lim, &(p->yaw_lim));
+
+	param_get(h->att_p, &(p->att_p));
+	param_get(h->att_i, &(p->att_i));
+	param_get(h->att_d, &(p->att_d));
+	//param_get(h->att_awu, &(p->att_awu));
+	//param_get(h->att_lim, &(p->att_lim));
+
+	//param_get(h->att_xoff, &(p->att_xoff));
+	//param_get(h->att_yoff, &(p->att_yoff));
+
+	return OK;
+}
+
+void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
+				 const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
+{
+	static uint64_t last_run = 0;
+	static uint64_t last_input = 0;
+	float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
+	last_run = hrt_absolute_time();
+
+	if (last_input != att_sp->timestamp) {
+		last_input = att_sp->timestamp;
+	}
+
+	static int sensor_delay;
+	sensor_delay = hrt_absolute_time() - att->timestamp;
+
+	static int motor_skip_counter = 0;
+
+	static PID_t pitch_controller;
+	static PID_t roll_controller;
+
+	static struct mc_att_control_params p;
+	static struct mc_att_control_param_handles h;
+
+	static bool initialized = false;
+
+	static float yaw_error;
+
+	/* initialize the pid controllers when the function is called for the first time */
+	if (initialized == false) {
+		parameters_init(&h);
+		parameters_update(&h, &p);
+
+		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
+			 1000.0f, PID_MODE_DERIVATIV_SET);
+		pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
+			 1000.0f, PID_MODE_DERIVATIV_SET);
+
+		initialized = true;
+	}
+
+	/* load new parameters with lower rate */
+	if (motor_skip_counter % 500 == 0) {
+		/* update parameters from storage */
+		parameters_update(&h, &p);
+
+		/* apply parameters */
+		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
+		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
+	}
+
+	/* reset integral if on ground */
+	if (att_sp->thrust < 0.1f) {
+		pid_reset_integral(&pitch_controller);
+		pid_reset_integral(&roll_controller);
+	}
+
+
+	/* calculate current control outputs */
+
+	/* control pitch (forward) output */
+	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
+					att->pitch, att->pitchspeed, deltaT);
+
+	/* control roll (left/right) output */
+	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
+				       att->roll, att->rollspeed, deltaT);
+
+	if (control_yaw_position) {
+		/* control yaw rate */
+
+		/* positive error: rotate to right, negative error, rotate to left (NED frame) */
+		// yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw);
+
+		yaw_error = att_sp->yaw_body - att->yaw;
+
+		if (yaw_error > M_PI_F) {
+			yaw_error -= M_TWOPI_F;
+
+		} else if (yaw_error < -M_PI_F) {
+			yaw_error += M_TWOPI_F;
+		}
+
+		rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
+	}
+
+	rates_sp->thrust = att_sp->thrust;
+
+	motor_skip_counter++;
+}

src/modules/multirotor_att_control/multirotor_attitude_control.h

@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Laurens Mackay <mackayl@student.ethz.ch>
+ *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 multirotor_attitude_control.h
+ * Attitude control for multi rotors.
+ */
+
+#ifndef MULTIROTOR_ATTITUDE_CONTROL_H_
+#define MULTIROTOR_ATTITUDE_CONTROL_H_
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+
+void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
+				 const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position);
+
+#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */

src/modules/multirotor_att_control/multirotor_rate_control.c

@@ -0,0 +1,230 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
+ *           Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 multirotor_rate_control.c
+ *
+ * Implementation of rate controller
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include "multirotor_rate_control.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <float.h>
+#include <math.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */
+PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
+
+PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */
+PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
+//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f);	/**< roughly < 500 deg/s limit */
+
+struct mc_rate_control_params {
+
+	float yawrate_p;
+	float yawrate_d;
+	float yawrate_i;
+	//float yawrate_awu;
+	//float yawrate_lim;
+
+	float attrate_p;
+	float attrate_d;
+	float attrate_i;
+	//float attrate_awu;
+	//float attrate_lim;
+
+	float rate_lim;
+};
+
+struct mc_rate_control_param_handles {
+
+	param_t yawrate_p;
+	param_t yawrate_i;
+	param_t yawrate_d;
+	//param_t yawrate_awu;
+	//param_t yawrate_lim;
+
+	param_t attrate_p;
+	param_t attrate_i;
+	param_t attrate_d;
+	//param_t attrate_awu;
+	//param_t attrate_lim;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+static int parameters_init(struct mc_rate_control_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p);
+
+
+static int parameters_init(struct mc_rate_control_param_handles *h)
+{
+	/* PID parameters */
+	h->yawrate_p 	=	param_find("MC_YAWRATE_P");
+	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
+	h->yawrate_d 	=	param_find("MC_YAWRATE_D");
+	//h->yawrate_awu 	=	param_find("MC_YAWRATE_AWU");
+	//h->yawrate_lim 	=	param_find("MC_YAWRATE_LIM");
+
+	h->attrate_p 	= 	param_find("MC_ATTRATE_P");
+	h->attrate_i 	= 	param_find("MC_ATTRATE_I");
+	h->attrate_d 	= 	param_find("MC_ATTRATE_D");
+	//h->attrate_awu 	= 	param_find("MC_ATTRATE_AWU");
+	//h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
+
+	return OK;
+}
+
+static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p)
+{
+	param_get(h->yawrate_p, &(p->yawrate_p));
+	param_get(h->yawrate_i, &(p->yawrate_i));
+	param_get(h->yawrate_d, &(p->yawrate_d));
+	//param_get(h->yawrate_awu, &(p->yawrate_awu));
+	//param_get(h->yawrate_lim, &(p->yawrate_lim));
+
+	param_get(h->attrate_p, &(p->attrate_p));
+	param_get(h->attrate_i, &(p->attrate_i));
+	param_get(h->attrate_d, &(p->attrate_d));
+	//param_get(h->attrate_awu, &(p->attrate_awu));
+	//param_get(h->attrate_lim, &(p->attrate_lim));
+
+	return OK;
+}
+
+void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
+			      const float rates[], struct actuator_controls_s *actuators)
+{
+	static float roll_control_last  = 0;
+	static float pitch_control_last = 0;
+	static uint64_t last_run = 0;
+	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	static uint64_t last_input = 0;
+
+	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
+
+	if (last_input != rate_sp->timestamp) {
+		last_input = rate_sp->timestamp;
+	}
+
+	last_run = hrt_absolute_time();
+
+	static int motor_skip_counter = 0;
+
+	static struct mc_rate_control_params p;
+	static struct mc_rate_control_param_handles h;
+
+	static bool initialized = false;
+
+	/* initialize the pid controllers when the function is called for the first time */
+	if (initialized == false) {
+		parameters_init(&h);
+		parameters_update(&h, &p);
+		initialized = true;
+	}
+
+	/* load new parameters with lower rate */
+	if (motor_skip_counter % 2500 == 0) {
+		/* update parameters from storage */
+		parameters_update(&h, &p);
+		// warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
+		// 	(double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
+	}
+
+	/* calculate current control outputs */
+
+	/* control pitch (forward) output */
+	float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
+
+	/* increase resilience to faulty control inputs */
+	if (isfinite(pitch_control)) {
+		pitch_control_last = pitch_control;
+
+	} else {
+		pitch_control = 0.0f;
+		warnx("rej. NaN ctrl pitch");
+	}
+
+	/* control roll (left/right) output */
+	float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
+
+	/* increase resilience to faulty control inputs */
+	if (isfinite(roll_control)) {
+		roll_control_last = roll_control;
+
+	} else {
+		roll_control = 0.0f;
+		warnx("rej. NaN ctrl roll");
+	}
+
+	/* control yaw rate */
+	float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
+
+	/* increase resilience to faulty control inputs */
+	if (!isfinite(yaw_rate_control)) {
+		yaw_rate_control = 0.0f;
+		warnx("rej. NaN ctrl yaw");
+	}
+
+	actuators->control[0] = roll_control;
+	actuators->control[1] = pitch_control;
+	actuators->control[2] = yaw_rate_control;
+	actuators->control[3] = rate_sp->thrust;
+
+	motor_skip_counter++;
+}

src/modules/multirotor_att_control/multirotor_rate_control.h

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Laurens Mackay <mackayl@student.ethz.ch>
+ *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 multirotor_attitude_control.h
+ * Attitude control for multi rotors.
+ */
+
+#ifndef MULTIROTOR_RATE_CONTROL_H_
+#define MULTIROTOR_RATE_CONTROL_H_
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+
+void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
+			      const float rates[], struct actuator_controls_s *actuators);
+
+#endif /* MULTIROTOR_RATE_CONTROL_H_ */