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PositionControl.hpp: inherit from ModuleParams and replace params with ModuleParams type

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This commit is contained in:
Dennis Mannhart 2018-04-11 11:19:29 +02:00 committed by Lorenz Meier
parent aef6b9216e
commit 7dbc368779
1 changed files with 31 additions and 45 deletions
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76
src/modules/mc_pos_control/PositionControl.hpp
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@ -41,8 +41,7 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <parameters/param.h>
#include <px4_module_params.h>
#pragma once
namespace Controller
@ -77,12 +76,20 @@ struct Constraints {
*
* A setpoint that is NAN is considered as not set.
*/
class PositionControl
class PositionControl : public ModuleParams
{
public:
PositionControl();
~PositionControl() {};
PositionControl(ModuleParams *parent);
~PositionControl() = default;
/**
* Overwrites certain parameters.
* Overwrites are required for unit-conversion.
* This method should only be called if parameters
* have been updated.
*/
void overwriteParams();
/**
* Update the current vehicle state.
@ -164,8 +171,6 @@ private:
void _interfaceMapping(); /** maps set-points to internal member set-points */
void _positionController(); /** applies the P-position-controller */
void _velocityController(const float &dt); /** applies the PID-velocity-controller */
void _updateParams(); /** updates parameters */
void _setParams(); /** sets parameters to internal member */
matrix::Vector3f _pos{}; /**< MC position */
matrix::Vector3f _vel{}; /**< MC velocity */
@ -182,42 +187,23 @@ private:
Controller::Constraints _constraints{}; /**< variable constraints */
bool _skip_controller{false}; /**< skips position/velocity controller. true for stabilized mode */
/**
* Position Gains.
* Pp: P-controller gain for position-controller
* Pv: P-controller gain for velocity-controller
* Iv: I-controller gain for velocity-controller
* Dv: D-controller gain for velocity-controller
*/
matrix::Vector3f _Pp, _Pv, _Iv, _Dv = matrix::Vector3f{0.0f, 0.0f, 0.0f};
float MPC_THR_MAX{1.0f}; /**< maximum thrust */
float MPC_THR_HOVER{0.5f}; /** equilibrium point for the velocity controller */
float MPC_THR_MIN{0.0f}; /**< minimum throttle for any position controlled mode */
float MPC_MANTHR_MIN{0.0f}; /**< minimum throttle for stabilized mode */
float MPC_XY_VEL_MAX{1.0f}; /**< maximum speed in the horizontal direction */
float MPC_Z_VEL_MAX_DN{1.0f}; /**< maximum speed in downwards direction */
float MPC_Z_VEL_MAX_UP{1.0f}; /**< maximum speed in upwards direction */
float MPC_TILTMAX_AIR{1.5}; /**< maximum tilt for any position/velocity controlled mode in radians */
float MPC_MAN_TILT_MAX{3.1}; /**< maximum tilt for manual/altitude mode in radians */
// Parameter handles
int _parameter_sub { -1 };
param_t MPC_Z_P_h { PARAM_INVALID };
param_t MPC_Z_VEL_P_h { PARAM_INVALID };
param_t MPC_Z_VEL_I_h { PARAM_INVALID };
param_t MPC_Z_VEL_D_h { PARAM_INVALID };
param_t MPC_XY_P_h { PARAM_INVALID };
param_t MPC_XY_VEL_P_h { PARAM_INVALID };
param_t MPC_XY_VEL_I_h { PARAM_INVALID };
param_t MPC_XY_VEL_D_h { PARAM_INVALID };
param_t MPC_XY_VEL_MAX_h { PARAM_INVALID };
param_t MPC_Z_VEL_MAX_DN_h { PARAM_INVALID };
param_t MPC_Z_VEL_MAX_UP_h { PARAM_INVALID };
param_t MPC_THR_HOVER_h { PARAM_INVALID };
param_t MPC_THR_MAX_h { PARAM_INVALID };
param_t MPC_THR_MIN_h { PARAM_INVALID };
param_t MPC_MANTHR_MIN_h { PARAM_INVALID };
param_t MPC_TILTMAX_AIR_h { PARAM_INVALID };
param_t MPC_MAN_TILT_MAX_h { PARAM_INVALID };
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_THR_MAX>) MPC_THR_MAX,
(ParamFloat<px4::params::MPC_THR_HOVER>) MPC_THR_HOVER,
(ParamFloat<px4::params::MPC_THR_MIN>) MPC_THR_MIN,
(ParamFloat<px4::params::MPC_MANTHR_MIN>) MPC_MANTHR_MIN,
(ParamFloat<px4::params::MPC_XY_VEL_MAX>) MPC_XY_VEL_MAX,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP,
(ParamFloat<px4::params::MPC_TILTMAX_AIR>) MPC_TILTMAX_AIR,
(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) MPC_MAN_TILT_MAX,
(ParamFloat<px4::params::MPC_Z_P>) MPC_Z_P,
(ParamFloat<px4::params::MPC_Z_VEL_P>) MPC_Z_VEL_P,
(ParamFloat<px4::params::MPC_Z_VEL_I>) MPC_Z_VEL_I,
(ParamFloat<px4::params::MPC_Z_VEL_D>) MPC_Z_VEL_D,
(ParamFloat<px4::params::MPC_XY_P>) MPC_XY_P,
(ParamFloat<px4::params::MPC_XY_VEL_P>) MPC_XY_VEL_P,
(ParamFloat<px4::params::MPC_XY_VEL_I>) MPC_XY_VEL_I,
(ParamFloat<px4::params::MPC_XY_VEL_D>) MPC_XY_VEL_D
)
};