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Update offboard control uorb topic

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Work towards supporting the new external setpoint mavlink messages
This commit is contained in:
Thomas Gubler
2014-07-03 14:42:59 +02:00
parent 57f707af56
commit 839710daf8
5 changed files with 97 additions and 41 deletions
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src/modules/commander/commander.cpp
+6 -10
View File
@@ -946,7 +946,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* Perform system checks (again) once params are loaded and MAVLink is up. */
if (!system_checked && mavlink_fd &&
if (!system_checked && mavlink_fd &&
(telemetry.heartbeat_time > 0) &&
(hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) {
@@ -1847,21 +1847,17 @@ set_control_mode()
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true; /* XXX: hack for now */
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true; /* XXX: hack for now */
control_mode.flag_control_velocity_enabled = true;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
//XXX: the flags could depend on sp_offboard.ignore
break;
default:
control_mode.flag_control_rates_enabled = false;
src/modules/mavlink/mavlink_receiver.cpp
+28
View File
@@ -154,6 +154,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_quad_swarm_roll_pitch_yaw_thrust(msg);
break;
case MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL:
handle_message_local_ned_position_setpoint_external(msg);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
handle_message_radio_status(msg);
break;
@@ -393,6 +397,30 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
}
}
void
MavlinkReceiver::handle_message_local_ned_position_setpoint_external(mavlink_message_t *msg)
{
mavlink_local_ned_position_setpoint_external_t local_ned_position_setpoint_external;
mavlink_msg_local_ned_position_setpoint_external_decode(msg, &local_ned_position_setpoint_external);
struct offboard_control_setpoint_s offboard_control_sp;
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));
//XXX check if target system/component is correct
/* convert mavlink type (local, NED) to uORB offboard control struct */
//XXX do the conversion
//
offboard_control_sp.timestamp = hrt_absolute_time();
if (_offboard_control_sp_pub < 0) {
_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
} else {
orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp);
}
}
void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{
src/modules/mavlink/mavlink_receiver.h
+1
View File
@@ -115,6 +115,7 @@ private:
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_vicon_position_estimate(mavlink_message_t *msg);
void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
void handle_message_local_ned_position_setpoint_external(mavlink_message_t *msg);
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
void handle_message_heartbeat(mavlink_message_t *msg);
src/modules/navigator/offboard.cpp
+35 -22
View File
@@ -79,33 +79,46 @@ Offboard::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
bool changed = false;
/* copy offboard setpoints to the corresponding topics */
if (_navigator->get_control_mode()->flag_control_position_enabled
&& _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
/* position control */
pos_sp_triplet->current.x = _offboard_control_sp.p1;
pos_sp_triplet->current.y = _offboard_control_sp.p2;
pos_sp_triplet->current.yaw = _offboard_control_sp.p3;
pos_sp_triplet->current.z = -_offboard_control_sp.p4;
if (_offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED) {
/* We accept position control only if none of the directions is ignored (as pos_sp_triplet does not
* support deactivation of individual directions) */
if (_navigator->get_control_mode()->flag_control_position_enabled &&
(!_offboard_control_sp.ignore[0] &&
!_offboard_control_sp.ignore[1] &&
!_offboard_control_sp.ignore[2])) {
/* position control */
pos_sp_triplet->current.x = _offboard_control_sp.p1;
pos_sp_triplet->current.y = _offboard_control_sp.p2;
pos_sp_triplet->current.yaw = _offboard_control_sp.p3;
pos_sp_triplet->current.z = -_offboard_control_sp.p4;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.position_valid = true;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.position_valid = true;
changed = true;
changed = true;
} else if (_navigator->get_control_mode()->flag_control_velocity_enabled
&& _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) {
/* velocity control */
pos_sp_triplet->current.vx = _offboard_control_sp.p2;
pos_sp_triplet->current.vy = _offboard_control_sp.p1;
pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3;
pos_sp_triplet->current.vz = _offboard_control_sp.p4;
}
/* We accept velocity control only if none of the directions is ignored (as pos_sp_triplet does not
* support deactivation of individual directions) */
if (_navigator->get_control_mode()->flag_control_velocity_enabled &&
(!_offboard_control_sp.ignore[3] &&
!_offboard_control_sp.ignore[4] &&
!_offboard_control_sp.ignore[5])) {
/* velocity control */
pos_sp_triplet->current.vx = _offboard_control_sp.p2;
pos_sp_triplet->current.vy = _offboard_control_sp.p1;
pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3;
pos_sp_triplet->current.vz = _offboard_control_sp.p4;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.velocity_valid = true;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.velocity_valid = true;
changed = true;
changed = true;
}
//XXX: map acceleration setpoint once supported in setpoint triplet
}
return changed;
src/modules/uORB/topics/offboard_control_setpoint.h
+27 -9
View File
@@ -53,11 +53,22 @@ enum OFFBOARD_CONTROL_MODE {
OFFBOARD_CONTROL_MODE_DIRECT = 0,
OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3,
OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4,
OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5,
OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6,
OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7,
OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 8,
OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 9,
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 10, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};
enum OFFBOARD_CONTROL_FRAME {
OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0,
OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1,
OFFBOARD_CONTROL_FRAME_BODY_NED = 2,
OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3,
OFFBOARD_CONTROL_FRAME_GLOBAL = 4
};
/**
@@ -70,10 +81,17 @@ struct offboard_control_setpoint_s {
enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */
float p1; /**< ailerons roll / roll rate input */
float p2; /**< elevator / pitch / pitch rate */
float p3; /**< rudder / yaw rate / yaw */
float p4; /**< throttle / collective thrust / altitude */
double p1; /**< ailerons / roll / x pos / lat */
double p2; /**< elevator / pitch / y pos / lon */
float p3; /**< rudder / yaw / z pos / alt */
float p4; /**< throttle / x vel */
float p5; /**< roll rate / y vel */
float p6; /**< pitch rate / z vel */
float p7; /**< yaw rate / x acc */
float p8; /**< y acc */
float p9; /**< z acc */
bool ignore[9]; /**< if field i is set to true, pi should be ignored */
float override_mode_switch;