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Merge commit 'aa40c69853be0dc7e79bc3084472b77f9667c1f1' into dev_ros_mcatt

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Conflicts:
	makefiles/config_px4fmu-v2_test.mk
This commit is contained in:
Thomas Gubler
2014-12-16 10:23:41 +01:00
parent 71f6a34367 aa40c69853
commit 851415e48e
55 changed files with 465 additions and 1035 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/ll40ls/ll40ls.cpp
+12 -10
View File
@@ -89,7 +89,7 @@
/* Device limits */
#define LL40LS_MIN_DISTANCE (0.00f)
#define LL40LS_MAX_DISTANCE (14.00f)
#define LL40LS_MAX_DISTANCE (60.00f)
#define LL40LS_CONVERSION_INTERVAL 100000 /* 100ms */
@@ -233,11 +233,11 @@ LL40LS::~LL40LS()
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
}
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
@@ -263,7 +263,7 @@ LL40LS::init()
_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct range_finder_report rf_report;
measure();
@@ -314,9 +314,9 @@ LL40LS::probe()
goto ok;
}
debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n",
(unsigned)who_am_i,
LL40LS_WHO_AM_I_REG_VAL,
debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n",
(unsigned)who_am_i,
LL40LS_WHO_AM_I_REG_VAL,
(unsigned)val);
}
@@ -581,6 +581,8 @@ LL40LS::collect()
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
report.valid = 1;
}
@@ -704,7 +706,7 @@ LL40LS::print_info()
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
_reports->print_info("report queue");
printf("distance: %ucm (0x%04x)\n",
printf("distance: %ucm (0x%04x)\n",
(unsigned)_last_distance, (unsigned)_last_distance);
}
@@ -969,8 +971,8 @@ ll40ls_main(int argc, char *argv[])
}
}
const char *verb = argv[optind];
const char *verb = argv[optind];
/*
* Start/load the driver.
*/
src/drivers/mb12xx/mb12xx.cpp
+2
View File
@@ -520,6 +520,8 @@ MB12XX::collect()
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it, if we are the primary */
src/drivers/sf0x/sf0x.cpp
+3 -1
View File
@@ -545,7 +545,7 @@ SF0X::collect()
float si_units;
bool valid = false;
for (int i = 0; i < ret; i++) {
if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &si_units)) {
valid = true;
@@ -564,6 +564,8 @@ SF0X::collect()
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = valid && (si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0);
/* publish it */
src/drivers/trone/trone.cpp
+6 -4
View File
@@ -256,11 +256,11 @@ TRONE::~TRONE()
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
}
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
@@ -286,7 +286,7 @@ TRONE::init()
_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct range_finder_report rf_report;
measure();
@@ -558,8 +558,10 @@ TRONE::collect()
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = crc8(val, 2) == val[2] && si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
src/examples/fixedwing_control/main.c
+22 -131
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2013, 2014 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
@@ -31,6 +30,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file main.c
*
@@ -55,7 +55,7 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -106,11 +106,9 @@ static void usage(const char *reason);
*
* @param att_sp The current attitude setpoint - the values the system would like to reach.
* @param att The current attitude. The controller should make the attitude match the setpoint
* @param speed_body The velocity of the system. Currently unused.
* @param rates_sp The angular rate setpoint. This is the output of the controller.
*/
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
float speed_body[], struct vehicle_rates_setpoint_s *rates_sp,
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators);
/**
@@ -125,7 +123,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
* @param att The current attitude
* @param att_sp The attitude setpoint. This is the output of the controller
*/
void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
void control_heading(const struct vehicle_global_position_s *pos, const struct position_setpoint_s *sp,
const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
/* Variables */
@@ -135,8 +133,7 @@ static int deamon_task; /**< Handle of deamon task / thread */
static struct params p;
static struct param_handles ph;
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
float speed_body[], struct vehicle_rates_setpoint_s *rates_sp,
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators)
{
@@ -173,7 +170,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
actuators->control[1] = pitch_err * p.pitch_p;
}
void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
void control_heading(const struct vehicle_global_position_s *pos, const struct position_setpoint_s *sp,
const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp)
{
@@ -186,7 +183,7 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v
/* calculate heading error */
float yaw_err = att->yaw - bearing;
/* apply control gain */
float roll_command = yaw_err * p.hdng_p;
att_sp->roll_body = yaw_err * p.hdng_p;
/* limit output, this commonly is a tuning parameter, too */
if (att_sp->roll_body < -0.6f) {
@@ -253,7 +250,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
memset(&manual_sp, 0, sizeof(manual_sp));
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
struct vehicle_global_position_setpoint_s global_sp;
struct position_setpoint_s global_sp;
memset(&global_sp, 0, sizeof(global_sp));
/* output structs - this is what is sent to the mixer */
@@ -275,17 +272,14 @@ int fixedwing_control_thread_main(int argc, char *argv[])
/* subscribe to topics. */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
int global_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
int global_sp_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
int param_sub = orb_subscribe(ORB_ID(parameter_update));
/* Setup of loop */
float speed_body[3] = {0.0f, 0.0f, 0.0f};
/* RC failsafe check */
bool throttle_half_once = false;
struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN },
{ .fd = att_sub, .events = POLLIN }};
@@ -339,25 +333,10 @@ int fixedwing_control_thread_main(int argc, char *argv[])
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
if (global_sp_updated)
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_sp_sub, &global_sp);
/* currently speed in body frame is not used, but here for reference */
if (pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
if (att.R_valid) {
speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
} else {
speed_body[0] = 0;
speed_body[1] = 0;
speed_body[2] = 0;
warnx("Did not get a valid R\n");
}
if (global_sp_updated) {
struct position_setpoint_triplet_s triplet;
orb_copy(ORB_ID(position_setpoint_triplet), global_sp_sub, &triplet);
memcpy(&global_sp, &triplet.current, sizeof(global_sp));
}
if (manual_sp_updated)
@@ -365,106 +344,14 @@ int fixedwing_control_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
if (isfinite(manual_sp.throttle) &&
(manual_sp.throttle >= 0.6f) &&
(manual_sp.throttle <= 1.0f)) {
throttle_half_once = true;
if (isfinite(manual_sp.z) &&
(manual_sp.z >= 0.6f) &&
(manual_sp.z <= 1.0f)) {
}
/* get the system status and the flight mode we're in */
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
/* control */
#warning fix this
#if 0
if (vstatus.navigation_state == NAVIGATION_STATE_AUTO_ ||
vstatus.navigation_state == NAVIGATION_STATE_STABILIZED) {
/* simple heading control */
control_heading(&global_pos, &global_sp, &att, &att_sp);
/* nail pitch and yaw (rudder) to zero. This example only controls roll (index 0) */
actuators.control[1] = 0.0f;
actuators.control[2] = 0.0f;
/* simple attitude control */
control_attitude(&att_sp, &att, speed_body, &rates_sp, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
/* set flaps to zero */
actuators.control[4] = 0.0f;
} else if (vstatus.navigation_state == NAVIGATION_STATE_MANUAL) {
/* if in manual mode, decide between attitude stabilization (SAS) and full manual pass-through */
} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if (vstatus.rc_signal_lost && throttle_half_once) {
/* put plane into loiter */
att_sp.roll_body = 0.3f;
att_sp.pitch_body = 0.0f;
/* limit throttle to 60 % of last value if sane */
if (isfinite(manual_sp.throttle) &&
(manual_sp.throttle >= 0.0f) &&
(manual_sp.throttle <= 1.0f)) {
att_sp.thrust = 0.6f * manual_sp.throttle;
} else {
att_sp.thrust = 0.0f;
}
att_sp.yaw_body = 0;
// XXX disable yaw control, loiter
} else {
att_sp.roll_body = manual_sp.roll;
att_sp.pitch_body = manual_sp.pitch;
att_sp.yaw_body = 0;
att_sp.thrust = manual_sp.throttle;
}
att_sp.timestamp = hrt_absolute_time();
/* attitude control */
control_attitude(&att_sp, &att, speed_body, &rates_sp, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
/* pass through flaps */
if (isfinite(manual_sp.flaps)) {
actuators.control[4] = manual_sp.flaps;
} else {
actuators.control[4] = 0.0f;
}
} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
/* directly pass through values */
actuators.control[0] = manual_sp.roll;
/* positive pitch means negative actuator -> pull up */
actuators.control[1] = manual_sp.pitch;
actuators.control[2] = manual_sp.yaw;
actuators.control[3] = manual_sp.throttle;
if (isfinite(manual_sp.flaps)) {
actuators.control[4] = manual_sp.flaps;
} else {
actuators.control[4] = 0.0f;
}
}
}
#endif
/* publish rates */
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
@@ -474,6 +361,10 @@ int fixedwing_control_thread_main(int argc, char *argv[])
isfinite(actuators.control[2]) &&
isfinite(actuators.control[3])) {
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
if (verbose) {
warnx("published");
}
}
}
}
src/examples/flow_speed_control/flow_speed_control_main.c
-387
View File
@@ -1,387 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.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 flow_speed_control.c
*
* Optical flow speed controller
*/
#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 <termios.h>
#include <time.h>
#include <math.h>
#include <sys/prctl.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_bodyframe_speed_setpoint.h>
#include <uORB/topics/filtered_bottom_flow.h>
#include <systemlib/systemlib.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <poll.h>
#include <mavlink/mavlink_log.h>
#include "flow_speed_control_params.h"
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
__EXPORT int flow_speed_control_main(int argc, char *argv[]);
/**
* Mainloop of position controller.
*/
static int flow_speed_control_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_spawn_cmd().
*/
int flow_speed_control_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start"))
{
if (thread_running)
{
printf("flow speed control already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn_cmd("flow_speed_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 6,
4096,
flow_speed_control_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop"))
{
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status"))
{
if (thread_running)
printf("\tflow speed control app is running\n");
else
printf("\tflow speed control app not started\n");
exit(0);
}
usage("unrecognized command");
exit(1);
}
static int
flow_speed_control_thread_main(int argc, char *argv[])
{
/* welcome user */
thread_running = true;
static int mavlink_fd;
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd,"[fsc] started");
uint32_t counter = 0;
/* structures */
struct actuator_armed_s armed;
memset(&armed, 0, sizeof(armed));
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct filtered_bottom_flow_s filtered_flow;
memset(&filtered_flow, 0, sizeof(filtered_flow));
struct vehicle_bodyframe_speed_setpoint_s speed_sp;
memset(&speed_sp, 0, sizeof(speed_sp));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
/* subscribe to attitude, motor setpoints and system state */
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
int vehicle_bodyframe_speed_setpoint_sub = orb_subscribe(ORB_ID(vehicle_bodyframe_speed_setpoint));
orb_advert_t att_sp_pub;
bool attitude_setpoint_adverted = false;
/* parameters init*/
struct flow_speed_control_params params;
struct flow_speed_control_param_handles param_handles;
parameters_init(&param_handles);
parameters_update(&param_handles, &params);
/* register the perf counter */
perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "flow_speed_control_runtime");
perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "flow_speed_control_interval");
perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_speed_control_err");
static bool sensors_ready = false;
static bool status_changed = false;
while (!thread_should_exit)
{
/* wait for first attitude msg to be sure all data are available */
if (sensors_ready)
{
/* polling */
struct pollfd fds[2] = {
{ .fd = vehicle_bodyframe_speed_setpoint_sub, .events = POLLIN }, // speed setpoint from pos controller
{ .fd = parameter_update_sub, .events = POLLIN }
};
/* wait for a position update, check for exit condition every 5000 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 */
// printf("[flow speed control] no bodyframe speed setpoints updates\n");
}
else
{
/* parameter update available? */
if (fds[1].revents & POLLIN)
{
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
parameters_update(&param_handles, &params);
mavlink_log_info(mavlink_fd,"[fsp] parameters updated.");
}
/* only run controller if position/speed changed */
if (fds[0].revents & POLLIN)
{
perf_begin(mc_loop_perf);
/* get a local copy of the armed topic */
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
/* get a local copy of the control mode */
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
/* get a local copy of filtered bottom flow */
orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow);
/* get a local copy of bodyframe speed setpoint */
orb_copy(ORB_ID(vehicle_bodyframe_speed_setpoint), vehicle_bodyframe_speed_setpoint_sub, &speed_sp);
/* get a local copy of control mode */
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
if (control_mode.flag_control_velocity_enabled)
{
/* calc new roll/pitch */
float pitch_body = -(speed_sp.vx - filtered_flow.vx) * params.speed_p;
float roll_body = (speed_sp.vy - filtered_flow.vy) * params.speed_p;
if(status_changed == false)
mavlink_log_info(mavlink_fd,"[fsc] flow SPEED control engaged");
status_changed = true;
/* limit roll and pitch corrections */
if((pitch_body <= params.limit_pitch) && (pitch_body >= -params.limit_pitch))
{
att_sp.pitch_body = pitch_body;
}
else
{
if(pitch_body > params.limit_pitch)
att_sp.pitch_body = params.limit_pitch;
if(pitch_body < -params.limit_pitch)
att_sp.pitch_body = -params.limit_pitch;
}
if((roll_body <= params.limit_roll) && (roll_body >= -params.limit_roll))
{
att_sp.roll_body = roll_body;
}
else
{
if(roll_body > params.limit_roll)
att_sp.roll_body = params.limit_roll;
if(roll_body < -params.limit_roll)
att_sp.roll_body = -params.limit_roll;
}
/* set yaw setpoint forward*/
att_sp.yaw_body = speed_sp.yaw_sp;
/* add trim from parameters */
att_sp.roll_body = att_sp.roll_body + params.trim_roll;
att_sp.pitch_body = att_sp.pitch_body + params.trim_pitch;
att_sp.thrust = speed_sp.thrust_sp;
att_sp.timestamp = hrt_absolute_time();
/* publish new attitude setpoint */
if(isfinite(att_sp.pitch_body) && isfinite(att_sp.roll_body) && isfinite(att_sp.yaw_body) && isfinite(att_sp.thrust))
{
if (attitude_setpoint_adverted)
{
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
else
{
att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
attitude_setpoint_adverted = true;
}
}
else
{
warnx("NaN in flow speed controller!");
}
}
else
{
if(status_changed == true)
mavlink_log_info(mavlink_fd,"[fsc] flow SPEED controller disengaged.");
status_changed = false;
/* reset attitude setpoint */
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.thrust = 0.0f;
att_sp.yaw_body = 0.0f;
}
/* measure in what intervals the controller runs */
perf_count(mc_interval_perf);
perf_end(mc_loop_perf);
}
}
counter++;
}
else
{
/* sensors not ready waiting for first attitude msg */
/* polling */
struct pollfd fds[1] = {
{ .fd = vehicle_attitude_sub, .events = POLLIN },
};
/* wait for a flow msg, check for exit condition every 5 s */
int ret = poll(fds, 1, 5000);
if (ret < 0)
{
/* poll error, count it in perf */
perf_count(mc_err_perf);
}
else if (ret == 0)
{
/* no return value, ignore */
mavlink_log_info(mavlink_fd,"[fsc] no attitude received.");
}
else
{
if (fds[0].revents & POLLIN)
{
sensors_ready = true;
mavlink_log_info(mavlink_fd,"[fsp] initialized.");
}
}
}
}
mavlink_log_info(mavlink_fd,"[fsc] ending now...");
thread_running = false;
close(parameter_update_sub);
close(vehicle_attitude_sub);
close(vehicle_bodyframe_speed_setpoint_sub);
close(filtered_bottom_flow_sub);
close(armed_sub);
close(control_mode_sub);
close(att_sp_pub);
perf_print_counter(mc_loop_perf);
perf_free(mc_loop_perf);
fflush(stdout);
return 0;
}
src/examples/flow_speed_control/flow_speed_control_params.c
-70
View File
@@ -1,70 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.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 flow_speed_control_params.c
*
*/
#include "flow_speed_control_params.h"
/* controller parameters */
PARAM_DEFINE_FLOAT(FSC_S_P, 0.1f);
PARAM_DEFINE_FLOAT(FSC_L_PITCH, 0.4f);
PARAM_DEFINE_FLOAT(FSC_L_ROLL, 0.4f);
int parameters_init(struct flow_speed_control_param_handles *h)
{
/* PID parameters */
h->speed_p = param_find("FSC_S_P");
h->limit_pitch = param_find("FSC_L_PITCH");
h->limit_roll = param_find("FSC_L_ROLL");
h->trim_roll = param_find("TRIM_ROLL");
h->trim_pitch = param_find("TRIM_PITCH");
return OK;
}
int parameters_update(const struct flow_speed_control_param_handles *h, struct flow_speed_control_params *p)
{
param_get(h->speed_p, &(p->speed_p));
param_get(h->limit_pitch, &(p->limit_pitch));
param_get(h->limit_roll, &(p->limit_roll));
param_get(h->trim_roll, &(p->trim_roll));
param_get(h->trim_pitch, &(p->trim_pitch));
return OK;
}
src/examples/flow_speed_control/flow_speed_control_params.h
-70
View File
@@ -1,70 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.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 flow_speed_control_params.h
*
* Parameters for speed controller
*/
#include <systemlib/param/param.h>
struct flow_speed_control_params {
float speed_p;
float limit_pitch;
float limit_roll;
float trim_roll;
float trim_pitch;
};
struct flow_speed_control_param_handles {
param_t speed_p;
param_t limit_pitch;
param_t limit_roll;
param_t trim_roll;
param_t trim_pitch;
};
/**
* Initialize all parameter handles and values
*
*/
int parameters_init(struct flow_speed_control_param_handles *h);
/**
* Update all parameters
*
*/
int parameters_update(const struct flow_speed_control_param_handles *h, struct flow_speed_control_params *p);
src/examples/flow_speed_control/module.mk
-41
View File
@@ -1,41 +0,0 @@
############################################################################
#
# 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.
#
############################################################################
#
# Build flow speed control
#
MODULE_COMMAND = flow_speed_control
SRCS = flow_speed_control_main.c \
flow_speed_control_params.c
src/examples/hwtest/hwtest.c
+71 -21
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2013, 2014 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
@@ -34,7 +33,8 @@
/**
* @file hwtest.c
*
* Simple functional hardware test.
* Simple output test.
* @ref Documentation https://pixhawk.org/dev/examples/write_output
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
@@ -45,30 +45,80 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
__EXPORT int ex_hwtest_main(int argc, char *argv[]);
int ex_hwtest_main(int argc, char *argv[])
{
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
warnx("DO NOT FORGET TO STOP THE COMMANDER APP!");
warnx("(run <commander stop> to do so)");
warnx("usage: http://px4.io/dev/examples/write_output");
int i;
float rcvalue = -1.0f;
hrt_abstime stime;
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
while (true) {
stime = hrt_absolute_time();
while (hrt_absolute_time() - stime < 1000000) {
for (i=0; i<8; i++)
actuators.control[i] = rcvalue;
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
}
warnx("servos set to %.1f", rcvalue);
rcvalue *= -1.0f;
}
struct actuator_armed_s arm;
memset(&arm, 0 , sizeof(arm));
return OK;
arm.timestamp = hrt_absolute_time();
arm.ready_to_arm = true;
arm.armed = true;
orb_advert_t arm_pub_fd = orb_advertise(ORB_ID(actuator_armed), &arm);
orb_publish(ORB_ID(actuator_armed), arm_pub_fd, &arm);
/* read back values to validate */
int arm_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
orb_copy(ORB_ID(actuator_armed), arm_sub_fd, &arm);
if (arm.ready_to_arm && arm.armed) {
warnx("Actuator armed");
} else {
errx(1, "Arming actuators failed");
}
hrt_abstime stime;
int count = 0;
while (count != 36) {
stime = hrt_absolute_time();
while (hrt_absolute_time() - stime < 1000000) {
for (int i = 0; i != 2; i++) {
if (count <= 5) {
actuators.control[i] = -1.0f;
} else if (count <= 10) {
actuators.control[i] = -0.7f;
} else if (count <= 15) {
actuators.control[i] = -0.5f;
} else if (count <= 20) {
actuators.control[i] = -0.3f;
} else if (count <= 25) {
actuators.control[i] = 0.0f;
} else if (count <= 30) {
actuators.control[i] = 0.3f;
} else {
actuators.control[i] = 0.5f;
}
}
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
usleep(10000);
}
warnx("count %i", count);
count++;
}
return OK;
}
src/examples/math_demo/math_demo.cpp
-106
View File
@@ -1,106 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: James Goppert
*
* 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 math_demo.cpp
* @author James Goppert
* Demonstration of math library
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
/**
* Management function.
*/
extern "C" __EXPORT int math_demo_main(int argc, char *argv[]);
/**
* Test function
*/
void test();
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: math_demo {test}\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int math_demo_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "test")) {
test();
exit(0);
}
usage("unrecognized command");
exit(1);
}
void test()
{
printf("beginning math lib test\n");
using namespace math;
vectorTest();
matrixTest();
vector3Test();
eulerAnglesTest();
quaternionTest();
dcmTest();
}
src/examples/math_demo/module.mk
-41
View File
@@ -1,41 +0,0 @@
############################################################################
#
# 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.
#
############################################################################
#
# Mathlib / operations demo application
#
MODULE_COMMAND = math_demo
MODULE_STACKSIZE = 12000
SRCS = math_demo.cpp
src/modules/commander/commander.cpp
+3 -3
View File
@@ -1668,7 +1668,7 @@ int commander_thread_main(int argc, char *argv[])
if (telemetry_lost[i] &&
hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) {
mavlink_log_critical(mavlink_fd, "data link %i regained", i);
mavlink_log_info(mavlink_fd, "data link %i regained", i);
telemetry_lost[i] = false;
have_link = true;
@@ -1682,7 +1682,7 @@ int commander_thread_main(int argc, char *argv[])
telemetry_last_dl_loss[i] = hrt_absolute_time();
if (!telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "data link %i lost", i);
mavlink_log_info(mavlink_fd, "data link %i lost", i);
telemetry_lost[i] = true;
}
}
@@ -1697,7 +1697,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
mavlink_log_info(mavlink_fd, "ALL DATA LINKS LOST");
status.data_link_lost = true;
status.data_link_lost_counter++;
status_changed = true;
src/modules/fw_att_control/fw_att_control_main.cpp
+20 -2
View File
@@ -752,14 +752,32 @@ FixedwingAttitudeControl::task_main()
* - manual control is disabled (another app may send the setpoint, but it should
* for sure not be set from the remote control values)
*/
if (_vcontrol_mode.flag_control_velocity_enabled ||
_vcontrol_mode.flag_control_position_enabled ||
if (_vcontrol_mode.flag_control_auto_enabled ||
!_vcontrol_mode.flag_control_manual_enabled) {
/* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
}
if (_att_sp.pitch_reset_integral) {
_pitch_ctrl.reset_integrator();
}
if (_att_sp.yaw_reset_integral) {
_yaw_ctrl.reset_integrator();
}
} else if (_vcontrol_mode.flag_control_velocity_enabled) {
/*
* Velocity should be controlled and manual is enabled.
*/
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+ _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+88 -1
View File
@@ -165,6 +165,9 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
float _hold_alt; /**< hold altitude for velocity mode */
hrt_abstime _control_position_last_called; /**<last call of control_position */
/* land states */
bool land_noreturn_horizontal;
bool land_noreturn_vertical;
@@ -200,6 +203,8 @@ private:
TECS _tecs;
fwPosctrl::mTecs _mTecs;
bool _was_pos_control_mode;
bool _was_velocity_control_mode;
bool _was_alt_control_mode;
struct {
float l1_period;
@@ -318,6 +323,11 @@ private:
*/
void vehicle_status_poll();
/**
* Check for manual setpoint updates.
*/
bool vehicle_manual_control_setpoint_poll();
/**
* Check for airspeed updates.
*/
@@ -441,6 +451,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
_hold_alt(0.0f),
_control_position_last_called(0),
land_noreturn_horizontal(false),
land_noreturn_vertical(false),
land_stayonground(false),
@@ -694,6 +707,22 @@ FixedwingPositionControl::vehicle_airspeed_poll()
return airspeed_updated;
}
bool
FixedwingPositionControl::vehicle_manual_control_setpoint_poll()
{
bool manual_updated;
/* Check if manual setpoint has changed */
orb_check(_manual_control_sub, &manual_updated);
if (manual_updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
}
return manual_updated;
}
void
FixedwingPositionControl::vehicle_attitude_poll()
{
@@ -854,6 +883,12 @@ bool
FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<3> &ground_speed,
const struct position_setpoint_triplet_s &pos_sp_triplet)
{
float dt = FLT_MIN; // Using non zero value to a avoid division by zero
if (_control_position_last_called > 0) {
dt = (float)hrt_elapsed_time(&_control_position_last_called) * 1e-6f;
}
_control_position_last_called = hrt_absolute_time();
bool setpoint = true;
math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)};
@@ -890,6 +925,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
_was_pos_control_mode = true;
_was_velocity_control_mode = false;
/* reset hold altitude */
_hold_alt = _global_pos.alt;
/* get circle mode */
bool was_circle_mode = _l1_control.circle_mode();
@@ -1211,12 +1250,59 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_reset_integral = true;
}
} else {
} else if (_control_mode.flag_control_velocity_enabled) {
const float deadBand = (60.0f/1000.0f);
const float factor = 1.0f - deadBand;
if (!_was_velocity_control_mode) {
_hold_alt = _global_pos.alt;
_was_alt_control_mode = false;
}
_was_velocity_control_mode = true;
_was_pos_control_mode = false;
// Get demanded airspeed
float altctrl_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) *
_manual.z;
// Get demanded vertical velocity from pitch control
float pitch = 0.0f;
if (_manual.x > deadBand) {
pitch = (_manual.x - deadBand) / factor;
} else if (_manual.x < - deadBand) {
pitch = (_manual.x + deadBand) / factor;
}
if (pitch > 0.0f) {
_hold_alt -= (_parameters.max_climb_rate * dt) * pitch;
_was_alt_control_mode = false;
} else if (pitch < 0.0f) {
_hold_alt -= (_parameters.max_sink_rate * dt) * pitch;
_was_alt_control_mode = false;
} else if (!_was_alt_control_mode) {
_hold_alt = _global_pos.alt;
_was_alt_control_mode = true;
}
tecs_update_pitch_throttle(_hold_alt,
altctrl_airspeed,
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
_parameters.throttle_max,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed,
TECS_MODE_NORMAL);
} else {
_was_velocity_control_mode = false;
_was_pos_control_mode = false;
/** MANUAL FLIGHT **/
/* reset hold altitude */
_hold_alt = _global_pos.alt;
/* no flight mode applies, do not publish an attitude setpoint */
setpoint = false;
@@ -1352,6 +1438,7 @@ FixedwingPositionControl::task_main()
vehicle_setpoint_poll();
vehicle_sensor_combined_poll();
vehicle_airspeed_poll();
vehicle_manual_control_setpoint_poll();
// vehicle_baro_poll();
math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d);
src/modules/mavlink/mavlink_messages.cpp
+3 -10
View File
@@ -810,9 +810,6 @@ private:
MavlinkOrbSubscription *_airspeed_sub;
uint64_t _airspeed_time;
MavlinkOrbSubscription *_sensor_combined_sub;
uint64_t _sensor_combined_time;
/* do not allow top copying this class */
MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &);
MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &);
@@ -828,9 +825,7 @@ protected:
_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_controls_0))),
_act_time(0),
_airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))),
_airspeed_time(0),
_sensor_combined_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
_sensor_combined_time(0)
_airspeed_time(0)
{}
void send(const hrt_abstime t)
@@ -840,14 +835,12 @@ protected:
struct actuator_armed_s armed;
struct actuator_controls_s act;
struct airspeed_s airspeed;
struct sensor_combined_s sensor_combined;
bool updated = _att_sub->update(&_att_time, &att);
updated |= _pos_sub->update(&_pos_time, &pos);
updated |= _armed_sub->update(&_armed_time, &armed);
updated |= _act_sub->update(&_act_time, &act);
updated |= _airspeed_sub->update(&_airspeed_time, &airspeed);
updated |= _sensor_combined_sub->update(&_sensor_combined_time, &sensor_combined);
if (updated) {
mavlink_vfr_hud_t msg;
@@ -856,7 +849,7 @@ protected:
msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
msg.alt = sensor_combined.baro_alt_meter;
msg.alt = pos.alt;
msg.climb = -pos.vel_d;
_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);
@@ -2169,7 +2162,7 @@ protected:
msg.id = 0;
msg.orientation = 0;
msg.min_distance = range.minimum_distance * 100;
msg.max_distance = range.minimum_distance * 100;
msg.max_distance = range.maximum_distance * 100;
msg.current_distance = range.distance * 100;
msg.covariance = 20;
src/modules/uORB/topics/home_position.h
+1 -1
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@@ -61,7 +61,7 @@ struct home_position_s
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude in meters */
float alt; /**< Altitude in meters (AMSL) */
float x; /**< X coordinate in meters */
float y; /**< Y coordinate in meters */
src/modules/uORB/topics/mission.h
+1 -1
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@@ -83,7 +83,7 @@ struct mission_item_s {
bool altitude_is_relative; /**< true if altitude is relative from start point */
double lat; /**< latitude in degrees */
double lon; /**< longitude in degrees */
float altitude; /**< altitude in meters */
float altitude; /**< altitude in meters (AMSL) */
float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
src/modules/uORB/topics/vehicle_command.h
+1 -1
View File
@@ -65,7 +65,7 @@ enum VEHICLE_CMD {
VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, WGS84) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, WGS84) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */
VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */
VEHICLE_CMD_NAV_GUIDED_MASTER=91, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */