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mc att control: prepare for ros integration, move class into spearate file
This commit is contained in:
Thomas Gubler
@@ -0,0 +1,403 @@
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/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mc_att_control.cpp
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* Multicopter attitude controller.
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*
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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* @author Julian Oes <julian@oes.ch>
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* @author Roman Bapst <bapstr@ethz.ch>
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*/
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#include "mc_att_control.h"
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#define YAW_DEADZONE 0.05f
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#define MIN_TAKEOFF_THRUST 0.2f
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#define RATES_I_LIMIT 0.3f
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namespace mc_att_control
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{
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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}
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MulticopterAttitudeControl::MulticopterAttitudeControl() :
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MulticopterAttitudeControlBase(),
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_task_should_exit(false),
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_control_task(-1),
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_actuators_0_circuit_breaker_enabled(false),
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/* subscriptions */
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_v_att_sub(-1),
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_v_att_sp_sub(-1),
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_v_control_mode_sub(-1),
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_params_sub(-1),
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_manual_control_sp_sub(-1),
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_armed_sub(-1),
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/* publications */
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_att_sp_pub(-1),
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_v_rates_sp_pub(-1),
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_actuators_0_pub(-1),
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n(),
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
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{
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_params_handles.roll_p = param_find("MC_ROLL_P");
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_params_handles.roll_rate_p = param_find("MC_ROLLRATE_P");
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_params_handles.roll_rate_i = param_find("MC_ROLLRATE_I");
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_params_handles.roll_rate_d = param_find("MC_ROLLRATE_D");
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_params_handles.pitch_p = param_find("MC_PITCH_P");
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_params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P");
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_params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I");
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_params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D");
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_params_handles.yaw_p = param_find("MC_YAW_P");
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_params_handles.yaw_rate_p = param_find("MC_YAWRATE_P");
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_params_handles.yaw_rate_i = param_find("MC_YAWRATE_I");
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_params_handles.yaw_rate_d = param_find("MC_YAWRATE_D");
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_params_handles.yaw_ff = param_find("MC_YAW_FF");
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_params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX");
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_params_handles.man_roll_max = param_find("MC_MAN_R_MAX");
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_params_handles.man_pitch_max = param_find("MC_MAN_P_MAX");
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_params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX");
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_params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX");
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_params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX");
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_params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX");
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/* fetch initial parameter values */
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parameters_update();
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/*
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* do subscriptions
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*/
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// _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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PX4_SUBSCRIBE(n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
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// _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, 0);
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// _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
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PX4_SUBSCRIBE(n, vehicle_rates_setpoint, 0);
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// _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
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PX4_SUBSCRIBE(n, vehicle_control_mode, 0);
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// _params_sub = orb_subscribe(ORB_ID(parameter_update));
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PX4_SUBSCRIBE(n, parameter_update, 0);
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// _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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PX4_SUBSCRIBE(n, manual_control_setpoint, 0);
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// _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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PX4_SUBSCRIBE(n, actuator_armed, 0);
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}
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MulticopterAttitudeControl::~MulticopterAttitudeControl()
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{
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if (_control_task != -1) {
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/* task wakes up every 100ms or so at the longest */
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_task_should_exit = true;
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/* wait for a second for the task to quit at our request */
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unsigned i = 0;
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do {
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/* wait 20ms */
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usleep(20000);
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/* if we have given up, kill it */
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if (++i > 50) {
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task_delete(_control_task);
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break;
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}
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} while (_control_task != -1);
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}
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// mc_att_control::g_control = nullptr;
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}
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int
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MulticopterAttitudeControl::parameters_update()
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{
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float v;
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/* roll gains */
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param_get(_params_handles.roll_p, &v);
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_params.att_p(0) = v;
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param_get(_params_handles.roll_rate_p, &v);
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_params.rate_p(0) = v;
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param_get(_params_handles.roll_rate_i, &v);
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_params.rate_i(0) = v;
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param_get(_params_handles.roll_rate_d, &v);
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_params.rate_d(0) = v;
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/* pitch gains */
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param_get(_params_handles.pitch_p, &v);
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_params.att_p(1) = v;
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param_get(_params_handles.pitch_rate_p, &v);
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_params.rate_p(1) = v;
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param_get(_params_handles.pitch_rate_i, &v);
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_params.rate_i(1) = v;
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param_get(_params_handles.pitch_rate_d, &v);
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_params.rate_d(1) = v;
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/* yaw gains */
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param_get(_params_handles.yaw_p, &v);
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_params.att_p(2) = v;
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param_get(_params_handles.yaw_rate_p, &v);
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_params.rate_p(2) = v;
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param_get(_params_handles.yaw_rate_i, &v);
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_params.rate_i(2) = v;
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param_get(_params_handles.yaw_rate_d, &v);
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_params.rate_d(2) = v;
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param_get(_params_handles.yaw_ff, &_params.yaw_ff);
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param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
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_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
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/* manual control scale */
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param_get(_params_handles.man_roll_max, &_params.man_roll_max);
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param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
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param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
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_params.man_roll_max = math::radians(_params.man_roll_max);
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_params.man_pitch_max = math::radians(_params.man_pitch_max);
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_params.man_yaw_max = math::radians(_params.man_yaw_max);
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/* acro control scale */
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param_get(_params_handles.acro_roll_max, &v);
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_params.acro_rate_max(0) = math::radians(v);
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param_get(_params_handles.acro_pitch_max, &v);
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_params.acro_rate_max(1) = math::radians(v);
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param_get(_params_handles.acro_yaw_max, &v);
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_params.acro_rate_max(2) = math::radians(v);
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_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
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return OK;
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}
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void
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MulticopterAttitudeControl::parameter_update_poll()
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{
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bool updated;
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/* Check HIL state if vehicle status has changed */
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orb_check(_params_sub, &updated);
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if (updated) {
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struct parameter_update_s param_update;
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orb_copy(ORB_ID(parameter_update), _params_sub, ¶m_update);
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parameters_update();
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}
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}
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void
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MulticopterAttitudeControl::vehicle_control_mode_poll()
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{
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bool updated;
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/* Check HIL state if vehicle status has changed */
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orb_check(_v_control_mode_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
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}
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}
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void
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MulticopterAttitudeControl::vehicle_manual_poll()
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{
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bool updated;
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/* get pilots inputs */
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orb_check(_manual_control_sp_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
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}
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}
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void
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MulticopterAttitudeControl::vehicle_attitude_setpoint_poll()
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{
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/* check if there is a new setpoint */
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bool updated;
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orb_check(_v_att_sp_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp);
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}
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}
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void
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MulticopterAttitudeControl::vehicle_rates_setpoint_poll()
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{
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/* check if there is a new setpoint */
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bool updated;
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orb_check(_v_rates_sp_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp);
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}
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}
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void
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MulticopterAttitudeControl::arming_status_poll()
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{
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/* check if there is a new setpoint */
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bool updated;
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orb_check(_armed_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
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}
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}
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void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
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perf_begin(_loop_perf);
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/* run controller on attitude changes */
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static uint64_t last_run = 0;
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float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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/* guard against too small (< 2ms) and too large (> 20ms) dt's */
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if (dt < 0.002f) {
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dt = 0.002f;
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} else if (dt > 0.02f) {
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dt = 0.02f;
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}
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/* copy attitude topic */
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orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
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/* check for updates in other topics */
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parameter_update_poll();
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vehicle_control_mode_poll();
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arming_status_poll();
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vehicle_manual_poll();
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if (_v_control_mode.flag_control_attitude_enabled) {
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control_attitude(dt);
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/* publish the attitude setpoint if needed */
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if (_publish_att_sp) {
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_v_att_sp.timestamp = hrt_absolute_time();
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if (_att_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
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&_v_att_sp);
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} else {
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_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
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&_v_att_sp);
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}
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}
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/* publish attitude rates setpoint */
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_v_rates_sp.roll = _rates_sp(0);
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_v_rates_sp.pitch = _rates_sp(1);
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_v_rates_sp.yaw = _rates_sp(2);
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_v_rates_sp.thrust = _thrust_sp;
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_v_rates_sp.timestamp = hrt_absolute_time();
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if (_v_rates_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
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} else {
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_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
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}
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} else {
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/* attitude controller disabled, poll rates setpoint topic */
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if (_v_control_mode.flag_control_manual_enabled) {
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/* manual rates control - ACRO mode */
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_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
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_manual_control_sp.r).emult(_params.acro_rate_max);
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_thrust_sp = _manual_control_sp.z;
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/* reset yaw setpoint after ACRO */
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_reset_yaw_sp = true;
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/* publish attitude rates setpoint */
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_v_rates_sp.roll = _rates_sp(0);
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_v_rates_sp.pitch = _rates_sp(1);
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_v_rates_sp.yaw = _rates_sp(2);
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_v_rates_sp.thrust = _thrust_sp;
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_v_rates_sp.timestamp = hrt_absolute_time();
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if (_v_rates_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
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} else {
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_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
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}
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} else {
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/* attitude controller disabled, poll rates setpoint topic */
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vehicle_rates_setpoint_poll();
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_rates_sp(0) = _v_rates_sp.roll;
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_rates_sp(1) = _v_rates_sp.pitch;
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_rates_sp(2) = _v_rates_sp.yaw;
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_thrust_sp = _v_rates_sp.thrust;
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}
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}
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if (_v_control_mode.flag_control_rates_enabled) {
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control_attitude_rates(dt);
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/* publish actuator controls */
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_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
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_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
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_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
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_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
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_actuators.timestamp = hrt_absolute_time();
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if (!_actuators_0_circuit_breaker_enabled) {
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if (_actuators_0_pub > 0) {
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orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
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} else {
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_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
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}
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}
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}
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}
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