Merge remote-tracking branch 'upstream/ROS_shared_lib_base_class' into dev_ros_rossharedlib

Conflicts: src/modules/uORB/topics/vehicle_attitude.h src/platforms/px4_defines.h
2026-10-22 07:13:33 +08:00 · 2014-12-02 16:52:38 +01:00
parent 05a87a706a efe0938e99
commit ad499a5944
22 changed files with 1271 additions and 40 deletions
@@ -0,0 +1,403 @@
+/* Copyright (c) 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
+* 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 mc_att_control_base.h
+ * 
+ * @author Roman Bapst <bapstr@ethz.ch>
+ *
+ */
+
+#include "mc_att_control_base.h"
+#include <geo/geo.h>
+#include <math.h>
+
+#ifdef CONFIG_ARCH_ARM
+#else
+#include <cmath>
+using namespace std;
+#endif
+
+MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
+
+		_task_should_exit(false), _control_task(-1),
+
+		_actuators_0_circuit_breaker_enabled(false),
+
+		/* performance counters */
+		_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
+
+{
+	memset(&_v_att, 0, sizeof(_v_att));
+	memset(&_v_att_sp, 0, sizeof(_v_att_sp));
+	memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
+	memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
+	memset(&_v_control_mode, 0, sizeof(_v_control_mode));
+	memset(&_actuators, 0, sizeof(_actuators));
+	memset(&_armed, 0, sizeof(_armed));
+
+	_params.att_p.zero();
+	_params.rate_p.zero();
+	_params.rate_i.zero();
+	_params.rate_d.zero();
+	_params.yaw_ff = 0.0f;
+	_params.yaw_rate_max = 0.0f;
+	_params.man_roll_max = 0.0f;
+	_params.man_pitch_max = 0.0f;
+	_params.man_yaw_max = 0.0f;
+	_params.acro_rate_max.zero();
+
+	_rates_prev.zero();
+	_rates_sp.zero();
+	_rates_int.zero();
+	_thrust_sp = 0.0f;
+	_att_control.zero();
+
+	_I.identity();
+
+	// setup standard gains
+	_params.att_p(0)      = 5.0;
+	_params.rate_p(0)     = 0.05;
+	_params.rate_i(0)     = 0.0;
+	_params.rate_d(0)     = 0.003;
+	/* pitch gains */
+	_params.att_p(1)      = 5.0;
+	_params.rate_p(1)     = 0.05;
+	_params.rate_i(1)     = 0.0;
+	_params.rate_d(1)     = 0.003;
+	/* yaw gains */
+	_params.att_p(2)      = 2.8;
+	_params.rate_p(2)     = 0.2;
+	_params.rate_i(2)     = 0.1;
+	_params.rate_d(2)     = 0.0;
+	_params.yaw_rate_max  = 0.5;
+	_params.yaw_ff        = 0.5;
+	_params.man_roll_max  = 0.6;
+	_params.man_pitch_max = 0.6;
+	_params.man_yaw_max   = 0.6;
+}
+
+MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() {
+}
+
+void MulticopterAttitudeControlBase::vehicle_attitude_setpoint_poll() {
+}
+
+void MulticopterAttitudeControlBase::control_attitude(float dt) {
+	float yaw_sp_move_rate = 0.0f;
+	bool publish_att_sp = false;
+
+	if (_v_control_mode.flag_control_manual_enabled) {
+		/* manual input, set or modify attitude setpoint */
+
+		if (_v_control_mode.flag_control_velocity_enabled
+				|| _v_control_mode.flag_control_climb_rate_enabled) {
+			/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
+			vehicle_attitude_setpoint_poll();
+		}
+
+		if (!_v_control_mode.flag_control_climb_rate_enabled) {
+			/* pass throttle directly if not in altitude stabilized mode */
+			_v_att_sp.thrust = _manual_control_sp.z;
+			publish_att_sp = true;
+		}
+
+		if (!_armed.armed) {
+			/* reset yaw setpoint when disarmed */
+			_reset_yaw_sp = true;
+		}
+
+		/* move yaw setpoint in all modes */
+		if (_v_att_sp.thrust < 0.1f) {
+			// TODO
+			//if (_status.condition_landed) {
+			/* reset yaw setpoint if on ground */
+			//	reset_yaw_sp = true;
+			//}
+		} else {
+			/* move yaw setpoint */
+			yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
+			_v_att_sp.yaw_body = _wrap_pi(
+					_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
+			float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
+			float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
+			if (yaw_offs < -yaw_offs_max) {
+				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
+
+			} else if (yaw_offs > yaw_offs_max) {
+				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
+			}
+			_v_att_sp.R_valid = false;
+			publish_att_sp = true;
+		}
+
+		/* reset yaw setpint to current position if needed */
+		if (_reset_yaw_sp) {
+			_reset_yaw_sp = false;
+			_v_att_sp.yaw_body = _v_att.yaw;
+			_v_att_sp.R_valid = false;
+			publish_att_sp = true;
+		}
+
+		if (!_v_control_mode.flag_control_velocity_enabled) {
+			/* update attitude setpoint if not in position control mode */
+			_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
+			_v_att_sp.pitch_body = -_manual_control_sp.x
+					* _params.man_pitch_max;
+			_v_att_sp.R_valid = false;
+			publish_att_sp = true;
+		}
+
+	} else {
+		/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
+		vehicle_attitude_setpoint_poll();
+
+		/* reset yaw setpoint after non-manual control mode */
+		_reset_yaw_sp = true;
+	}
+
+	_thrust_sp = _v_att_sp.thrust;
+
+	/* construct attitude setpoint rotation matrix */
+	math::Matrix<3, 3> R_sp;
+
+	if (_v_att_sp.R_valid) {
+		/* rotation matrix in _att_sp is valid, use it */
+		R_sp.set(&_v_att_sp.R_body[0][0]);
+
+	} else {
+		/* rotation matrix in _att_sp is not valid, use euler angles instead */
+		R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body,
+				_v_att_sp.yaw_body);
+
+		/* copy rotation matrix back to setpoint struct */
+		memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0],
+				sizeof(_v_att_sp.R_body));
+		_v_att_sp.R_valid = true;
+	}
+
+//	/* publish the attitude setpoint if needed */
+//	if (publish_att_sp) {
+//		_v_att_sp.timestamp = hrt_absolute_time();
+//
+//		if (_att_sp_pub > 0) {
+//			orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
+//					&_v_att_sp);
+//
+//		} else {
+//			_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
+//					&_v_att_sp);
+//		}
+//	}
+
+	/* rotation matrix for current state */
+	math::Matrix<3, 3> R;
+	R.set(_v_att.R);
+
+	/* all input data is ready, run controller itself */
+
+	/* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
+	math::Vector < 3 > R_z(R(0, 2), R(1, 2), R(2, 2));
+	math::Vector < 3 > R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
+
+	/* axis and sin(angle) of desired rotation */
+	math::Vector < 3 > e_R = R.transposed() * (R_z % R_sp_z);
+
+	/* calculate angle error */
+	float e_R_z_sin = e_R.length();
+	float e_R_z_cos = R_z * R_sp_z;
+
+	/* calculate weight for yaw control */
+	float yaw_w = R_sp(2, 2) * R_sp(2, 2);
+
+	/* calculate rotation matrix after roll/pitch only rotation */
+	math::Matrix<3, 3> R_rp;
+
+	if (e_R_z_sin > 0.0f) {
+		/* get axis-angle representation */
+		float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos);
+		math::Vector < 3 > e_R_z_axis = e_R / e_R_z_sin;
+
+		e_R = e_R_z_axis * e_R_z_angle;
+
+		/* cross product matrix for e_R_axis */
+		math::Matrix<3, 3> e_R_cp;
+		e_R_cp.zero();
+		e_R_cp(0, 1) = -e_R_z_axis(2);
+		e_R_cp(0, 2) = e_R_z_axis(1);
+		e_R_cp(1, 0) = e_R_z_axis(2);
+		e_R_cp(1, 2) = -e_R_z_axis(0);
+		e_R_cp(2, 0) = -e_R_z_axis(1);
+		e_R_cp(2, 1) = e_R_z_axis(0);
+
+		/* rotation matrix for roll/pitch only rotation */
+		R_rp = R
+				* (_I + e_R_cp * e_R_z_sin
+						+ e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
+
+	} else {
+		/* zero roll/pitch rotation */
+		R_rp = R;
+	}
+
+	/* R_rp and R_sp has the same Z axis, calculate yaw error */
+	math::Vector < 3 > R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
+	math::Vector < 3 > R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
+	e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
+
+	if (e_R_z_cos < 0.0f) {
+		/* for large thrust vector rotations use another rotation method:
+		 * calculate angle and axis for R -> R_sp rotation directly */
+		math::Quaternion q;
+		q.from_dcm(R.transposed() * R_sp);
+		math::Vector < 3 > e_R_d = q.imag();
+		e_R_d.normalize();
+		e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0));
+
+		/* use fusion of Z axis based rotation and direct rotation */
+		float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;
+		e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w;
+	}
+
+	/* calculate angular rates setpoint */
+	_rates_sp = _params.att_p.emult(e_R);
+
+	/* limit yaw rate */
+	_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max,
+			_params.yaw_rate_max);
+
+	/* feed forward yaw setpoint rate */
+	_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
+}
+
+void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
+	/* reset integral if disarmed */
+	if (!_armed.armed) {
+		_rates_int.zero();
+	}
+
+	/* current body angular rates */
+	math::Vector < 3 > rates;
+	rates(0) = _v_att.rollspeed;
+	rates(1) = _v_att.pitchspeed;
+	rates(2) = _v_att.yawspeed;
+
+	/* angular rates error */
+	math::Vector < 3 > rates_err = _rates_sp - rates;
+	_att_control = _params.rate_p.emult(rates_err)
+			+ _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
+	_rates_prev = rates;
+
+	/* update integral only if not saturated on low limit */
+	if (_thrust_sp > MIN_TAKEOFF_THRUST) {
+		for (int i = 0; i < 3; i++) {
+			if (fabsf(_att_control(i)) < _thrust_sp) {
+				float rate_i = _rates_int(i)
+						+ _params.rate_i(i) * rates_err(i) * dt;
+
+				if (isfinite(
+						rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
+						_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
+					_rates_int(i) = rate_i;
+				}
+			}
+		}
+	}
+
+}
+
+void MulticopterAttitudeControlBase::set_actuator_controls() {
+	_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
+	_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
+	_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
+	_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
+}
+
+void MulticopterAttitudeControlBase::set_attitude(const Eigen::Quaternion<double> attitude) {
+	math::Quaternion quat;
+	quat(0) = (float)attitude.w();
+	quat(1) = (float)attitude.x();
+	quat(2) = (float)attitude.y();
+	quat(3) = (float)attitude.z();
+
+	_v_att.q[0] = quat(0);
+	_v_att.q[1] = quat(1);
+	_v_att.q[2] = quat(2);
+	_v_att.q[3] = quat(3);
+
+	math::Matrix<3,3> Rot = quat.to_dcm();
+	_v_att.R[0][0] = Rot(0,0);
+	_v_att.R[1][0] = Rot(1,0);
+	_v_att.R[2][0] = Rot(2,0);
+	_v_att.R[0][1] = Rot(0,1);
+	_v_att.R[1][1] = Rot(1,1);
+	_v_att.R[2][1] = Rot(2,1);
+	_v_att.R[0][2] = Rot(0,2);
+	_v_att.R[1][2] = Rot(1,2);
+	_v_att.R[2][2] = Rot(2,2);
+
+	_v_att.R_valid = true;
+}
+
+void MulticopterAttitudeControlBase::set_attitude_rates(const Eigen::Vector3d& angular_rate) {
+	// check if this is consistent !!!
+	_v_att.rollspeed  = angular_rate(0);
+	_v_att.pitchspeed = angular_rate(1);
+	_v_att.yawspeed   = angular_rate(2);
+}
+
+void MulticopterAttitudeControlBase::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) {
+	_v_att_sp.roll_body  = control_attitude_thrust_reference(0);
+	_v_att_sp.pitch_body = control_attitude_thrust_reference(1);
+	_v_att_sp.yaw_body   = control_attitude_thrust_reference(2);
+	_v_att_sp.thrust     = (control_attitude_thrust_reference(3) -30)*(-1)/30;
+
+	// setup rotation matrix
+	math::Matrix<3,3> Rot_sp;
+	Rot_sp.from_euler(_v_att_sp.roll_body,_v_att_sp.pitch_body,_v_att_sp.yaw_body);
+	_v_att_sp.R_body[0][0] = Rot_sp(0,0);
+	_v_att_sp.R_body[1][0] = Rot_sp(1,0);
+	_v_att_sp.R_body[2][0] = Rot_sp(2,0);
+	_v_att_sp.R_body[0][1] = Rot_sp(0,1);
+	_v_att_sp.R_body[1][1] = Rot_sp(1,1);
+	_v_att_sp.R_body[2][1] = Rot_sp(2,1);
+	_v_att_sp.R_body[0][2] = Rot_sp(0,2);
+	_v_att_sp.R_body[1][2] = Rot_sp(1,2);
+	_v_att_sp.R_body[2][2] = Rot_sp(2,2);
+}
+
+void MulticopterAttitudeControlBase::get_mixer_input(Eigen::Vector4d& motor_inputs) {
+	motor_inputs(0) = _actuators.control[0];
+	motor_inputs(1) = _actuators.control[1];
+	motor_inputs(2) = _actuators.control[2];
+	motor_inputs(3) = _actuators.control[3];
+}
+
@@ -0,0 +1,138 @@
+#ifndef MC_ATT_CONTROL_BASE_H_
+#define MC_ATT_CONTROL_BASE_H_
+
+/* Copyright (c) 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
+* 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 mc_att_control_base.h
+ * 
+ * @author Roman Bapst <bapstr@ethz.ch>
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <errno.h>
+#include <math.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/actuator_armed.h>
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+#include <lib/mathlib/mathlib.h>
+
+
+
+#define YAW_DEADZONE	0.05f
+#define MIN_TAKEOFF_THRUST    0.2f
+#define RATES_I_LIMIT	0.3f
+
+class MulticopterAttitudeControlBase {
+public:
+	/**
+	 * Constructor
+	 */
+	MulticopterAttitudeControlBase();
+
+	/**
+	 * Destructor
+	 */
+	~MulticopterAttitudeControlBase();
+
+	/**
+	 * Start the sensors task.
+	 *
+	 * @return		OK on success.
+	 */
+	void control_attitude(float dt);
+	void control_attitude_rates(float dt);
+	
+	 // setters and getters for interface with euroc-gazebo simulator
+	void set_attitude(const Eigen::Quaternion<double> attitude);
+	void set_attitude_rates(const Eigen::Vector3d& angular_rate);
+	void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
+	void get_mixer_input(Eigen::Vector4d& motor_inputs);
+	void set_actuator_controls();
+
+protected:
+
+	bool _task_should_exit; /**< if true, sensor task should exit */
+	int _control_task; /**< task handle for sensor task */
+	bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
+
+	struct vehicle_attitude_s _v_att; /**< vehicle attitude */
+	struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
+	struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
+	struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
+	struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
+	struct actuator_controls_s _actuators; /**< actuator controls */
+	struct actuator_armed_s _armed; /**< actuator arming status */
+
+	perf_counter_t _loop_perf; /**< loop performance counter */
+
+	math::Vector<3> _rates_prev; /**< angular rates on previous step */
+	math::Vector<3> _rates_sp; /**< angular rates setpoint */
+	math::Vector<3> _rates_int; /**< angular rates integral error */
+	float _thrust_sp; /**< thrust setpoint */
+	math::Vector<3> _att_control; /**< attitude control vector */
+
+	math::Matrix<3, 3> _I; /**< identity matrix */
+
+	bool _reset_yaw_sp; /**< reset yaw setpoint flag */
+
+	struct {
+		math::Vector<3> att_p; /**< P gain for angular error */
+		math::Vector<3> rate_p; /**< P gain for angular rate error */
+		math::Vector<3> rate_i; /**< I gain for angular rate error */
+		math::Vector<3> rate_d; /**< D gain for angular rate error */
+		float yaw_ff; /**< yaw control feed-forward */
+		float yaw_rate_max; /**< max yaw rate */
+
+		float man_roll_max;
+		float man_pitch_max;
+		float man_yaw_max;
+		math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
+	} _params;
+	
+	void vehicle_attitude_setpoint_poll();	//provisional
+
+};
+
+#endif /* MC_ATT_CONTROL_BASE_H_ */