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unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175)
This commit is contained in:
Marco Zorzi
@@ -0,0 +1,577 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 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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*
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* This module is a modification of the fixed wing module and it is designed for ground rovers.
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* It has been developed starting from the fw module, simplified and improved with dedicated items.
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*
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* All the acknowledgments and credits for the fw wing app are reported in those files.
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*
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* @author Marco Zorzi <mzorzi@student.ethz.ch>
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*/
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#include "GroundRoverPositionControl.hpp"
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static int _control_task = -1; /**< task handle for sensor task */
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using matrix::Eulerf;
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using matrix::Quatf;
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/**
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* L1 control app start / stop handling function
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*
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* @ingroup apps
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*/
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extern "C" __EXPORT int gnd_pos_control_main(int argc, char *argv[]);
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namespace gnd_control
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{
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GroundRoverPositionControl *g_control = nullptr;
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}
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GroundRoverPositionControl::GroundRoverPositionControl() :
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control"))
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{
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_parameter_handles.l1_period = param_find("GND_L1_PERIOD");
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_parameter_handles.l1_damping = param_find("GND_L1_DAMPING");
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_parameter_handles.l1_distance = param_find("GND_L1_DIST");
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_parameter_handles.gndspeed_trim = param_find("GND_SPEED_TRIM");
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_parameter_handles.gndspeed_max = param_find("GND_SPEED_MAX");
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_parameter_handles.speed_control_mode = param_find("GND_SP_CTRL_MODE");
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_parameter_handles.speed_p = param_find("GND_SPEED_P");
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_parameter_handles.speed_i = param_find("GND_SPEED_I");
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_parameter_handles.speed_d = param_find("GND_SPEED_D");
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_parameter_handles.speed_imax = param_find("GND_SPEED_IMAX");
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_parameter_handles.throttle_speed_scaler = param_find("GND_SPEED_THR_SC");
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_parameter_handles.throttle_min = param_find("GND_THR_MIN");
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_parameter_handles.throttle_max = param_find("GND_THR_MAX");
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_parameter_handles.throttle_cruise = param_find("GND_THR_CRUISE");
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/* fetch initial parameter values */
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parameters_update();
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}
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GroundRoverPositionControl::~GroundRoverPositionControl()
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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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px4_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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gnd_control::g_control = nullptr;
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}
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int
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GroundRoverPositionControl::parameters_update()
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{
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/* L1 control parameters */
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param_get(_parameter_handles.l1_damping, &(_parameters.l1_damping));
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param_get(_parameter_handles.l1_period, &(_parameters.l1_period));
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param_get(_parameter_handles.l1_distance, &(_parameters.l1_distance));
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param_get(_parameter_handles.gndspeed_trim, &(_parameters.gndspeed_trim));
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param_get(_parameter_handles.gndspeed_max, &(_parameters.gndspeed_max));
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param_get(_parameter_handles.speed_control_mode, &(_parameters.speed_control_mode));
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param_get(_parameter_handles.speed_p, &(_parameters.speed_p));
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param_get(_parameter_handles.speed_i, &(_parameters.speed_i));
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param_get(_parameter_handles.speed_d, &(_parameters.speed_d));
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param_get(_parameter_handles.speed_imax, &(_parameters.speed_imax));
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param_get(_parameter_handles.throttle_speed_scaler, &(_parameters.throttle_speed_scaler));
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param_get(_parameter_handles.throttle_min, &(_parameters.throttle_min));
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param_get(_parameter_handles.throttle_max, &(_parameters.throttle_max));
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param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
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_gnd_control.set_l1_damping(_parameters.l1_damping);
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_gnd_control.set_l1_period(_parameters.l1_period);
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_gnd_control.set_l1_roll_limit(math::radians(0.0f));
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pid_init(&_speed_ctrl, PID_MODE_DERIVATIV_CALC, 0.01f);
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pid_set_parameters(&_speed_ctrl,
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_parameters.speed_p,
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_parameters.speed_d,
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_parameters.speed_i,
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_parameters.speed_imax,
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_parameters.gndspeed_max);
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/* Update and publish the navigation capabilities */
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_gnd_pos_ctrl_status.landing_slope_angle_rad = 0;
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_gnd_pos_ctrl_status.landing_horizontal_slope_displacement = 0;
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_gnd_pos_ctrl_status.landing_flare_length = 0;
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gnd_pos_ctrl_status_publish();
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return OK;
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}
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void
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GroundRoverPositionControl::vehicle_control_mode_poll()
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{
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bool updated;
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orb_check(_control_mode_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
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}
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}
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void
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GroundRoverPositionControl::manual_control_setpoint_poll()
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{
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bool manual_updated;
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orb_check(_manual_control_sub, &manual_updated);
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if (manual_updated) {
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orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
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}
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}
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void
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GroundRoverPositionControl::control_state_poll()
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{
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bool ctrl_state_updated;
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orb_check(_ctrl_state_sub, &ctrl_state_updated);
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if (ctrl_state_updated) {
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orb_copy(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);
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}
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}
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void
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GroundRoverPositionControl::position_setpoint_triplet_poll()
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{
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bool pos_sp_triplet_updated;
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orb_check(_pos_sp_triplet_sub, &pos_sp_triplet_updated);
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if (pos_sp_triplet_updated) {
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orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
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}
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}
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void GroundRoverPositionControl::gnd_pos_ctrl_status_publish()
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{
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_gnd_pos_ctrl_status.timestamp = hrt_absolute_time();
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if (_gnd_pos_ctrl_status_pub != nullptr) {
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orb_publish(ORB_ID(fw_pos_ctrl_status), _gnd_pos_ctrl_status_pub, &_gnd_pos_ctrl_status);
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} else {
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_gnd_pos_ctrl_status_pub = orb_advertise(ORB_ID(fw_pos_ctrl_status), &_gnd_pos_ctrl_status);
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}
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}
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bool
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GroundRoverPositionControl::control_position(const math::Vector<2> ¤t_position,
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const math::Vector<3> &ground_speed, const position_setpoint_triplet_s &pos_sp_triplet)
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{
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float dt = 0.01; // Using non zero value to a avoid division by zero
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if (_control_position_last_called > 0) {
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dt = hrt_elapsed_time(&_control_position_last_called) * 1e-6f;
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}
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_control_position_last_called = hrt_absolute_time();
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bool setpoint = true;
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if (_control_mode.flag_control_auto_enabled && pos_sp_triplet.current.valid) {
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/* AUTONOMOUS FLIGHT */
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_control_mode_current = UGV_POSCTRL_MODE_AUTO;
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/* get circle mode */
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bool was_circle_mode = _gnd_control.circle_mode();
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/* current waypoint (the one currently heading for) */
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math::Vector<2> curr_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon);
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/* previous waypoint */
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math::Vector<2> prev_wp = curr_wp;
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if (pos_sp_triplet.previous.valid) {
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prev_wp(0) = (float)pos_sp_triplet.previous.lat;
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prev_wp(1) = (float)pos_sp_triplet.previous.lon;
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}
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math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)};
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float mission_throttle = _parameters.throttle_cruise;
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/* Just control the throttle */
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if (_parameters.speed_control_mode == 1) {
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/* control the speed in closed loop */
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float mission_target_speed = _parameters.gndspeed_trim;
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if (PX4_ISFINITE(_pos_sp_triplet.current.cruising_speed) &&
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_pos_sp_triplet.current.cruising_speed > 0.1f) {
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mission_target_speed = _pos_sp_triplet.current.cruising_speed;
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}
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//Compute airspeed control out and just scale it as a constant
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mission_throttle = _parameters.throttle_speed_scaler
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* pid_calculate(&_speed_ctrl, mission_target_speed, _ctrl_state.x_vel, _ctrl_state.x_acc, dt);
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// Constrain throttle between min and max
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mission_throttle = math::constrain(mission_throttle, _parameters.throttle_min, _parameters.throttle_max);
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} else {
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/* Just control throttle in open loop */
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if (PX4_ISFINITE(_pos_sp_triplet.current.cruising_throttle) &&
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_pos_sp_triplet.current.cruising_throttle > 0.01f) {
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mission_throttle = _pos_sp_triplet.current.cruising_throttle;
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}
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}
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if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
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_att_sp.roll_body = 0.0f;
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_att_sp.pitch_body = 0.0f;
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_att_sp.yaw_body = 0.0f;
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_att_sp.thrust = 0.0f;
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} else if ((pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION)
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|| (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
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/* waypoint is a plain navigation waypoint or the takeoff waypoint, does not matter */
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_gnd_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
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_att_sp.roll_body = _gnd_control.nav_roll();
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_att_sp.pitch_body = 0.0f;
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_att_sp.yaw_body = _gnd_control.nav_bearing();
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_att_sp.fw_control_yaw = true;
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_att_sp.thrust = mission_throttle;
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} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
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/* waypoint is a loiter waypoint so we want to stop*/
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_gnd_control.navigate_loiter(curr_wp, current_position, pos_sp_triplet.current.loiter_radius,
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pos_sp_triplet.current.loiter_direction, ground_speed_2d);
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_att_sp.roll_body = _gnd_control.nav_roll();
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_att_sp.pitch_body = 0.0f;
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_att_sp.yaw_body = _gnd_control.nav_bearing();
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_att_sp.fw_control_yaw = true;
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_att_sp.thrust = 0.0f;
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}
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if (was_circle_mode && !_gnd_control.circle_mode()) {
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/* just kicked out of loiter, reset integrals */
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_att_sp.yaw_reset_integral = true;
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}
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} else {
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_control_mode_current = UGV_POSCTRL_MODE_OTHER;
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_att_sp.roll_body = 0.0f;
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_att_sp.pitch_body = 0.0f;
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_att_sp.yaw_body = 0.0f;
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_att_sp.fw_control_yaw = true;
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_att_sp.thrust = 0.0f;
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/* do not publish the setpoint */
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setpoint = false;
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}
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return setpoint;
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}
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void
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GroundRoverPositionControl::task_main()
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{
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_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
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_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
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_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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_params_sub = orb_subscribe(ORB_ID(parameter_update));
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_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
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/* rate limit control mode updates to 5Hz */
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orb_set_interval(_control_mode_sub, 200);
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/* rate limit position updates to 50 Hz */
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orb_set_interval(_global_pos_sub, 20);
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/* abort on a nonzero return value from the parameter init */
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if (parameters_update()) {
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/* parameter setup went wrong, abort */
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warnx("aborting startup due to errors.");
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_task_should_exit = true;
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}
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/* wakeup source(s) */
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px4_pollfd_struct_t fds[2];
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/* Setup of loop */
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fds[0].fd = _params_sub;
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fds[0].events = POLLIN;
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fds[1].fd = _global_pos_sub;
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fds[1].events = POLLIN;
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_task_running = true;
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while (!_task_should_exit) {
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/* wait for up to 500ms for data */
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
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/* timed out - periodic check for _task_should_exit, etc. */
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if (pret == 0) {
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continue;
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}
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/* this is undesirable but not much we can do - might want to flag unhappy status */
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if (pret < 0) {
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warn("poll error %d, %d", pret, errno);
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continue;
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}
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/* check vehicle control mode for changes to publication state */
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vehicle_control_mode_poll();
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/* only update parameters if they changed */
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if (fds[0].revents & POLLIN) {
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/* read from param to clear updated flag */
|
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struct parameter_update_s update;
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orb_copy(ORB_ID(parameter_update), _params_sub, &update);
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||||
|
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/* update parameters from storage */
|
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parameters_update();
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}
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||||
|
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/* only run controller if position changed */
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if (fds[1].revents & POLLIN) {
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perf_begin(_loop_perf);
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/* load local copies */
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orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
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// handle estimator reset events. we only adjust setpoins for manual modes
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if (_control_mode.flag_control_manual_enabled) {
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|
||||
// adjust navigation waypoints in position control mode
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if (_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_velocity_enabled
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&& _global_pos.lat_lon_reset_counter != _pos_reset_counter) {
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}
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}
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// update the reset counters in any case
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_pos_reset_counter = _global_pos.lat_lon_reset_counter;
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control_state_poll();
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manual_control_setpoint_poll();
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position_setpoint_triplet_poll();
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math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d);
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||||
math::Vector<2> current_position((float)_global_pos.lat, (float)_global_pos.lon);
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||||
|
||||
/*
|
||||
* Attempt to control position, on success (= sensors present and not in manual mode),
|
||||
* publish setpoint.
|
||||
*/
|
||||
if (control_position(current_position, ground_speed, _pos_sp_triplet)) {
|
||||
_att_sp.timestamp = hrt_absolute_time();
|
||||
|
||||
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
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||||
q.copyTo(_att_sp.q_d);
|
||||
_att_sp.q_d_valid = true;
|
||||
|
||||
if (!_control_mode.flag_control_offboard_enabled ||
|
||||
_control_mode.flag_control_position_enabled ||
|
||||
_control_mode.flag_control_velocity_enabled ||
|
||||
_control_mode.flag_control_acceleration_enabled) {
|
||||
|
||||
/* lazily publish the setpoint only once available */
|
||||
if (_attitude_sp_pub != nullptr) {
|
||||
/* publish the attitude setpoint */
|
||||
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &_att_sp);
|
||||
|
||||
} else {
|
||||
/* advertise and publish */
|
||||
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
|
||||
}
|
||||
}
|
||||
|
||||
/* XXX check if radius makes sense here */
|
||||
float turn_distance = _parameters.l1_distance; //_gnd_control.switch_distance(100.0f);
|
||||
|
||||
/* lazily publish navigation capabilities */
|
||||
if ((hrt_elapsed_time(&_gnd_pos_ctrl_status.timestamp) > 1000000)
|
||||
|| (fabsf(turn_distance - _gnd_pos_ctrl_status.turn_distance) > FLT_EPSILON
|
||||
&& turn_distance > 0)) {
|
||||
|
||||
/* set new turn distance */
|
||||
_gnd_pos_ctrl_status.turn_distance = turn_distance;
|
||||
|
||||
_gnd_pos_ctrl_status.nav_roll = _gnd_control.nav_roll();
|
||||
_gnd_pos_ctrl_status.nav_pitch = 0.0f;
|
||||
_gnd_pos_ctrl_status.nav_bearing = _gnd_control.nav_bearing();
|
||||
|
||||
_gnd_pos_ctrl_status.target_bearing = _gnd_control.target_bearing();
|
||||
_gnd_pos_ctrl_status.xtrack_error = _gnd_control.crosstrack_error();
|
||||
|
||||
math::Vector<2> curr_wp((float)_pos_sp_triplet.current.lat, (float)_pos_sp_triplet.current.lon);
|
||||
_gnd_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0),
|
||||
curr_wp(1));
|
||||
|
||||
gnd_pos_ctrl_status_publish();
|
||||
}
|
||||
}
|
||||
|
||||
perf_end(_loop_perf);
|
||||
}
|
||||
}
|
||||
|
||||
_task_running = false;
|
||||
|
||||
warnx("exiting.\n");
|
||||
|
||||
_control_task = -1;
|
||||
}
|
||||
|
||||
void
|
||||
GroundRoverPositionControl::task_main_trampoline(int argc, char *argv[])
|
||||
{
|
||||
gnd_control::g_control = new GroundRoverPositionControl();
|
||||
|
||||
if (gnd_control::g_control == nullptr) {
|
||||
warnx("OUT OF MEM");
|
||||
return;
|
||||
}
|
||||
|
||||
/* only returns on exit */
|
||||
gnd_control::g_control->task_main();
|
||||
delete gnd_control::g_control;
|
||||
gnd_control::g_control = nullptr;
|
||||
}
|
||||
|
||||
int
|
||||
GroundRoverPositionControl::start()
|
||||
{
|
||||
ASSERT(_control_task == -1);
|
||||
warn("Starting by marco");
|
||||
|
||||
/* start the task */
|
||||
_control_task = px4_task_spawn_cmd("gnd_pos_ctrl",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
1700,
|
||||
(px4_main_t)&GroundRoverPositionControl::task_main_trampoline,
|
||||
nullptr);
|
||||
warn("done");
|
||||
|
||||
if (_control_task < 0) {
|
||||
warn("task start failed");
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int gnd_pos_control_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
warnx("usage: gnd_pos_control {start|stop|status}");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (gnd_control::g_control != nullptr) {
|
||||
warnx("already running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (OK != GroundRoverPositionControl::start()) {
|
||||
warn("start failed");
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
|
||||
while (gnd_control::g_control == nullptr || !gnd_control::g_control->task_running()) {
|
||||
usleep(50000);
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
if (gnd_control::g_control == nullptr) {
|
||||
warnx("not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
delete gnd_control::g_control;
|
||||
gnd_control::g_control = nullptr;
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (gnd_control::g_control) {
|
||||
warnx("running");
|
||||
return 0;
|
||||
|
||||
} else {
|
||||
warnx("not running");
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
warnx("unrecognized command");
|
||||
return 1;
|
||||
}
|
||||
Reference in New Issue
Block a user