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z=Rr(dF(V5tZ%N75$;LuXsy6_Q8Iim`(>a}c!+i+jH72j<=kI^6mQuiiMqU{qhy&o5J_%@FN4n{4#ECPqfR>V%4>TVn95?AN zFb)ps7`Fnw#lwLs_MD&tHyw-2y=%Gb=O0ESz5`qrtc^C4GPRtCcYK8x-x&RK9j(Kz z0j|QGGl{b4?~Z2XRW>&N!?z&eb@>xEJu`Fu_wNsY`lVGy&?WP@aHM2j5jd$O1yHrs~_tdzJaVfqPK7CRjZ38-T@lm9%B zoCQ&L1B0taS4DcaE&F=k6IvH)SPzqM9Y7D_1d_vfi-#Ypa#W|olQ}|{9YY;q$Otfh paGNpS72=M=+M|cq|NjSV(TQnGeFth9nuw#4IC{{xvi9Wnp_ From 8b34eb589123ff4264d0593dcb0adf5b34ffff15 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 19 Aug 2012 14:22:34 +0200 Subject: [PATCH 03/34] made the commander app docu diagram nicer --- Documentation/commander_app.odg | Bin 12014 -> 11628 bytes Documentation/commander_app.png | Bin 36152 -> 25356 bytes 2 files changed, 0 insertions(+), 0 deletions(-) diff --git a/Documentation/commander_app.odg b/Documentation/commander_app.odg index 6ac6df32d54dee25976ec5b0071b827a81ff1e69..17459f7cfc9ba8ae35122c0c9ccca1ca729436e6 100644 GIT binary patch delta 6649 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zpBA>iw5v$3$i0X4WMjb08lI_JgPmXV$gE-aX9#-}br21duhfm=*E zj2b8XFDUz5TNG6C8(LYhNp-$@bqY5Cvf7@OYih&qR8*o*zPKW*2^}OxfejnTkf2(q z=X*{B Date: Mon, 20 Aug 2012 13:20:57 +0200 Subject: [PATCH 04/34] docu diagrams: removed old inter app communication, updated state machine (is now also in a separate file) --- Documentation/code_structure_diagrams.odg | Bin 21581 -> 17975 bytes Documentation/inter_app_communication.odg | Bin 10337 -> 0 bytes Documentation/inter_app_communication.pdf | Bin 12744 -> 0 bytes Documentation/inter_app_communication.png | Bin 20516 -> 0 bytes Documentation/state_machine.odg | Bin 0 -> 18576 bytes Documentation/state_machine.png | Bin 210919 -> 208880 bytes 6 files changed, 0 insertions(+), 0 deletions(-) delete mode 100644 Documentation/inter_app_communication.odg delete mode 100644 Documentation/inter_app_communication.pdf delete mode 100644 Documentation/inter_app_communication.png create mode 100644 Documentation/state_machine.odg diff --git 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zS?Ile`|=jzR+YFj-(9jV3w=m*!@x~O@%#~V=h8RNO7cTiLMI!HYRErGYKKp6&7(|qvL&`j6$)bqeEio&e#gj7>o{NCDck_=NwfQ6N{qf zTEI$TPh)p?6*30)!};jwmu}^I$qNfd%7DEF!Hh{rNPrF^?madK4;siPDJ^jnGrX;X zR#m$jWM2?;VKI(savPP}g9Eu#w>G@pjbN5R6bbly5GCjq7EY=X;!&5*ynS|b8>`{Sx)Gj6I&V+)6Q?@|D^PWI0G>kXq|Y zE?L~q<7aN==Np@tXyXossD_J>xwZAJ&JlSQacAcXoYS>ic_5w=<$#jYM>8D-eno{p zqCQBKxT*;W3ck3I^Sd}X3L*;oP|JeIfCGmFy$Us)ni@QXvkYe`I>4YmV;Lsp&q3d7||BQnNomDQwaz;)s0yK(2n=D$qJ`dQg1q}Cc zYi@3CV2SQb?KN9)i1^ zrsnqizu+?S!Ygn8tocN`mGjZkd$(>iITm9Re3}Z<75o-d)5;X#e0W3|fu!`!VH+D8 zl>W$#wzeM1Vt{`?bt|G~L+j1P!omU<5fn5iA+KDy($!_1@RTBOPSs-hy}2j9hW$56 zpJ=|Wy&>#V=Jc9(+e0$v7_#$cqx?hX#AcVnfR$n-l^S0gTOIc&?DopbeZ9QAe0`_B zfBymuJ=NLh0VHALhRs)nX z8oJfhczIq-d`$$mg&(OU!qSWXg*3PD^DqDW?+5(bKmX;&64{pc`L`eYzyIF<^RM|o he*AyG&6VQ$Wong{7s8*c(<8o}k--7|+j>XB{|6c}XQBWA From 6c8fb8177e1f8fa825814bec0d756d2a429a3546 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 21 Oct 2012 18:45:24 +0200 Subject: [PATCH 05/34] Started implementing fw controller according to controller layout of the ASL lecture --- apps/fixedwing_control2/Makefile | 45 ++++ apps/fixedwing_control2/fixedwing_control2.c | 237 ++++++++++++++++++ .../fixedwing_control2_rate.c | 159 ++++++++++++ .../fixedwing_control2_rate.h | 45 ++++ nuttx/configs/px4fmu/nsh/appconfig | 1 + 5 files changed, 487 insertions(+) create mode 100644 apps/fixedwing_control2/Makefile create mode 100644 apps/fixedwing_control2/fixedwing_control2.c create mode 100644 apps/fixedwing_control2/fixedwing_control2_rate.c create mode 100644 apps/fixedwing_control2/fixedwing_control2_rate.h diff --git a/apps/fixedwing_control2/Makefile b/apps/fixedwing_control2/Makefile new file mode 100644 index 0000000000..0db19875a4 --- /dev/null +++ b/apps/fixedwing_control2/Makefile @@ -0,0 +1,45 @@ +############################################################################ +# +# Copyright (C) 2012 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. +# +############################################################################ + +# +# Fixedwing Control application +# + +APPNAME = fixedwing_control2 +PRIORITY = SCHED_PRIORITY_MAX - 30 +STACKSIZE = 2048 + +INCLUDES = $(TOPDIR)/../mavlink/include/mavlink + +include $(APPDIR)/mk/app.mk + diff --git a/apps/fixedwing_control2/fixedwing_control2.c b/apps/fixedwing_control2/fixedwing_control2.c new file mode 100644 index 0000000000..7730742897 --- /dev/null +++ b/apps/fixedwing_control2/fixedwing_control2.c @@ -0,0 +1,237 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Ivan Ovinnikov + * + * 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 fixedwing_control2.c + * Implementation of a fixed wing attitude controller. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +/* Prototypes */ +/** + * Deamon management function. + */ +__EXPORT int fixedwing_control2_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int fixedwing_control2_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +/* Variables */ +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 */ + +/* Main Thread */ +int fixedwing_control2_thread_main(int argc, char *argv[]) +{ + /* read arguments */ + bool verbose = false; + + for (int i = 1; i < argc; i++) { + if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { + verbose = true; + } + } + + /* welcome user */ + printf("[fixedwing control2] started\n"); + + /* declare and safely initialize all structs */ + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct vehicle_rates_setpoint_s rates_sp; + memset(&rates_sp, 0, sizeof(rates_sp)); + + /* output structs */ + struct actuator_controls_s actuators; + memset(&actuators, 0, sizeof(actuators)); + + /* publish actuator controls */ + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) + actuators.control[i] = 0.0f; + orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); + + + + /* subscribe to attitude (for attitude rate) and rate septoint */ + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + + /* Setup of loop */ + float gyro[3] = {0.0f, 0.0f, 0.0f}; + struct pollfd fds = { .fd = att_sub, .events = POLLIN }; + + while(!thread_should_exit) + { + /* wait for a sensor update, check for exit condition every 500 ms */ + poll(&fds, 1, 500); + + /*Get Local Copies */ + /* get a local copy of attitude */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + + gyro[0] = att.rollspeed; + gyro[1] = att.pitchspeed; + gyro[2] = att.yawspeed; + + /* Control */ + + /* Attitude Control */ + rates_sp.roll = 0.0f; + rates_sp.pitch = 0.0f; + rates_sp.yaw = 0.0f; + + /* Attitude Rate Control */ + fixedwing_control2_rates(&rates_sp, gyro, &actuators); + + //REMOVEME XXX + actuators.control[3] = 0.7f; + + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + } + + printf("[fixedwing_control2] exiting, stopping all motors.\n"); + thread_running = false; + + /* kill all outputs */ + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) + actuators.control[i] = 0.0f; + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + + + close(att_sub); + close(actuator_pub); + + fflush(stdout); + exit(0); + + return 0; + +} + +/* Startup Functions */ + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: fixedwing_control2 {start|stop|status}\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 fixedwing_control2_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("fixedwing_control2 already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("fixedwing_control2", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 20, + 4096, + fixedwing_control2_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + thread_running = true; + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tfixedwing_control2 is running\n"); + } else { + printf("\tfixedwing_control2 not started\n"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + + + diff --git a/apps/fixedwing_control2/fixedwing_control2_rate.c b/apps/fixedwing_control2/fixedwing_control2_rate.c new file mode 100644 index 0000000000..9c6f9d5912 --- /dev/null +++ b/apps/fixedwing_control2/fixedwing_control2_rate.c @@ -0,0 +1,159 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * 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 fixedwing_control2.c + * Implementation of a fixed wing attitude controller. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +struct fw_rate_control_params { + + param_t yawrate_p; + param_t yawrate_i; + param_t yawrate_d; + param_t yawrate_awu; + param_t yawrate_lim; + + param_t attrate_p; + param_t attrate_i; + param_t attrate_d; + param_t attrate_awu; + param_t attrate_lim; +}; + + + +/* Internal Prototypes */ +static int parameters_init(struct fw_rate_control_params *h); +static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p); + +static int parameters_init(struct fw_rate_control_params *h) +{ + /* PID parameters */ + h->yawrate_p = param_find("MC_YAWRATE_P"); //TODO define rate params for fixed wing + h->yawrate_i = param_find("MC_YAWRATE_I"); + h->yawrate_d = param_find("MC_YAWRATE_D"); + h->yawrate_awu = param_find("MC_YAWRATE_AWU"); + h->yawrate_lim = param_find("MC_YAWRATE_LIM"); + + h->attrate_p = param_find("MC_ATTRATE_P"); + h->attrate_i = param_find("MC_ATTRATE_I"); + h->attrate_d = param_find("MC_ATTRATE_D"); + h->attrate_awu = param_find("MC_ATTRATE_AWU"); + h->attrate_lim = param_find("MC_ATTRATE_LIM"); + + return OK; +} + +static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p) +{ + param_get(h->yawrate_p, &(p->yawrate_p)); + param_get(h->yawrate_i, &(p->yawrate_i)); + param_get(h->yawrate_d, &(p->yawrate_d)); + param_get(h->yawrate_awu, &(p->yawrate_awu)); + param_get(h->yawrate_lim, &(p->yawrate_lim)); + + param_get(h->attrate_p, &(p->attrate_p)); + param_get(h->attrate_i, &(p->attrate_i)); + param_get(h->attrate_d, &(p->attrate_d)); + param_get(h->attrate_awu, &(p->attrate_awu)); + param_get(h->attrate_lim, &(p->attrate_lim)); + + return OK; +} + + +int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp, + const float rates[], + struct actuator_controls_s *actuators) +{ + static int counter = 0; + static bool initialized = false; + + static struct fw_rate_control_params p; + static struct fw_rate_control_params h; + + if(!initialized) + { + parameters_init(&h); + parameters_update(&h, &p); + initialized = true; + } + + /* load new parameters with lower rate */ + if (counter % 2500 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p); + } + + /* Roll Rate */ + float roll_error = rate_sp->roll - rates[0]; + actuators->control[0] =p.attrate_p*roll_error; + + + actuators->control[1] = 0; + actuators->control[2] = 0; + + counter++; + + return 0; +} + + + diff --git a/apps/fixedwing_control2/fixedwing_control2_rate.h b/apps/fixedwing_control2/fixedwing_control2_rate.h new file mode 100644 index 0000000000..39aa54abe5 --- /dev/null +++ b/apps/fixedwing_control2/fixedwing_control2_rate.h @@ -0,0 +1,45 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * + * 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 Main system state machine definition */ + +#ifndef FIXEDWING_CONTROL2_RATE_H_ +#define FIXEDWING_CONTROL2_RATE_H_ + +int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp, + const float rates[], + struct actuator_controls_s *actuators); + +#endif /* FIXEDWING_CONTROL2_RATE_H_ */ diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index be0a3d1d71..96a5871310 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -78,6 +78,7 @@ CONFIGURED_APPS += multirotor_att_control CONFIGURED_APPS += multirotor_pos_control CONFIGURED_APPS += px4/attitude_estimator_bm CONFIGURED_APPS += fixedwing_control +CONFIGURED_APPS += fixedwing_control2 CONFIGURED_APPS += position_estimator CONFIGURED_APPS += attitude_estimator_ekf CONFIGURED_APPS += px4/ground_estimator From 5616f5c4b1a40bab6a48ec95775ed74a03c73273 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 21 Oct 2012 21:01:22 +0200 Subject: [PATCH 06/34] [work in progess] added pos control skeleton --- .../Makefile | 2 +- .../fixedwing_att_control_main.c} | 30 +-- .../fixedwing_att_control_rate.c} | 30 ++- .../fixedwing_att_control_rate.h} | 11 +- apps/fixedwing_pos_control/Makefile | 45 ++++ .../fixedwing_pos_control_main.c | 208 ++++++++++++++++++ nuttx/configs/px4fmu/nsh/appconfig | 3 +- 7 files changed, 299 insertions(+), 30 deletions(-) rename apps/{fixedwing_control2 => fixedwing_att_control}/Makefile (98%) rename apps/{fixedwing_control2/fixedwing_control2.c => fixedwing_att_control/fixedwing_att_control_main.c} (87%) rename apps/{fixedwing_control2/fixedwing_control2_rate.c => fixedwing_att_control/fixedwing_att_control_rate.c} (83%) rename apps/{fixedwing_control2/fixedwing_control2_rate.h => fixedwing_att_control/fixedwing_att_control_rate.h} (86%) create mode 100644 apps/fixedwing_pos_control/Makefile create mode 100644 apps/fixedwing_pos_control/fixedwing_pos_control_main.c diff --git a/apps/fixedwing_control2/Makefile b/apps/fixedwing_att_control/Makefile similarity index 98% rename from apps/fixedwing_control2/Makefile rename to apps/fixedwing_att_control/Makefile index 0db19875a4..01465fa9ec 100644 --- a/apps/fixedwing_control2/Makefile +++ b/apps/fixedwing_att_control/Makefile @@ -35,7 +35,7 @@ # Fixedwing Control application # -APPNAME = fixedwing_control2 +APPNAME = fixedwing_att_control PRIORITY = SCHED_PRIORITY_MAX - 30 STACKSIZE = 2048 diff --git a/apps/fixedwing_control2/fixedwing_control2.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c similarity index 87% rename from apps/fixedwing_control2/fixedwing_control2.c rename to apps/fixedwing_att_control/fixedwing_att_control_main.c index 7730742897..4680147a1d 100644 --- a/apps/fixedwing_control2/fixedwing_control2.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -32,7 +32,7 @@ * ****************************************************************************/ /** - * @file fixedwing_control2.c + * @file fixedwing_att_control.c * Implementation of a fixed wing attitude controller. */ @@ -62,18 +62,18 @@ #include #include -#include +#include /* Prototypes */ /** * Deamon management function. */ -__EXPORT int fixedwing_control2_main(int argc, char *argv[]); +__EXPORT int fixedwing_att_control_main(int argc, char *argv[]); /** * Mainloop of deamon. */ -int fixedwing_control2_thread_main(int argc, char *argv[]); +int fixedwing_att_control_thread_main(int argc, char *argv[]); /** * Print the correct usage. @@ -86,7 +86,7 @@ static bool thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ /* Main Thread */ -int fixedwing_control2_thread_main(int argc, char *argv[]) +int fixedwing_att_control_thread_main(int argc, char *argv[]) { /* read arguments */ bool verbose = false; @@ -98,7 +98,7 @@ int fixedwing_control2_thread_main(int argc, char *argv[]) } /* welcome user */ - printf("[fixedwing control2] started\n"); + printf("[fixedwing att_control] started\n"); /* declare and safely initialize all structs */ struct vehicle_attitude_s att; @@ -145,7 +145,7 @@ int fixedwing_control2_thread_main(int argc, char *argv[]) rates_sp.yaw = 0.0f; /* Attitude Rate Control */ - fixedwing_control2_rates(&rates_sp, gyro, &actuators); + fixedwing_att_control_rates(&rates_sp, gyro, &actuators); //REMOVEME XXX actuators.control[3] = 0.7f; @@ -153,7 +153,7 @@ int fixedwing_control2_thread_main(int argc, char *argv[]) orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); } - printf("[fixedwing_control2] exiting, stopping all motors.\n"); + printf("[fixedwing_att_control] exiting, stopping all motors.\n"); thread_running = false; /* kill all outputs */ @@ -179,7 +179,7 @@ usage(const char *reason) { if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: fixedwing_control2 {start|stop|status}\n\n"); + fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n"); exit(1); } @@ -191,7 +191,7 @@ usage(const char *reason) * The actual stack size should be set in the call * to task_create(). */ -int fixedwing_control2_main(int argc, char *argv[]) +int fixedwing_att_control_main(int argc, char *argv[]) { if (argc < 1) usage("missing command"); @@ -199,17 +199,17 @@ int fixedwing_control2_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("fixedwing_control2 already running\n"); + printf("fixedwing_att_control already running\n"); /* this is not an error */ exit(0); } thread_should_exit = false; - deamon_task = task_spawn("fixedwing_control2", + deamon_task = task_spawn("fixedwing_att_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 20, 4096, - fixedwing_control2_thread_main, + fixedwing_att_control_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); thread_running = true; exit(0); @@ -222,9 +222,9 @@ int fixedwing_control2_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tfixedwing_control2 is running\n"); + printf("\tfixedwing_att_control is running\n"); } else { - printf("\tfixedwing_control2 not started\n"); + printf("\tfixedwing_att_control not started\n"); } exit(0); } diff --git a/apps/fixedwing_control2/fixedwing_control2_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c similarity index 83% rename from apps/fixedwing_control2/fixedwing_control2_rate.c rename to apps/fixedwing_att_control/fixedwing_att_control_rate.c index 9c6f9d5912..d00909104c 100644 --- a/apps/fixedwing_control2/fixedwing_control2_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -32,9 +32,10 @@ * ****************************************************************************/ /** - * @file fixedwing_control2.c + * @file fixedwing_att_control_rate.c * Implementation of a fixed wing attitude controller. */ +#include #include #include @@ -53,14 +54,14 @@ #include #include #include -#include -#include #include #include #include #include + + struct fw_rate_control_params { param_t yawrate_p; @@ -97,6 +98,9 @@ static int parameters_init(struct fw_rate_control_params *h) h->attrate_awu = param_find("MC_ATTRATE_AWU"); h->attrate_lim = param_find("MC_ATTRATE_LIM"); +// if(h->attrate_i == PARAM_INVALID) +// printf("FATAL MC_ATTRATE_I does not exist\n"); + return OK; } @@ -114,11 +118,12 @@ static int parameters_update(const struct fw_rate_control_params *h, struct fw_r param_get(h->attrate_awu, &(p->attrate_awu)); param_get(h->attrate_lim, &(p->attrate_lim)); + p->attrate_i = 0.01f; //TODO: as long as the parameter is not implemented + return OK; } - -int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp, +int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, const float rates[], struct actuator_controls_s *actuators) { @@ -128,23 +133,30 @@ int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp, static struct fw_rate_control_params p; static struct fw_rate_control_params h; + static PID_t roll_rate_controller; + + static uint64_t last_run = 0; + const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + if(!initialized) { parameters_init(&h); parameters_update(&h, &p); + pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu, PID_MODE_DERIVATIV_SET); //D part set to 0 because the controller layout is with a PI rate controller initialized = true; } /* load new parameters with lower rate */ if (counter % 2500 == 0) { /* update parameters from storage */ + pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu); parameters_update(&h, &p); - printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p); } - /* Roll Rate */ - float roll_error = rate_sp->roll - rates[0]; - actuators->control[0] =p.attrate_p*roll_error; + /* Roll Rate (PI) */ + float roll_rate_error = rate_sp->roll - rates[0]; + actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);; actuators->control[1] = 0; diff --git a/apps/fixedwing_control2/fixedwing_control2_rate.h b/apps/fixedwing_att_control/fixedwing_att_control_rate.h similarity index 86% rename from apps/fixedwing_control2/fixedwing_control2_rate.h rename to apps/fixedwing_att_control/fixedwing_att_control_rate.h index 39aa54abe5..2023353ebf 100644 --- a/apps/fixedwing_control2/fixedwing_control2_rate.h +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.h @@ -35,11 +35,14 @@ /* @file Main system state machine definition */ -#ifndef FIXEDWING_CONTROL2_RATE_H_ -#define FIXEDWING_CONTROL2_RATE_H_ +#ifndef FIXEDWING_ATT_CONTROL_RATE_H_ +#define FIXEDWING_ATT_CONTROL_RATE_H_ -int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp, +#include +#include + +int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, const float rates[], struct actuator_controls_s *actuators); -#endif /* FIXEDWING_CONTROL2_RATE_H_ */ +#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */ diff --git a/apps/fixedwing_pos_control/Makefile b/apps/fixedwing_pos_control/Makefile new file mode 100644 index 0000000000..bce391f499 --- /dev/null +++ b/apps/fixedwing_pos_control/Makefile @@ -0,0 +1,45 @@ +############################################################################ +# +# Copyright (C) 2012 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. +# +############################################################################ + +# +# Fixedwing Control application +# + +APPNAME = fixedwing_pos_control +PRIORITY = SCHED_PRIORITY_MAX - 30 +STACKSIZE = 2048 + +INCLUDES = $(TOPDIR)/../mavlink/include/mavlink + +include $(APPDIR)/mk/app.mk + diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c new file mode 100644 index 0000000000..892da5f093 --- /dev/null +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -0,0 +1,208 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Ivan Ovinnikov + * + * 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 fixedwing_pos_control.c + * Implementation of a fixed wing attitude controller. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* Prototypes */ +/** + * Deamon management function. + */ +__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int fixedwing_pos_control_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +/* Variables */ +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 */ + +/* Main Thread */ +int fixedwing_pos_control_thread_main(int argc, char *argv[]) +{ + /* read arguments */ + bool verbose = false; + + for (int i = 1; i < argc; i++) { + if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { + verbose = true; + } + } + + /* welcome user */ + printf("[fixedwing att_control] started\n"); + + /* declare and safely initialize all structs */ + + + /* output structs */ + struct vehicle_attitude_setpoint_s attitude_setpoint; + memset(&attitude_setpoint, 0, sizeof(attitude_setpoint)); + + /* publish attitude setpoint */ + + attitude_setpoint.roll_body = 0.0f; + attitude_setpoint.pitch_body = 0.0f; + attitude_setpoint.yaw_body = 0.0f; + orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); + + + +// /* subscribe to attitude (for attitude rate) and rate septoint */ +// + + /* Setup of loop */ +// struct pollfd fds = { .fd = att_sub, .events = POLLIN }; + + while(!thread_should_exit) + { + /* wait for a sensor update, check for exit condition every 500 ms */ +// poll(&fds, 1, 500); + sleep(500); //TODO removeme, this is for testing only + + /* Control */ + + + orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); + } + + printf("[fixedwing_pos_control] exiting.\n"); + thread_running = false; + + + close(attitude_setpoint_pub); + + fflush(stdout); + exit(0); + + return 0; + +} + +/* Startup Functions */ + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\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 fixedwing_pos_control_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("fixedwing_pos_control already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("fixedwing_pos_control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 20, + 4096, + fixedwing_pos_control_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + thread_running = true; + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tfixedwing_pos_control is running\n"); + } else { + printf("\tfixedwing_pos_control not started\n"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + + + diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 96a5871310..4fe8f39c16 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -78,7 +78,8 @@ CONFIGURED_APPS += multirotor_att_control CONFIGURED_APPS += multirotor_pos_control CONFIGURED_APPS += px4/attitude_estimator_bm CONFIGURED_APPS += fixedwing_control -CONFIGURED_APPS += fixedwing_control2 +CONFIGURED_APPS += fixedwing_att_control +CONFIGURED_APPS += fixedwing_pos_control CONFIGURED_APPS += position_estimator CONFIGURED_APPS += attitude_estimator_ekf CONFIGURED_APPS += px4/ground_estimator From ab447ac713b010c090d6e2de85fa5d0d0af5cbbe Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 21 Oct 2012 21:36:29 +0200 Subject: [PATCH 07/34] [work in progess]roll attitude and roll rate loop works --- .../fixedwing_att_control_att.c | 131 ++++++++++++++++++ .../fixedwing_att_control_att.h | 49 +++++++ .../fixedwing_att_control_main.c | 15 +- .../fixedwing_att_control_rate.c | 3 +- apps/uORB/topics/vehicle_attitude_setpoint.h | 6 +- 5 files changed, 196 insertions(+), 8 deletions(-) create mode 100644 apps/fixedwing_att_control/fixedwing_att_control_att.c create mode 100644 apps/fixedwing_att_control/fixedwing_att_control_att.h diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c new file mode 100644 index 0000000000..7d648ccfa8 --- /dev/null +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -0,0 +1,131 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * 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 fixedwing_att_control_rate.c + * Implementation of a fixed wing attitude controller. + */ +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + + + + +struct fw_att_control_params { + param_t roll_p; +}; + + + +/* Internal Prototypes */ +static int parameters_init(struct fw_att_control_params *h); +static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p); + +static int parameters_init(struct fw_att_control_params *h) +{ + /* PID parameters */ + h->roll_p = param_find("FW_ROLL_POS_P"); //TODO define rate params for fixed wing + + +// if(h->attrate_i == PARAM_INVALID) +// printf("FATAL MC_ATTRATE_I does not exist\n"); + + return OK; +} + +static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p) +{ + param_get(h->roll_p, &(p->roll_p)); + + return OK; +} + +int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, + const struct vehicle_attitude_s *att, + struct vehicle_rates_setpoint_s *rates_sp) +{ + static int counter = 0; + static bool initialized = false; + + static struct fw_att_control_params p; + static struct fw_att_control_params h; + + static uint64_t last_run = 0; + const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + + if(!initialized) + { + parameters_init(&h); + parameters_update(&h, &p); + initialized = true; + } + + /* load new parameters with lower rate */ + if (counter % 2500 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + } + + /* Roll (P) */ + float roll_error = att_sp->roll_tait_bryan - att->roll; + rates_sp->roll = p.roll_p * roll_error; + + counter++; + + return 0; +} + + + diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h new file mode 100644 index 0000000000..f4d3eca7ce --- /dev/null +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.h @@ -0,0 +1,49 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * + * 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 Main system state machine definition */ + +#ifndef FIXEDWING_ATT_CONTROL_ATT_H_ +#define FIXEDWING_ATT_CONTROL_ATT_H_ + +#include +#include +#include + +int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, + const struct vehicle_attitude_s *att, + struct vehicle_rates_setpoint_s *rates_sp); + +#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */ diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 4680147a1d..9bf984d1d8 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -63,6 +63,7 @@ #include #include +#include /* Prototypes */ /** @@ -103,6 +104,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* declare and safely initialize all structs */ struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); + struct vehicle_attitude_setpoint_s att_sp; + memset(&att_sp, 0, sizeof(att_sp)); struct vehicle_rates_setpoint_s rates_sp; memset(&rates_sp, 0, sizeof(rates_sp)); @@ -117,8 +120,9 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) - /* subscribe to attitude (for attitude rate) and rate septoint */ + /* subscribe */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); /* Setup of loop */ float gyro[3] = {0.0f, 0.0f, 0.0f}; @@ -140,8 +144,13 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* Control */ /* Attitude Control */ - rates_sp.roll = 0.0f; - rates_sp.pitch = 0.0f; + att_sp.roll_tait_bryan = 0.0f; //REMOVEME TODO + att_sp.pitch_tait_bryan = 0.0f; + att_sp.yaw_tait_bryan = 0.0f; + fixedwing_att_control_attitude(&att_sp, + &att, + &rates_sp); + rates_sp.pitch = 0.0f; //REMOVEME TODO rates_sp.yaw = 0.0f; /* Attitude Rate Control */ diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index d00909104c..48892e4aa7 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -155,8 +155,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, } /* Roll Rate (PI) */ - float roll_rate_error = rate_sp->roll - rates[0]; - actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);; + actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); actuators->control[1] = 0; diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h index 62367cf77a..8663846fc9 100644 --- a/apps/uORB/topics/vehicle_attitude_setpoint.h +++ b/apps/uORB/topics/vehicle_attitude_setpoint.h @@ -56,9 +56,9 @@ struct vehicle_attitude_setpoint_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - //float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */ - //float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */ - //float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */ + float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */ + float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */ + float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */ //float tait_bryan_valid; /**< Set to true if Tait-Bryan angles are valid */ float roll_body; /**< body angle in NED frame */ From 69185643c0bb96cae1daa08ceb052e884a2c2ed1 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 22 Oct 2012 18:52:25 +0200 Subject: [PATCH 08/34] added parameters --- .../fixedwing_att_control_main.c | 28 ++++++ .../fixedwing_att_control_rate.c | 90 +++++++++++-------- 2 files changed, 82 insertions(+), 36 deletions(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 9bf984d1d8..a6dd1c9fbe 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -65,6 +65,34 @@ #include #include +/* + * Controller parameters, accessible via MAVLink + * + */ +// Roll control parameters +PARAM_DEFINE_FLOAT(FW_ROLLRATE_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_ROLLRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_ROLLRATE_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_ROLLRATE_LIM, 0.7f); // Roll rate limit in radians/sec +PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians + +//Pitch control parameters +PARAM_DEFINE_FLOAT(FW_PITCHRATE_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_PITCHRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_PITCHRATE_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_PITCHRATE_LIM, 0.35f); // Pitch rate limit in radians/sec +PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians + +//Yaw control parameters //XXX TODO this is copy paste, asign correct values +PARAM_DEFINE_FLOAT(FW_YAWRATE_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_YAWRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_YAWRATE_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_YAWRATE_LIM, 0.35f); // Yaw rate limit in radians/sec +PARAM_DEFINE_FLOAT(FW_YAW_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_YAW_LIM, 0.35f); // Yaw angle limit in radians + /* Prototypes */ /** * Deamon management function. diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 48892e4aa7..e6f5c6857f 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -62,41 +62,60 @@ + struct fw_rate_control_params { + float rollrate_p; + float rollrate_i; + float rollrate_awu; + float rollrate_lim; + float pitchrate_p; + float pitchrate_i; + float pitchrate_awu; + float pitchrate_lim; + float yawrate_p; + float yawrate_i; + float yawrate_awu; + float yawrate_lim; - param_t yawrate_p; - param_t yawrate_i; - param_t yawrate_d; - param_t yawrate_awu; - param_t yawrate_lim; +}; - param_t attrate_p; - param_t attrate_i; - param_t attrate_d; - param_t attrate_awu; - param_t attrate_lim; +struct fw_rate_control_param_handles { + float rollrate_p; + float rollrate_i; + float rollrate_awu; + float rollrate_lim; + float pitchrate_p; + float pitchrate_i; + float pitchrate_awu; + float pitchrate_lim; + float yawrate_p; + float yawrate_i; + float yawrate_awu; + float yawrate_lim; }; /* Internal Prototypes */ -static int parameters_init(struct fw_rate_control_params *h); -static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p); +static int parameters_init(struct fw_rate_control_param_handles *h); +static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p); -static int parameters_init(struct fw_rate_control_params *h) +static int parameters_init(struct fw_rate_control_param_handles *h) { /* PID parameters */ - h->yawrate_p = param_find("MC_YAWRATE_P"); //TODO define rate params for fixed wing - h->yawrate_i = param_find("MC_YAWRATE_I"); - h->yawrate_d = param_find("MC_YAWRATE_D"); - h->yawrate_awu = param_find("MC_YAWRATE_AWU"); - h->yawrate_lim = param_find("MC_YAWRATE_LIM"); + h->rollrate_p = param_find("FW_ROLLRATE_P"); //TODO define rate params for fixed wing + h->rollrate_i = param_find("FW_ROLLRATE_I"); + h->rollrate_awu = param_find("FW_ROLLRATE_AWU"); + h->rollrate_lim = param_find("FW_ROLLRATE_LIM"); + h->pitchrate_p = param_find("FW_PITCHRATE_P"); + h->pitchrate_i = param_find("FW_PITCHRATE_I"); + h->pitchrate_awu = param_find("FW_PITCHRATE_AWU"); + h->pitchrate_lim = param_find("FW_PITCHRATE_LIM"); + h->yawrate_p = param_find("FW_YAWRATE_P"); + h->yawrate_i = param_find("FW_YAWRATE_I"); + h->yawrate_awu = param_find("FW_YAWRATE_AWU"); + h->yawrate_lim = param_find("FW_YAWRATE_LIM"); - h->attrate_p = param_find("MC_ATTRATE_P"); - h->attrate_i = param_find("MC_ATTRATE_I"); - h->attrate_d = param_find("MC_ATTRATE_D"); - h->attrate_awu = param_find("MC_ATTRATE_AWU"); - h->attrate_lim = param_find("MC_ATTRATE_LIM"); // if(h->attrate_i == PARAM_INVALID) // printf("FATAL MC_ATTRATE_I does not exist\n"); @@ -104,22 +123,21 @@ static int parameters_init(struct fw_rate_control_params *h) return OK; } -static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p) +static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p) { + param_get(h->rollrate_p, &(p->rollrate_p)); + param_get(h->rollrate_i, &(p->rollrate_i)); + param_get(h->rollrate_awu, &(p->rollrate_awu)); + param_get(h->rollrate_lim, &(p->rollrate_lim)); + param_get(h->pitchrate_p, &(p->pitchrate_p)); + param_get(h->pitchrate_i, &(p->pitchrate_i)); + param_get(h->pitchrate_awu, &(p->pitchrate_awu)); + param_get(h->pitchrate_lim, &(p->pitchrate_lim)); param_get(h->yawrate_p, &(p->yawrate_p)); param_get(h->yawrate_i, &(p->yawrate_i)); - param_get(h->yawrate_d, &(p->yawrate_d)); param_get(h->yawrate_awu, &(p->yawrate_awu)); param_get(h->yawrate_lim, &(p->yawrate_lim)); - param_get(h->attrate_p, &(p->attrate_p)); - param_get(h->attrate_i, &(p->attrate_i)); - param_get(h->attrate_d, &(p->attrate_d)); - param_get(h->attrate_awu, &(p->attrate_awu)); - param_get(h->attrate_lim, &(p->attrate_lim)); - - p->attrate_i = 0.01f; //TODO: as long as the parameter is not implemented - return OK; } @@ -131,7 +149,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, static bool initialized = false; static struct fw_rate_control_params p; - static struct fw_rate_control_params h; + static struct fw_rate_control_param_handles h; static PID_t roll_rate_controller; @@ -143,14 +161,14 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, { parameters_init(&h); parameters_update(&h, &p); - pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu, PID_MODE_DERIVATIV_SET); //D part set to 0 because the controller layout is with a PI rate controller + pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the controller layout is with a PI rate controller initialized = true; } /* load new parameters with lower rate */ if (counter % 2500 == 0) { /* update parameters from storage */ - pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu); + pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim); parameters_update(&h, &p); } From b9d03c7c27425dc100dbe3433d9233f98c7fbf30 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 22 Oct 2012 19:12:27 +0200 Subject: [PATCH 09/34] [work in progess] some copy paste for pitch and yaw, but not enabled yet --- .../fixedwing_att_control_att.c | 52 +++++++++++++------ .../fixedwing_att_control_main.c | 2 - .../fixedwing_att_control_rate.c | 12 +++-- .../fixedwing_pos_control_main.c | 2 +- 4 files changed, 45 insertions(+), 23 deletions(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index 7d648ccfa8..b13d564d62 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -35,7 +35,7 @@ * @file fixedwing_att_control_rate.c * Implementation of a fixed wing attitude controller. */ -#include +#include #include #include @@ -63,30 +63,42 @@ struct fw_att_control_params { - param_t roll_p; + float roll_p; + float roll_lim; + float pitch_p; + float pitch_lim; +}; + +struct fw_att_control_params_handles { + float roll_p; + float roll_lim; + float pitch_p; + float pitch_lim; }; /* Internal Prototypes */ -static int parameters_init(struct fw_att_control_params *h); -static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p); +static int parameters_init(struct fw_att_control_params_handles *h); +static int parameters_update(const struct fw_att_control_params_handles *h, struct fw_att_control_params *p); -static int parameters_init(struct fw_att_control_params *h) +static int parameters_init(struct fw_att_control_params_handles *h) { /* PID parameters */ - h->roll_p = param_find("FW_ROLL_POS_P"); //TODO define rate params for fixed wing - - -// if(h->attrate_i == PARAM_INVALID) -// printf("FATAL MC_ATTRATE_I does not exist\n"); + h->roll_p = param_find("FW_ROLL_P"); + h->roll_lim = param_find("FW_ROLL_LIM"); + h->pitch_p = param_find("FW_PITCH_P"); + h->pitch_lim = param_find("FW_PITCH_LIM"); return OK; } -static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p) +static int parameters_update(const struct fw_att_control_params_handles *h, struct fw_att_control_params *p) { param_get(h->roll_p, &(p->roll_p)); + param_get(h->roll_lim, &(p->roll_lim)); + param_get(h->pitch_p, &(p->pitch_p)); + param_get(h->pitch_lim, &(p->pitch_lim)); return OK; } @@ -99,11 +111,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att static bool initialized = false; static struct fw_att_control_params p; - static struct fw_att_control_params h; - - static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); + static struct fw_att_control_params_handles h; if(!initialized) { @@ -120,7 +128,17 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att /* Roll (P) */ float roll_error = att_sp->roll_tait_bryan - att->roll; - rates_sp->roll = p.roll_p * roll_error; + //TODO convert to body frame + rates_sp->roll = p.roll_p * roll_error; //TODO enabled for testing only + + /* Pitch (P) */ + float pitch_error = att_sp->pitch_tait_bryan - att->pitch; + //TODO convert to body frame + + /* Yaw (from coordinated turn constraint) */ + //TODO + + //TODO Limits counter++; diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index a6dd1c9fbe..0766a3d40f 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -90,8 +90,6 @@ PARAM_DEFINE_FLOAT(FW_YAWRATE_P, 0.3f); PARAM_DEFINE_FLOAT(FW_YAWRATE_I, 0.0f); PARAM_DEFINE_FLOAT(FW_YAWRATE_AWU, 0.0f); PARAM_DEFINE_FLOAT(FW_YAWRATE_LIM, 0.35f); // Yaw rate limit in radians/sec -PARAM_DEFINE_FLOAT(FW_YAW_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_YAW_LIM, 0.35f); // Yaw angle limit in radians /* Prototypes */ /** diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index e6f5c6857f..959628be95 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -152,6 +152,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, static struct fw_rate_control_param_handles h; static PID_t roll_rate_controller; + static PID_t pitch_rate_controller; + static PID_t yaw_rate_controller; static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; @@ -162,6 +164,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_init(&h); parameters_update(&h, &p); pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the controller layout is with a PI rate controller + pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher initialized = true; } @@ -169,15 +173,17 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (counter % 2500 == 0) { /* update parameters from storage */ pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim); + pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim); + pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim); parameters_update(&h, &p); } /* Roll Rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); - - actuators->control[1] = 0; - actuators->control[2] = 0; + //XXX TODO disabled for now + actuators->control[1] = 0;//pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); + actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); counter++; diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 892da5f093..278931e4a3 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -112,7 +112,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) -// /* subscribe to attitude (for attitude rate) and rate septoint */ +// /* subscribe */ // /* Setup of loop */ From abcfe29c640315848f5080f57ec4c7117dc3f988 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 27 Oct 2012 17:16:10 +0200 Subject: [PATCH 10/34] small temporary bugfix/workaround in mavlink uorb listener --- apps/mavlink/orb_listener.c | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 90b0073cfc..8a604d6c13 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -474,7 +474,6 @@ l_vehicle_attitude_controls(struct listener *l) /* Only send in HIL mode */ if (mavlink_hil_enabled) { - /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; uint8_t mavlink_mode = 0; @@ -548,8 +547,12 @@ uorb_receive_thread(void *arg) mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); } else { + static bool updated = false; for (unsigned i = 0; i < n_listeners; i++) { - if (fds[i].revents & POLLIN) + orb_check(*(listeners[i].subp), &updated); +// printf("revents: %d:%d", i, fds[i].revents); +// if (fds[i].revents & POLLIN) + if(updated) listeners[i].callback(&listeners[i]); } } From 56f4849e872854e5483bcd1eaf277b9b8bb50a1c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 27 Oct 2012 18:56:45 +0200 Subject: [PATCH 11/34] changed headers --- apps/fixedwing_att_control/fixedwing_att_control_att.c | 2 +- apps/fixedwing_att_control/fixedwing_att_control_main.c | 3 ++- apps/fixedwing_att_control/fixedwing_att_control_rate.c | 3 ++- apps/fixedwing_pos_control/fixedwing_pos_control_main.c | 2 +- 4 files changed, 6 insertions(+), 4 deletions(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index b13d564d62..9c784e98ed 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -47,7 +47,7 @@ #include #include #include -#include +#include #include #include diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 0766a3d40f..06890ed8b5 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include @@ -194,6 +194,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* kill all outputs */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) actuators.control[i] = 0.0f; + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 959628be95..7c17e70f31 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -47,7 +47,7 @@ #include #include #include -#include +#include #include #include @@ -178,6 +178,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); } + /* Roll Rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 278931e4a3..63ea1e5b4b 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include #include From 17772afdaabd446ba5b7ddccca1f8d4fed433d39 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 27 Oct 2012 19:43:03 +0200 Subject: [PATCH 12/34] fw control: fixed parameter reloading, disabled old fw control app --- apps/fixedwing_att_control/fixedwing_att_control_att.c | 2 +- apps/fixedwing_att_control/fixedwing_att_control_rate.c | 2 +- nuttx/configs/px4fmu/nsh/appconfig | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index 9c784e98ed..c691c69388 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -121,7 +121,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att } /* load new parameters with lower rate */ - if (counter % 2500 == 0) { + if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); } diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 7c17e70f31..24dce199f8 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -170,7 +170,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, } /* load new parameters with lower rate */ - if (counter % 2500 == 0) { + if (counter % 100 == 0) { /* update parameters from storage */ pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim); pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim); diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 1b55746814..46df8a45df 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -76,7 +76,7 @@ CONFIGURED_APPS += sensors CONFIGURED_APPS += ardrone_interface CONFIGURED_APPS += multirotor_att_control CONFIGURED_APPS += multirotor_pos_control -CONFIGURED_APPS += fixedwing_control +#CONFIGURED_APPS += fixedwing_control CONFIGURED_APPS += fixedwing_att_control CONFIGURED_APPS += fixedwing_pos_control CONFIGURED_APPS += position_estimator From 62581fe55b0fb138f88bd0dcd89dffdbf99496ef Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 28 Oct 2012 11:54:02 +0100 Subject: [PATCH 13/34] fw control: attitude, added pid elements --- .../fixedwing_att_control_att.c | 18 ++++++++++-------- .../fixedwing_att_control_rate.c | 12 ++++-------- .../fixedwing_pos_control_main.c | 6 +++--- apps/mavlink/orb_listener.c | 7 ++----- 4 files changed, 19 insertions(+), 24 deletions(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index c691c69388..711a1cc313 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -113,10 +113,15 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att static struct fw_att_control_params p; static struct fw_att_control_params_handles h; + static PID_t roll_controller; + static PID_t pitch_controller; + if(!initialized) { parameters_init(&h); parameters_update(&h, &p); + pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.roll_lim, PID_MODE_DERIVATIV_NONE); //P Controller + pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitch_lim, PID_MODE_DERIVATIV_NONE); //P Controller initialized = true; } @@ -124,22 +129,19 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); + pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.roll_lim); + pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitch_lim); } /* Roll (P) */ - float roll_error = att_sp->roll_tait_bryan - att->roll; - //TODO convert to body frame - rates_sp->roll = p.roll_p * roll_error; //TODO enabled for testing only + rates_sp->roll = pid_calculate(&roll_controller,att_sp->roll_tait_bryan, att->roll, 0, 0); /* Pitch (P) */ - float pitch_error = att_sp->pitch_tait_bryan - att->pitch; - //TODO convert to body frame + //rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0); - /* Yaw (from coordinated turn constraint) */ + /* Yaw (from coordinated turn constraint or lateral force) */ //TODO - //TODO Limits - counter++; return 0; diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 24dce199f8..4b7e2c2bae 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -116,10 +116,6 @@ static int parameters_init(struct fw_rate_control_param_handles *h) h->yawrate_awu = param_find("FW_YAWRATE_AWU"); h->yawrate_lim = param_find("FW_YAWRATE_LIM"); - -// if(h->attrate_i == PARAM_INVALID) -// printf("FATAL MC_ATTRATE_I does not exist\n"); - return OK; } @@ -163,19 +159,19 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, { parameters_init(&h); parameters_update(&h, &p); - pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the controller layout is with a PI rate controller - pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller + pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher initialized = true; } /* load new parameters with lower rate */ if (counter % 100 == 0) { /* update parameters from storage */ + parameters_update(&h, &p); pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim); pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim); pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim); - parameters_update(&h, &p); } diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 63ea1e5b4b..c08017b8de 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -105,9 +105,9 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* publish attitude setpoint */ - attitude_setpoint.roll_body = 0.0f; - attitude_setpoint.pitch_body = 0.0f; - attitude_setpoint.yaw_body = 0.0f; + attitude_setpoint.roll_tait_bryan = 0.0f; + attitude_setpoint.pitch_tait_bryan = 0.0f; + attitude_setpoint.yaw_tait_bryan = 0.0f; orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 8a604d6c13..d8b9dc3db8 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -547,12 +547,9 @@ uorb_receive_thread(void *arg) mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); } else { - static bool updated = false; for (unsigned i = 0; i < n_listeners; i++) { - orb_check(*(listeners[i].subp), &updated); -// printf("revents: %d:%d", i, fds[i].revents); -// if (fds[i].revents & POLLIN) - if(updated) + bool updated = false; + if(OK == orb_check(*(listeners[i].subp), &updated) && updated) listeners[i].callback(&listeners[i]); } } From e5f56a1a8fe3c81fcb182cace9e81bbaaa3d0031 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 28 Oct 2012 15:26:49 +0100 Subject: [PATCH 14/34] fw control: moved and renamed parameters, attitude: roll and pitch working --- .../fixedwing_att_control_att.c | 41 ++++++---- .../fixedwing_att_control_main.c | 45 ++++++----- .../fixedwing_att_control_rate.c | 48 +++++------- .../fixedwing_pos_control_main.c | 76 ++++++++++++++++++- 4 files changed, 142 insertions(+), 68 deletions(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index 711a1cc313..b6196702f3 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -64,41 +64,48 @@ struct fw_att_control_params { float roll_p; - float roll_lim; + float rollrate_lim; float pitch_p; float pitch_lim; + float pitchrate_lim; + float yawrate_lim; }; -struct fw_att_control_params_handles { +struct fw_pos_control_params_handle { float roll_p; - float roll_lim; + float rollrate_lim; float pitch_p; float pitch_lim; + float pitchrate_lim; + float yawrate_lim; }; /* Internal Prototypes */ -static int parameters_init(struct fw_att_control_params_handles *h); -static int parameters_update(const struct fw_att_control_params_handles *h, struct fw_att_control_params *p); +static int parameters_init(struct fw_pos_control_params_handle *h); +static int parameters_update(const struct fw_pos_control_params_handle *h, struct fw_att_control_params *p); -static int parameters_init(struct fw_att_control_params_handles *h) +static int parameters_init(struct fw_pos_control_params_handle *h) { /* PID parameters */ h->roll_p = param_find("FW_ROLL_P"); - h->roll_lim = param_find("FW_ROLL_LIM"); + h->rollrate_lim = param_find("FW_ROLLR_LIM"); h->pitch_p = param_find("FW_PITCH_P"); h->pitch_lim = param_find("FW_PITCH_LIM"); + h->pitchrate_lim = param_find("FW_PITCHR_LIM"); + h->yawrate_lim = param_find("FW_YAWR_LIM"); return OK; } -static int parameters_update(const struct fw_att_control_params_handles *h, struct fw_att_control_params *p) +static int parameters_update(const struct fw_pos_control_params_handle *h, struct fw_att_control_params *p) { param_get(h->roll_p, &(p->roll_p)); - param_get(h->roll_lim, &(p->roll_lim)); + param_get(h->rollrate_lim, &(p->rollrate_lim)); param_get(h->pitch_p, &(p->pitch_p)); - param_get(h->pitch_lim, &(p->pitch_lim)); + param_get(h->pitchrate_lim, &(p->pitchrate_lim)); + param_get(h->yawrate_lim, &(p->yawrate_lim)); return OK; } @@ -111,17 +118,18 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att static bool initialized = false; static struct fw_att_control_params p; - static struct fw_att_control_params_handles h; + static struct fw_pos_control_params_handle h; static PID_t roll_controller; static PID_t pitch_controller; + if(!initialized) { parameters_init(&h); parameters_update(&h, &p); - pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.roll_lim, PID_MODE_DERIVATIV_NONE); //P Controller - pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitch_lim, PID_MODE_DERIVATIV_NONE); //P Controller + pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller + pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller initialized = true; } @@ -129,15 +137,16 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.roll_lim); - pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitch_lim); + pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.pitchrate_lim); + pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim); } /* Roll (P) */ rates_sp->roll = pid_calculate(&roll_controller,att_sp->roll_tait_bryan, att->roll, 0, 0); /* Pitch (P) */ - //rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0); + + rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0); /* Yaw (from coordinated turn constraint or lateral force) */ //TODO diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 06890ed8b5..82ef0403be 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -1,7 +1,8 @@ /**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Ivan Ovinnikov + * Author: @author Thomas Gubler + * @author Doug Weibel * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -57,6 +58,7 @@ #include #include #include +#include #include #include #include @@ -70,26 +72,24 @@ * */ // Roll control parameters -PARAM_DEFINE_FLOAT(FW_ROLLRATE_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_ROLLRATE_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_ROLLRATE_AWU, 0.0f); -PARAM_DEFINE_FLOAT(FW_ROLLRATE_LIM, 0.7f); // Roll rate limit in radians/sec +PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians //Pitch control parameters -PARAM_DEFINE_FLOAT(FW_PITCHRATE_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_PITCHRATE_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_PITCHRATE_AWU, 0.0f); -PARAM_DEFINE_FLOAT(FW_PITCHRATE_LIM, 0.35f); // Pitch rate limit in radians/sec +PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians //Yaw control parameters //XXX TODO this is copy paste, asign correct values -PARAM_DEFINE_FLOAT(FW_YAWRATE_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_YAWRATE_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_YAWRATE_AWU, 0.0f); -PARAM_DEFINE_FLOAT(FW_YAWRATE_LIM, 0.35f); // Yaw rate limit in radians/sec +PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec /* Prototypes */ /** @@ -134,16 +134,20 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) memset(&att_sp, 0, sizeof(att_sp)); struct vehicle_rates_setpoint_s rates_sp; memset(&rates_sp, 0, sizeof(rates_sp)); +// static struct debug_key_value_s debug_output; +// memset(&debug_output, 0, sizeof(debug_output)); /* output structs */ struct actuator_controls_s actuators; memset(&actuators, 0, sizeof(actuators)); + /* publish actuator controls */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) actuators.control[i] = 0.0f; orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); - +// orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output); +// debug_output.key[0] = '1'; /* subscribe */ @@ -162,6 +166,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /*Get Local Copies */ /* get a local copy of attitude */ orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); gyro[0] = att.rollspeed; gyro[1] = att.pitchspeed; @@ -170,14 +175,9 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* Control */ /* Attitude Control */ - att_sp.roll_tait_bryan = 0.0f; //REMOVEME TODO - att_sp.pitch_tait_bryan = 0.0f; - att_sp.yaw_tait_bryan = 0.0f; fixedwing_att_control_attitude(&att_sp, &att, &rates_sp); - rates_sp.pitch = 0.0f; //REMOVEME TODO - rates_sp.yaw = 0.0f; /* Attitude Rate Control */ fixedwing_att_control_rates(&rates_sp, gyro, &actuators); @@ -186,6 +186,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) actuators.control[3] = 0.7f; orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); +// debug_output.value = rates_sp.pitch; +// orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output); } printf("[fixedwing_att_control] exiting, stopping all motors.\n"); @@ -198,6 +200,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + close(att_sub); close(actuator_pub); diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 4b7e2c2bae..ec3039dd60 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -67,15 +67,12 @@ struct fw_rate_control_params { float rollrate_p; float rollrate_i; float rollrate_awu; - float rollrate_lim; float pitchrate_p; float pitchrate_i; float pitchrate_awu; - float pitchrate_lim; float yawrate_p; float yawrate_i; float yawrate_awu; - float yawrate_lim; }; @@ -83,15 +80,13 @@ struct fw_rate_control_param_handles { float rollrate_p; float rollrate_i; float rollrate_awu; - float rollrate_lim; float pitchrate_p; float pitchrate_i; float pitchrate_awu; - float pitchrate_lim; float yawrate_p; float yawrate_i; float yawrate_awu; - float yawrate_lim; + }; @@ -103,18 +98,17 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru static int parameters_init(struct fw_rate_control_param_handles *h) { /* PID parameters */ - h->rollrate_p = param_find("FW_ROLLRATE_P"); //TODO define rate params for fixed wing - h->rollrate_i = param_find("FW_ROLLRATE_I"); - h->rollrate_awu = param_find("FW_ROLLRATE_AWU"); - h->rollrate_lim = param_find("FW_ROLLRATE_LIM"); - h->pitchrate_p = param_find("FW_PITCHRATE_P"); - h->pitchrate_i = param_find("FW_PITCHRATE_I"); - h->pitchrate_awu = param_find("FW_PITCHRATE_AWU"); - h->pitchrate_lim = param_find("FW_PITCHRATE_LIM"); - h->yawrate_p = param_find("FW_YAWRATE_P"); - h->yawrate_i = param_find("FW_YAWRATE_I"); - h->yawrate_awu = param_find("FW_YAWRATE_AWU"); - h->yawrate_lim = param_find("FW_YAWRATE_LIM"); + h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing + h->rollrate_i = param_find("FW_ROLLR_I"); + h->rollrate_awu = param_find("FW_ROLLR_AWU"); + + h->pitchrate_p = param_find("FW_PITCHR_P"); + h->pitchrate_i = param_find("FW_PITCHR_I"); + h->pitchrate_awu = param_find("FW_PITCHR_AWU"); + + h->yawrate_p = param_find("FW_YAWR_P"); + h->yawrate_i = param_find("FW_YAWR_I"); + h->yawrate_awu = param_find("FW_YAWR_AWU"); return OK; } @@ -124,15 +118,13 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru param_get(h->rollrate_p, &(p->rollrate_p)); param_get(h->rollrate_i, &(p->rollrate_i)); param_get(h->rollrate_awu, &(p->rollrate_awu)); - param_get(h->rollrate_lim, &(p->rollrate_lim)); param_get(h->pitchrate_p, &(p->pitchrate_p)); param_get(h->pitchrate_i, &(p->pitchrate_i)); param_get(h->pitchrate_awu, &(p->pitchrate_awu)); - param_get(h->pitchrate_lim, &(p->pitchrate_lim)); param_get(h->yawrate_p, &(p->yawrate_p)); param_get(h->yawrate_i, &(p->yawrate_i)); param_get(h->yawrate_awu, &(p->yawrate_awu)); - param_get(h->yawrate_lim, &(p->yawrate_lim)); + return OK; } @@ -159,9 +151,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, { parameters_init(&h); parameters_update(&h, &p); - pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller - pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller + pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher initialized = true; } @@ -169,9 +161,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim); - pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim); - pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim); + pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1); + pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1); + pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1); } @@ -179,7 +171,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); //XXX TODO disabled for now - actuators->control[1] = 0;//pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); + actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); counter++; diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index c08017b8de..9efe9cb340 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -1,7 +1,8 @@ /**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Ivan Ovinnikov + * Author: @author Thomas Gubler + * @author Doug Weibel * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -60,7 +61,29 @@ #include #include +/* + * Controller parameters, accessible via MAVLink + * + */ +PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians +PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians + +struct fw_pos_control_params { + float roll_lim; + float pitch_lim; +}; + +struct fw_pos_control_param_handles { + float roll_lim; + float pitch_lim; +}; + + /* Prototypes */ +/* Internal Prototypes */ +static int parameters_init(struct fw_pos_control_param_handles *h); +static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p); + /** * Deamon management function. */ @@ -81,6 +104,29 @@ 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 */ + +/** + * Parameter management + */ +static int parameters_init(struct fw_pos_control_param_handles *h) +{ + /* PID parameters */ + h->roll_lim = param_find("FW_ROLL_LIM"); + h->pitch_lim = param_find("FW_PITCH_LIM"); + + + return OK; +} + +static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p) +{ + param_get(h->roll_lim, &(p->roll_lim)); + param_get(h->pitch_lim, &(p->pitch_lim)); + + return OK; +} + + /* Main Thread */ int fixedwing_pos_control_thread_main(int argc, char *argv[]) { @@ -106,7 +152,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* publish attitude setpoint */ attitude_setpoint.roll_tait_bryan = 0.0f; - attitude_setpoint.pitch_tait_bryan = 0.0f; + attitude_setpoint.pitch_tait_bryan = 0.2f; //TODO: for testing attitude_setpoint.yaw_tait_bryan = 0.0f; orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); @@ -124,10 +170,34 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) // poll(&fds, 1, 500); sleep(500); //TODO removeme, this is for testing only - /* Control */ + + static int counter = 0; + static bool initialized = false; + + static struct fw_pos_control_params p; + static struct fw_pos_control_param_handles h; + + if(!initialized) + { + parameters_init(&h); + parameters_update(&h, &p); + initialized = true; + } + + /* load new parameters with lower rate */ + if (counter % 100 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + + } + + /* Control */ + //TODO: control here orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); + + counter++; } printf("[fixedwing_pos_control] exiting.\n"); From 2f4cb6ca84d3c2fa5142fba303079030d22c67ae Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 28 Oct 2012 16:14:06 +0100 Subject: [PATCH 15/34] reverting my workaround in mavlink orb_listener so that the fix of Lorenz is active --- apps/mavlink/orb_listener.c | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 1eb621d09b..08bf091cb0 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -549,8 +549,7 @@ uorb_receive_thread(void *arg) } else { for (unsigned i = 0; i < n_listeners; i++) { - bool updated = false; - if(OK == orb_check(*(listeners[i].subp), &updated) && updated) + if (fds[i].revents & POLLIN) listeners[i].callback(&listeners[i]); } } From 8fff4e19d6185ef91a92d36d649584161ef69d8a Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 28 Oct 2012 16:15:51 +0100 Subject: [PATCH 16/34] roll compensation and default paramter values, pitch value has a sign error --- .../fixedwing_att_control_att.c | 10 +++++++--- .../fixedwing_att_control_main.c | 17 +++++++++-------- 2 files changed, 16 insertions(+), 11 deletions(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index b6196702f3..4193bbfdf5 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -69,6 +69,7 @@ struct fw_att_control_params { float pitch_lim; float pitchrate_lim; float yawrate_lim; + float pitch_roll_compensation_p; }; struct fw_pos_control_params_handle { @@ -78,6 +79,7 @@ struct fw_pos_control_params_handle { float pitch_lim; float pitchrate_lim; float yawrate_lim; + float pitch_roll_compensation_p; }; @@ -95,6 +97,7 @@ static int parameters_init(struct fw_pos_control_params_handle *h) h->pitch_lim = param_find("FW_PITCH_LIM"); h->pitchrate_lim = param_find("FW_PITCHR_LIM"); h->yawrate_lim = param_find("FW_YAWR_LIM"); + h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP"); return OK; } @@ -106,6 +109,7 @@ static int parameters_update(const struct fw_pos_control_params_handle *h, struc param_get(h->pitch_p, &(p->pitch_p)); param_get(h->pitchrate_lim, &(p->pitchrate_lim)); param_get(h->yawrate_lim, &(p->yawrate_lim)); + param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p)); return OK; } @@ -142,11 +146,11 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att } /* Roll (P) */ - rates_sp->roll = pid_calculate(&roll_controller,att_sp->roll_tait_bryan, att->roll, 0, 0); + rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_tait_bryan, att->roll, 0, 0); /* Pitch (P) */ - - rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0); + float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan; + rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_tait_bryan, att->pitch, 0, 0); /* Yaw (from coordinated turn constraint or lateral force) */ //TODO diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 82ef0403be..869fb16e44 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -72,18 +72,19 @@ * */ // Roll control parameters -PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); +PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); +PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller -PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_ROLL_P, 9.0f); +PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); //Pitch control parameters -PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_PITCHR_P, -0.8f); +PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); +PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller -PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f); //Yaw control parameters //XXX TODO this is copy paste, asign correct values PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); From 69e938aac3183780b1afcc3715f232c8e092994a Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 28 Oct 2012 16:56:05 +0100 Subject: [PATCH 17/34] moved elevator (-1) multipliction, ultimately this has to go into the mixer --- apps/fixedwing_att_control/fixedwing_att_control_main.c | 2 +- apps/fixedwing_att_control/fixedwing_att_control_rate.c | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 869fb16e44..d4fc0afae3 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(FW_ROLL_P, 9.0f); PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); //Pitch control parameters -PARAM_DEFINE_FLOAT(FW_PITCHR_P, -0.8f); +PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f); PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index ec3039dd60..21b3eeb4e2 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -170,9 +170,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* Roll Rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); - //XXX TODO disabled for now - actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); - actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); + + actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer... + actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now counter++; From b692c300d01bf075884a00cc75cea15e06f0e0db Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 28 Oct 2012 18:35:08 +0100 Subject: [PATCH 18/34] fw control: added Dougs horizontal navigation controller --- .../fixedwing_att_control_att.c | 26 ++--- .../fixedwing_att_control_main.c | 2 +- .../fixedwing_att_control_rate.c | 18 ++-- .../fixedwing_pos_control_main.c | 94 ++++++++++++++----- 4 files changed, 92 insertions(+), 48 deletions(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index 4193bbfdf5..29e9ee1bc3 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -72,23 +72,23 @@ struct fw_att_control_params { float pitch_roll_compensation_p; }; -struct fw_pos_control_params_handle { - float roll_p; - float rollrate_lim; - float pitch_p; - float pitch_lim; - float pitchrate_lim; - float yawrate_lim; - float pitch_roll_compensation_p; +struct fw_pos_control_param_handles { + param_t roll_p; + param_t rollrate_lim; + param_t pitch_p; + param_t pitch_lim; + param_t pitchrate_lim; + param_t yawrate_lim; + param_t pitch_roll_compensation_p; }; /* Internal Prototypes */ -static int parameters_init(struct fw_pos_control_params_handle *h); -static int parameters_update(const struct fw_pos_control_params_handle *h, struct fw_att_control_params *p); +static int parameters_init(struct fw_pos_control_param_handles *h); +static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p); -static int parameters_init(struct fw_pos_control_params_handle *h) +static int parameters_init(struct fw_pos_control_param_handles *h) { /* PID parameters */ h->roll_p = param_find("FW_ROLL_P"); @@ -102,7 +102,7 @@ static int parameters_init(struct fw_pos_control_params_handle *h) return OK; } -static int parameters_update(const struct fw_pos_control_params_handle *h, struct fw_att_control_params *p) +static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p) { param_get(h->roll_p, &(p->roll_p)); param_get(h->rollrate_lim, &(p->rollrate_lim)); @@ -122,7 +122,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att static bool initialized = false; static struct fw_att_control_params p; - static struct fw_pos_control_params_handle h; + static struct fw_pos_control_param_handles h; static PID_t roll_controller; static PID_t pitch_controller; diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index d4fc0afae3..ad0f201e1b 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller -PARAM_DEFINE_FLOAT(FW_ROLL_P, 9.0f); +PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f); PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); //Pitch control parameters diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 21b3eeb4e2..567f037845 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -77,15 +77,15 @@ struct fw_rate_control_params { }; struct fw_rate_control_param_handles { - float rollrate_p; - float rollrate_i; - float rollrate_awu; - float pitchrate_p; - float pitchrate_i; - float pitchrate_awu; - float yawrate_p; - float yawrate_i; - float yawrate_awu; + param_t rollrate_p; + param_t rollrate_i; + param_t rollrate_awu; + param_t pitchrate_p; + param_t pitchrate_i; + param_t pitchrate_awu; + param_t yawrate_p; + param_t yawrate_i; + param_t yawrate_awu; }; diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 9efe9cb340..5cab8eea78 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -56,6 +56,7 @@ #include #include #include +#include #include #include #include @@ -65,17 +66,21 @@ * Controller parameters, accessible via MAVLink * */ +PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f); PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians struct fw_pos_control_params { + float heading_p; float roll_lim; float pitch_lim; }; struct fw_pos_control_param_handles { - float roll_lim; - float pitch_lim; + param_t heading_p; + param_t roll_lim; + param_t pitch_lim; + }; @@ -111,6 +116,7 @@ static int deamon_task; /**< Handle of deamon task / thread */ static int parameters_init(struct fw_pos_control_param_handles *h) { /* PID parameters */ + h->heading_p = param_find("FW_HEADING_P"); h->roll_lim = param_find("FW_ROLL_LIM"); h->pitch_lim = param_find("FW_PITCH_LIM"); @@ -120,6 +126,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h) static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p) { + param_get(h->heading_p, &(p->heading_p)); param_get(h->roll_lim, &(p->roll_lim)); param_get(h->pitch_lim, &(p->pitch_lim)); @@ -143,33 +150,35 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) printf("[fixedwing att_control] started\n"); /* declare and safely initialize all structs */ - + struct vehicle_global_position_s global_pos; + memset(&global_pos, 0, sizeof(global_pos)); + struct vehicle_global_position_setpoint_s global_setpoint; + memset(&global_setpoint, 0, sizeof(global_setpoint)); + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); /* output structs */ struct vehicle_attitude_setpoint_s attitude_setpoint; memset(&attitude_setpoint, 0, sizeof(attitude_setpoint)); /* publish attitude setpoint */ - attitude_setpoint.roll_tait_bryan = 0.0f; - attitude_setpoint.pitch_tait_bryan = 0.2f; //TODO: for testing + attitude_setpoint.pitch_tait_bryan = 0.0f; attitude_setpoint.yaw_tait_bryan = 0.0f; orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); - - -// /* subscribe */ -// + /* subscribe */ + int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); /* Setup of loop */ -// struct pollfd fds = { .fd = att_sub, .events = POLLIN }; + struct pollfd fds = { .fd = att_sub, .events = POLLIN }; while(!thread_should_exit) { /* wait for a sensor update, check for exit condition every 500 ms */ -// poll(&fds, 1, 500); - sleep(500); //TODO removeme, this is for testing only - + poll(&fds, 1, 500); static int counter = 0; static bool initialized = false; @@ -177,24 +186,59 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) static struct fw_pos_control_params p; static struct fw_pos_control_param_handles h; + PID_t heading_controller; + if(!initialized) - { - parameters_init(&h); - parameters_update(&h, &p); - initialized = true; - } + { + parameters_init(&h); + parameters_update(&h, &p); + pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE); + initialized = true; + } - /* load new parameters with lower rate */ - if (counter % 100 == 0) { - /* update parameters from storage */ - parameters_update(&h, &p); + /* load new parameters with lower rate */ + if (counter % 100 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim); - } + } - /* Control */ - //TODO: control here + /* Check if there is a new position or setpoint */ + bool pos_updated; + orb_check(global_pos_sub, &pos_updated); + bool global_sp_updated; + orb_check(global_setpoint_sub, &global_sp_updated); + /* Load local copies */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + if(pos_updated) + orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); + if (global_sp_updated) + orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); + + /* Control */ + + /* Simple Horizontal Control */ + /* calculate bearing error */ + float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, + global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); + + /* shift error to prevent wrapping issues */ + float bearing_error = target_bearing - att.yaw; + + if (bearing_error < M_PI_F) { + bearing_error += 2.0f * M_PI_F; + } + + if (bearing_error > M_PI_F) { + bearing_error -= 2.0f * M_PI_F; + } + + /* calculate roll setpoint, do this artificially around zero */ + attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f); + orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); counter++; From db8d369c55d091b988a054ad39fd323e945a9bb0 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 28 Oct 2012 19:44:30 +0100 Subject: [PATCH 19/34] added a very simple altitude controller for testing --- .../fixedwing_pos_control_main.c | 51 ++++++++++++++----- 1 file changed, 38 insertions(+), 13 deletions(-) diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 5cab8eea78..eb4945464f 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -67,17 +67,21 @@ * */ PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f); +PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f); PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians + struct fw_pos_control_params { float heading_p; + float altitude_p; float roll_lim; float pitch_lim; }; struct fw_pos_control_param_handles { param_t heading_p; + param_t altitude_p; param_t roll_lim; param_t pitch_lim; @@ -117,6 +121,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h) { /* PID parameters */ h->heading_p = param_find("FW_HEADING_P"); + h->altitude_p = param_find("FW_ALT_P"); h->roll_lim = param_find("FW_ROLL_LIM"); h->pitch_lim = param_find("FW_PITCH_LIM"); @@ -127,6 +132,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h) static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p) { param_get(h->heading_p, &(p->heading_p)); + param_get(h->altitude_p, &(p->altitude_p)); param_get(h->roll_lim, &(p->roll_lim)); param_get(h->pitch_lim, &(p->pitch_lim)); @@ -174,6 +180,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* Setup of loop */ struct pollfd fds = { .fd = att_sub, .events = POLLIN }; + bool global_sp_updated_set_once = false; while(!thread_should_exit) { @@ -187,12 +194,14 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) static struct fw_pos_control_param_handles h; PID_t heading_controller; + PID_t altitude_controller; if(!initialized) { parameters_init(&h); parameters_update(&h, &p); pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE); + pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f,p.pitch_lim,PID_MODE_DERIVATIV_NONE); initialized = true; } @@ -201,6 +210,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* update parameters from storage */ parameters_update(&h, &p); pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim); + pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim); } @@ -209,6 +219,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) orb_check(global_pos_sub, &pos_updated); bool global_sp_updated; orb_check(global_setpoint_sub, &global_sp_updated); + if(global_sp_updated) + global_sp_updated_set_once = true; /* Load local copies */ @@ -220,25 +232,38 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* Control */ + /* Simple Horizontal Control */ - /* calculate bearing error */ - float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, - global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); + if(global_sp_updated_set_once) + { + /* calculate bearing error */ + float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, + global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); - /* shift error to prevent wrapping issues */ - float bearing_error = target_bearing - att.yaw; + /* shift error to prevent wrapping issues */ + float bearing_error = target_bearing - att.yaw; - if (bearing_error < M_PI_F) { - bearing_error += 2.0f * M_PI_F; + if (bearing_error < M_PI_F) { + bearing_error += 2.0f * M_PI_F; + } + + if (bearing_error > M_PI_F) { + bearing_error -= 2.0f * M_PI_F; + } + + /* calculate roll setpoint, do this artificially around zero */ + attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f); } - if (bearing_error > M_PI_F) { - bearing_error -= 2.0f * M_PI_F; + /* Very simple Altitude Control */ + if(global_sp_updated_set_once && pos_updated) + { + + //TODO: take care of relatie vs. ab. altitude + attitude_setpoint.pitch_tait_bryan = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); + } - - /* calculate roll setpoint, do this artificially around zero */ - attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f); - + /*Publish the attitude setpoint */ orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); counter++; From 9ad9d62f3476e6092c8fbbf33f4e6a141fd641c3 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 29 Oct 2012 23:04:00 +0100 Subject: [PATCH 20/34] Corrected some bugs, thanks to Doug for spotting them --- apps/fixedwing_att_control/fixedwing_att_control_att.c | 7 ++----- apps/fixedwing_att_control/fixedwing_att_control_att.h | 2 +- apps/fixedwing_att_control/fixedwing_att_control_rate.h | 2 +- 3 files changed, 4 insertions(+), 7 deletions(-) diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index 29e9ee1bc3..18b290f994 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -66,7 +66,6 @@ struct fw_att_control_params { float roll_p; float rollrate_lim; float pitch_p; - float pitch_lim; float pitchrate_lim; float yawrate_lim; float pitch_roll_compensation_p; @@ -76,7 +75,6 @@ struct fw_pos_control_param_handles { param_t roll_p; param_t rollrate_lim; param_t pitch_p; - param_t pitch_lim; param_t pitchrate_lim; param_t yawrate_lim; param_t pitch_roll_compensation_p; @@ -94,7 +92,6 @@ static int parameters_init(struct fw_pos_control_param_handles *h) h->roll_p = param_find("FW_ROLL_P"); h->rollrate_lim = param_find("FW_ROLLR_LIM"); h->pitch_p = param_find("FW_PITCH_P"); - h->pitch_lim = param_find("FW_PITCH_LIM"); h->pitchrate_lim = param_find("FW_PITCHR_LIM"); h->yawrate_lim = param_find("FW_YAWR_LIM"); h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP"); @@ -141,7 +138,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.pitchrate_lim); + pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim); pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim); } @@ -150,7 +147,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att /* Pitch (P) */ float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan; - rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_tait_bryan, att->pitch, 0, 0); + rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0); /* Yaw (from coordinated turn constraint or lateral force) */ //TODO diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h index f4d3eca7ce..ca7c14b43c 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.h +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.h @@ -33,7 +33,7 @@ * ****************************************************************************/ -/* @file Main system state machine definition */ +/* @file Fixed Wing Attitude Control */ #ifndef FIXEDWING_ATT_CONTROL_ATT_H_ #define FIXEDWING_ATT_CONTROL_ATT_H_ diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/apps/fixedwing_att_control/fixedwing_att_control_rate.h index 2023353ebf..d394c3dacd 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.h +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.h @@ -33,7 +33,7 @@ * ****************************************************************************/ -/* @file Main system state machine definition */ +/* @file Fixed Wing Attitude Rate Control */ #ifndef FIXEDWING_ATT_CONTROL_RATE_H_ #define FIXEDWING_ATT_CONTROL_RATE_H_ From 18831db444df3af80a5b362189b53dc42382d2d6 Mon Sep 17 00:00:00 2001 From: Doug Weibel Date: Tue, 30 Oct 2012 11:01:56 -0600 Subject: [PATCH 21/34] Work in process - beginning of navigation/position control implementation. Compiles, but has not been tested. --- .../fixedwing_pos_control.h | 73 +++++++++++++++ .../fixedwing_pos_control_main.c | 93 +++++++++++++++++-- 2 files changed, 156 insertions(+), 10 deletions(-) create mode 100644 apps/fixedwing_pos_control/fixedwing_pos_control.h diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control.h b/apps/fixedwing_pos_control/fixedwing_pos_control.h new file mode 100644 index 0000000000..f631c90a1b --- /dev/null +++ b/apps/fixedwing_pos_control/fixedwing_pos_control.h @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Doug Weibel + * @author Lorenz Meier + @author Thomas Gubler + * + * 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 fixedwing_pos_control.h + * Position control for fixed wing airframes. + */ + +#ifndef FIXEDWING_POS_CONTROL_H_ +#define FIXEDWING_POS_CONTROL_H_ + +#include +#include +#include +#include +#include + +#endif + + +struct planned_path_segments_s { + bool segment_type; + double start_lat; // Start of line or center of arc + double start_lon; + double end_lat; + double end_lon; + float radius; // Radius of arc + float arc_start_bearing; // Bearing from center to start of arc + float arc_sweep; // Angle (radians) swept out by arc around center. + // Positive for clockwise, negative for counter-clockwise +}; + + +float _wrap180(float bearing); +float _wrap360(float bearing); +float _wrapPI(float bearing); +float _wrap2PI(float bearing); + +/* FIXEDWING_CONTROL_H_ */ + diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index eb4945464f..9eb34ae449 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -67,6 +67,7 @@ * */ PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f); +PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f); PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians @@ -74,6 +75,7 @@ PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians struct fw_pos_control_params { float heading_p; + float xtrack_p; float altitude_p; float roll_lim; float pitch_lim; @@ -81,6 +83,7 @@ struct fw_pos_control_params { struct fw_pos_control_param_handles { param_t heading_p; + param_t xtrack_p; param_t altitude_p; param_t roll_lim; param_t pitch_lim; @@ -121,6 +124,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h) { /* PID parameters */ h->heading_p = param_find("FW_HEADING_P"); + h->xtrack_p = param_find("FW_XTRACK_P"); h->altitude_p = param_find("FW_ALT_P"); h->roll_lim = param_find("FW_ROLL_LIM"); h->pitch_lim = param_find("FW_PITCH_LIM"); @@ -132,6 +136,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h) static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p) { param_get(h->heading_p, &(p->heading_p)); + param_get(h->xtrack_p, &(p->xtrack_p)); param_get(h->altitude_p, &(p->altitude_p)); param_get(h->roll_lim, &(p->roll_lim)); param_get(h->pitch_lim, &(p->pitch_lim)); @@ -158,11 +163,15 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* declare and safely initialize all structs */ struct vehicle_global_position_s global_pos; memset(&global_pos, 0, sizeof(global_pos)); + struct vehicle_global_position_s start_pos; // Temporary variable, replace with + memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available struct vehicle_global_position_setpoint_s global_setpoint; memset(&global_setpoint, 0, sizeof(global_setpoint)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); - + crosstrack_error_s xtrack_err; + //memset(&xtrack_err, 0, sizeof(xtrack_err)); + /* output structs */ struct vehicle_attitude_setpoint_s attitude_setpoint; memset(&attitude_setpoint, 0, sizeof(attitude_setpoint)); @@ -181,6 +190,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* Setup of loop */ struct pollfd fds = { .fd = att_sub, .events = POLLIN }; bool global_sp_updated_set_once = false; + bool start_point_set = false; // This is a temporary flag till the + // previous waypoint is available for computations while(!thread_should_exit) { @@ -221,7 +232,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) orb_check(global_setpoint_sub, &global_sp_updated); if(global_sp_updated) global_sp_updated_set_once = true; - + if(global_sp_updated_set_once && !start_point_set) { + start_pos = global_pos; + start_point_set = true; + } /* Load local copies */ orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); @@ -239,17 +253,18 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* calculate bearing error */ float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); + + /* calculate crosstrack error */ + // Only the case of a straight line track following handled so far + xtrack_err = get_distance_to_line(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, + start_pos.lat / (double)1e7d, start_pos.lon / (double)1e7d, + global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); /* shift error to prevent wrapping issues */ float bearing_error = target_bearing - att.yaw; - - if (bearing_error < M_PI_F) { - bearing_error += 2.0f * M_PI_F; - } - - if (bearing_error > M_PI_F) { - bearing_error -= 2.0f * M_PI_F; - } + if(!(xtrack_err.error || xtrack_err.past_end)) + bearing_error -= p.xtrack_p * xtrack_err.distance; + bearing_error = _wrapPI(bearing_error); /* calculate roll setpoint, do this artificially around zero */ attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f); @@ -344,4 +359,62 @@ int fixedwing_pos_control_main(int argc, char *argv[]) } +float _wrapPI(float bearing) +{ + + while (bearing > M_PI_F) { + bearing = bearing - M_TWOPI_F; + } + + while (bearing <= -M_PI_F) { + bearing = bearing + M_TWOPI_F; + } + + return bearing; +} + +float _wrap2PI(float bearing) +{ + + while (bearing >= M_TWOPI_F) { + bearing = bearing - M_TWOPI_F; + } + + while (bearing < 0.0f) { + bearing = bearing + M_TWOPI_F; + } + + return bearing; +} + +float _wrap180(float bearing) +{ + + while (bearing > 180.0f) { + bearing = bearing - 360.0f; + } + + while (bearing <= -180.0f) { + bearing = bearing + 360.0f; + } + + return bearing; +} + +float _wrap360(float bearing) +{ + + while (bearing >= 360.0f) { + bearing = bearing - 360.0f; + } + + while (bearing < 0.0f) { + bearing = bearing + 360.0f; + } + + return bearing; +} + + + From 5344e891671f75f2c38477f07643052bf6a3a3d3 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 5 Nov 2012 20:42:43 +0100 Subject: [PATCH 22/34] work in progress: line following working --- .../fixedwing_pos_control_main.c | 71 +++++++++++++------ apps/systemlib/pid/pid.c | 4 +- 2 files changed, 51 insertions(+), 24 deletions(-) diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 9eb34ae449..5f5b70090f 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -170,7 +170,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); crosstrack_error_s xtrack_err; - //memset(&xtrack_err, 0, sizeof(xtrack_err)); + memset(&xtrack_err, 0, sizeof(xtrack_err)); /* output structs */ struct vehicle_attitude_setpoint_s attitude_setpoint; @@ -190,8 +190,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* Setup of loop */ struct pollfd fds = { .fd = att_sub, .events = POLLIN }; bool global_sp_updated_set_once = false; - bool start_point_set = false; // This is a temporary flag till the - // previous waypoint is available for computations + + float psi_track = 0.0f; while(!thread_should_exit) { @@ -230,12 +230,6 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) orb_check(global_pos_sub, &pos_updated); bool global_sp_updated; orb_check(global_setpoint_sub, &global_sp_updated); - if(global_sp_updated) - global_sp_updated_set_once = true; - if(global_sp_updated_set_once && !start_point_set) { - start_pos = global_pos; - start_point_set = true; - } /* Load local copies */ orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); @@ -244,37 +238,70 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) if (global_sp_updated) orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); + if(global_sp_updated) { + start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint) + global_sp_updated_set_once = true; + psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, + (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); + printf("psi_track: %0.4f\n", psi_track); + } + /* Control */ /* Simple Horizontal Control */ if(global_sp_updated_set_once) { + if (counter % 100 == 0) + printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); + /* calculate bearing error */ - float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, - global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); +// float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, +// global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); /* calculate crosstrack error */ // Only the case of a straight line track following handled so far - xtrack_err = get_distance_to_line(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, - start_pos.lat / (double)1e7d, start_pos.lon / (double)1e7d, - global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); + xtrack_err = get_distance_to_line((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, + (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d, + (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - /* shift error to prevent wrapping issues */ - float bearing_error = target_bearing - att.yaw; - if(!(xtrack_err.error || xtrack_err.past_end)) - bearing_error -= p.xtrack_p * xtrack_err.distance; - bearing_error = _wrapPI(bearing_error); + if(!(xtrack_err.error || xtrack_err.past_end)) { + + float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards + + if(delta_psi_c > 60.0f*M_DEG_TO_RAD) + delta_psi_c = 60.0f*M_DEG_TO_RAD; + + if(delta_psi_c < -60.0f*M_DEG_TO_RAD) + delta_psi_c = -60.0f*M_DEG_TO_RAD; + + float psi_c = psi_track + delta_psi_c; + + + float psi_e = psi_c - att.yaw; + + + /* shift error to prevent wrapping issues */ + psi_e = _wrapPI(psi_e); + + /* calculate roll setpoint, do this artificially around zero */ + attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); + + if (counter % 100 == 0) + printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c); + } + else { + if (counter % 100 == 0) + printf("error: %d, past_end %d\n", xtrack_err.error, xtrack_err.past_end); + } - /* calculate roll setpoint, do this artificially around zero */ - attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f); } /* Very simple Altitude Control */ if(global_sp_updated_set_once && pos_updated) { - //TODO: take care of relatie vs. ab. altitude + //TODO: take care of relative vs. ab. altitude attitude_setpoint.pitch_tait_bryan = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); } diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c index dd8b6adc66..0358caa250 100644 --- a/apps/systemlib/pid/pid.c +++ b/apps/systemlib/pid/pid.c @@ -172,9 +172,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // Calculate the output. Limit output magnitude to pid->limit float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd); - //if (output > pid->limit) output = pid->limit; + if (output > pid->limit) output = pid->limit; - //if (output < -pid->limit) output = -pid->limit; + if (output < -pid->limit) output = -pid->limit; if (isfinite(output)) { pid->last_output = output; From 808d897d2817dd1958a0fad75ac2bfa3925cfd8d Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 5 Nov 2012 21:51:39 +0100 Subject: [PATCH 23/34] fixing mavlink waypoint handling --- apps/mavlink/waypoints.c | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/apps/mavlink/waypoints.c b/apps/mavlink/waypoints.c index 3d9e5750aa..16759237e9 100644 --- a/apps/mavlink/waypoints.c +++ b/apps/mavlink/waypoints.c @@ -360,7 +360,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ float dist = -1.0f; if (coordinate_frame == (int)MAV_FRAME_GLOBAL) { - dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->alt); + dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt); } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->relative_alt); @@ -376,14 +376,13 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw wpm->pos_reached = true; - if (counter % 10 == 0) + if (counter % 100 == 0) printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit); } - // else // { // if(counter % 100 == 0) -// printf("Setpoint not reached yet: %0.4f, orbit: %.4f\n",dist,orbit); +// printf("Setpoint not reached yet: %0.4f, orbit: %.4f, coordinate frame: %d\n",dist, orbit, coordinate_frame); // } } From c4c49ecfa705c6c871afe61f6c058bbb5910a617 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 5 Nov 2012 22:36:09 +0100 Subject: [PATCH 24/34] fw control: minor cleanup (work in progress) --- .../fixedwing_pos_control_main.c | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 5f5b70090f..e778e20701 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -239,7 +239,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); if(global_sp_updated) { - start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint) + start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint) global_sp_updated_set_once = true; psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); @@ -252,12 +252,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* Simple Horizontal Control */ if(global_sp_updated_set_once) { - if (counter % 100 == 0) - printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); - - /* calculate bearing error */ -// float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, -// global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); +// if (counter % 100 == 0) +// printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); /* calculate crosstrack error */ // Only the case of a straight line track following handled so far @@ -277,10 +273,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) float psi_c = psi_track + delta_psi_c; - float psi_e = psi_c - att.yaw; - /* shift error to prevent wrapping issues */ psi_e = _wrapPI(psi_e); From 0eea4bfb4e6c7e076f9dbe9d93641884ea20de6f Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 5 Nov 2012 22:36:09 +0100 Subject: [PATCH 25/34] fw control: minor cleanup (work in progress) --- .../fixedwing_pos_control_main.c | 16 +++++----------- 1 file changed, 5 insertions(+), 11 deletions(-) diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 5f5b70090f..38f5db9e42 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -239,7 +239,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); if(global_sp_updated) { - start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint) + start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint) global_sp_updated_set_once = true; psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); @@ -252,12 +252,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* Simple Horizontal Control */ if(global_sp_updated_set_once) { - if (counter % 100 == 0) - printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); - - /* calculate bearing error */ -// float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, -// global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); +// if (counter % 100 == 0) +// printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); /* calculate crosstrack error */ // Only the case of a straight line track following handled so far @@ -277,18 +273,16 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) float psi_c = psi_track + delta_psi_c; - float psi_e = psi_c - att.yaw; - /* shift error to prevent wrapping issues */ psi_e = _wrapPI(psi_e); /* calculate roll setpoint, do this artificially around zero */ attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); - if (counter % 100 == 0) - printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c); +// if (counter % 100 == 0) +// printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c); } else { if (counter % 100 == 0) From 88800b38f8035143c443fbba6bbce368ccc42594 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 7 Nov 2012 00:08:04 +0100 Subject: [PATCH 26/34] HIL testing / cleanup for fixed wing and multirotors --- apps/mavlink/mavlink.c | 5 ----- apps/mavlink/orb_listener.c | 40 ++++++++++--------------------------- 2 files changed, 10 insertions(+), 35 deletions(-) diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 9b2cfcbba8..6b4643ec7e 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -143,15 +143,10 @@ set_hil_on_off(bool hil_enabled) /* Enable HIL */ if (hil_enabled && !mavlink_hil_enabled) { - //printf("\n HIL ON \n"); - /* Advertise topics */ pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); - printf("\n pub_hil_attitude :%i\n", pub_hil_attitude); - printf("\n pub_hil_global_pos :%i\n", pub_hil_global_pos); - mavlink_hil_enabled = true; /* ramp up some HIL-related subscriptions */ diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 683964a0d9..6342ce9793 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -459,29 +459,9 @@ l_manual_control_setpoint(struct listener *l) void l_vehicle_attitude_controls(struct listener *l) { - struct actuator_controls_s actuators; + struct actuator_outputs_s actuators; - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators); - - if (gcs_link) { - /* send, add spaces so that string buffer is at least 10 chars long */ - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl0 ", - actuators.control[0]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl1 ", - actuators.control[1]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl2 ", - actuators.control[2]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl3 ", - actuators.control[3]); - } + orb_copy(ORB_ID_VEHICLE_CONTROLS, mavlink_subs.act_0_sub, &actuators); /* Only send in HIL mode */ if (mavlink_hil_enabled) { @@ -494,14 +474,14 @@ l_vehicle_attitude_controls(struct listener *l) /* HIL message as per MAVLink spec */ mavlink_msg_hil_controls_send(chan, hrt_absolute_time(), - actuators.control[0], - actuators.control[1], - actuators.control[2], - actuators.control[3], - 0, - 0, - 0, - 0, + actuators.output[0], + actuators.output[1], + actuators.output[2], + actuators.output[3], + actuators.output[4], + actuators.output[5], + actuators.output[6], + actuators.output[7], mavlink_mode, 0); } From 1b322c7764e62e4dec17fb2e38723e89e398bdfb Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 7 Nov 2012 23:50:06 +0100 Subject: [PATCH 27/34] Fixed bug in HIL message handling, operational with actuator outputs now --- apps/mavlink/orb_listener.c | 69 ++++++++++++++++++++++++------------- 1 file changed, 45 insertions(+), 24 deletions(-) diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 6342ce9793..7a393185f4 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -419,7 +419,7 @@ l_actuator_outputs(struct listener *l) /* copy actuator data into local buffer */ orb_copy(ids[l->arg], *l->subp, &act_outputs); - if (gcs_link) + if (gcs_link) { mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, l->arg /* port number */, act_outputs.output[0], @@ -430,6 +430,30 @@ l_actuator_outputs(struct listener *l) act_outputs.output[5], act_outputs.output[6], act_outputs.output[7]); + + /* only send in HIL mode */ + if (mavlink_hil_enabled) { + + /* translate the current syste state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); + + /* HIL message as per MAVLink spec */ + mavlink_msg_hil_controls_send(chan, + hrt_absolute_time(), + act_outputs.output[0], + act_outputs.output[1], + act_outputs.output[2], + act_outputs.output[3], + act_outputs.output[4], + act_outputs.output[5], + act_outputs.output[6], + act_outputs.output[7], + mavlink_mode, + 0); + } + } } void @@ -459,31 +483,28 @@ l_manual_control_setpoint(struct listener *l) void l_vehicle_attitude_controls(struct listener *l) { - struct actuator_outputs_s actuators; + struct actuator_controls_s actuators; - orb_copy(ORB_ID_VEHICLE_CONTROLS, mavlink_subs.act_0_sub, &actuators); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators); - /* Only send in HIL mode */ - if (mavlink_hil_enabled) { - - /* translate the current syste state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); - - /* HIL message as per MAVLink spec */ - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - actuators.output[0], - actuators.output[1], - actuators.output[2], - actuators.output[3], - actuators.output[4], - actuators.output[5], - actuators.output[6], - actuators.output[7], - mavlink_mode, - 0); + if (gcs_link) { + /* send, add spaces so that string buffer is at least 10 chars long */ + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "ctrl0 ", + actuators.control[0]); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "ctrl1 ", + actuators.control[1]); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "ctrl2 ", + actuators.control[2]); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "ctrl3 ", + actuators.control[3]); } } From 9221addebdef70e92c34fc7c82dc79ed754f2b6e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 8 Nov 2012 18:15:23 +0100 Subject: [PATCH 28/34] Added HIL/fake PWM out mode to be able to run a mixer against HIL --- apps/drivers/px4fmu/fmu.cpp | 71 ++++++++++++++++++++++++++++++++----- 1 file changed, 63 insertions(+), 8 deletions(-) diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index fff713bb5e..7b1f341b44 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -74,6 +74,7 @@ public: enum Mode { MODE_2PWM, MODE_4PWM, + MODE_HIL_8PWM, MODE_NONE }; PX4FMU(); @@ -269,6 +270,12 @@ PX4FMU::set_mode(Mode mode) _update_rate = 50; /* default output rate */ break; + case MODE_HIL_8PWM: + debug("MODE_HIL_8PWM"); + /* do not actually start a pwm device */ + _update_rate = 50; /* default output rate */ + break; + case MODE_NONE: debug("MODE_NONE"); /* disable servo outputs and set a very low update rate */ @@ -321,7 +328,26 @@ PX4FMU::task_main() fds[1].fd = _t_armed; fds[1].events = POLLIN; - unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4; + unsigned num_outputs; + + /* select the number of (real or virtual) outputs */ + switch (_mode) { + case MODE_2PWM: + num_outputs = 2; + break; + + case MODE_4PWM: + num_outputs = 4; + break; + + case MODE_HIL_8PWM: + num_outputs = 8; + break; + + case MODE_NONE: + num_outputs = 0; + break; + } log("starting"); @@ -334,7 +360,11 @@ PX4FMU::task_main() if (update_rate_in_ms < 2) update_rate_in_ms = 2; orb_set_interval(_t_actuators, update_rate_in_ms); - up_pwm_servo_set_rate(_update_rate); + + if (_mode != MODE_HIL_8PWM) { + /* do not attempt to set servos in HIL mode */ + up_pwm_servo_set_rate(_update_rate); + } _current_update_rate = _update_rate; } @@ -367,7 +397,11 @@ PX4FMU::task_main() outputs.output[i] = 1500 + (600 * outputs.output[i]); /* output to the servo */ - up_pwm_servo_set(i, outputs.output[i]); + if (_mode != MODE_HIL_8PWM) { + /* do not attempt to set servos in HIL mode */ + up_pwm_servo_set(i, outputs.output[i]); + } + } /* and publish for anyone that cares to see */ @@ -383,7 +417,14 @@ PX4FMU::task_main() orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); /* update PWM servo armed status */ - up_pwm_servo_arm(aa.armed); + + /* + * armed = system wants to fly + * locked = there is a low-level safety lock + * in place, such as in hardware-in-the-loop + * simulation setups. + */ + up_pwm_servo_arm(aa.armed && !aa.lockdown); } } @@ -419,7 +460,8 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) { int ret; - debug("ioctl 0x%04x 0x%08x", cmd, arg); + // XXX disable debug output, users got confused + //debug("ioctl 0x%04x 0x%08x", cmd, arg); /* try it as a GPIO ioctl first */ ret = gpio_ioctl(filp, cmd, arg); @@ -432,6 +474,10 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) case MODE_4PWM: ret = pwm_ioctl(filp, cmd, arg); break; + case MODE_HIL_8PWM: + /* do nothing */ + debug("loading mixer for virtual HIL device"); + break; default: debug("not in a PWM mode"); break; @@ -705,6 +751,7 @@ enum PortMode { PORT_GPIO_AND_SERIAL, PORT_PWM_AND_SERIAL, PORT_PWM_AND_GPIO, + PORT_HIL_PWM }; PortMode g_port_mode; @@ -753,6 +800,11 @@ fmu_new_mode(PortMode new_mode, int update_rate) /* select 2-pin PWM mode */ servo_mode = PX4FMU::MODE_2PWM; break; + + case PORT_HIL_PWM: + /* virtual PWM mode */ + servo_mode = PX4FMU::MODE_HIL_8PWM; + break; } /* adjust GPIO config for serial mode(s) */ @@ -882,11 +934,14 @@ fmu_main(int argc, char *argv[]) } else if (!strcmp(argv[i], "mode_pwm_gpio")) { new_mode = PORT_PWM_AND_GPIO; + + } else if (!strcmp(argv[i], "mode_hil_pwm")) { + new_mode = PORT_HIL_PWM; } /* look for the optional pwm update rate for the supported modes */ if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) { - if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO) { + if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO || PORT_HIL_PWM) { if (argc > i + 1) { pwm_update_rate_in_hz = atoi(argv[i + 1]); } else { @@ -912,7 +967,7 @@ fmu_main(int argc, char *argv[]) /* test, etc. here */ - fprintf(stderr, "FMU: unrecognised command, try:\n"); - fprintf(stderr, " mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n"); + fprintf(stderr, "FMU: unrecognized command, try:\n"); + fprintf(stderr, " mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial,\n mode_pwm_serial, mode_pwm_gpio, mode_hil_pwm\n"); return -EINVAL; } From bb0c7450c8b019fee03831c3b47119330f3b291f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 8 Nov 2012 18:43:38 +0100 Subject: [PATCH 29/34] Fixed mixer loading for FMU --- apps/drivers/px4fmu/fmu.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index 7b1f341b44..dc9e431e4a 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -477,6 +477,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) case MODE_HIL_8PWM: /* do nothing */ debug("loading mixer for virtual HIL device"); + ret = 0; break; default: debug("not in a PWM mode"); From 3e6e7647c95d160f919c089471b6ed3acac2e51f Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 10 Nov 2012 20:02:16 +0100 Subject: [PATCH 30/34] corrected hil scaling factors --- apps/mavlink/orb_listener.c | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index f17c78c7a5..c49b470512 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -447,25 +447,25 @@ l_actuator_outputs(struct listener *l) if (isfinite(act_outputs.output[3]) && act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) { /* throttle is fourth output */ - rudder = (act_outputs.output[2] - 1500.0f) / 1000.0f; - throttle = (act_outputs.output[3] - 1000.0f) / 1000.0f; + rudder = (act_outputs.output[2] - 1500.0f) / 600.0f; + throttle = (((act_outputs.output[3] - 1500.0f) / 600.0f) + 1.0f) / 2.0f; } else { /* only three outputs, put throttle on position 4 / index 3 */ rudder = 0; - throttle = (act_outputs.output[2] - 1000.0f) / 1000.0f; + throttle = (((act_outputs.output[2] - 1500.0f) / 600.0f) + 1.0f) / 2.0f; } /* HIL message as per MAVLink spec */ mavlink_msg_hil_controls_send(chan, hrt_absolute_time(), - (act_outputs.output[0] - 1500.0f) / 1000.0f, - (act_outputs.output[1] - 1500.0f) / 1000.0f, + (act_outputs.output[0] - 1500.0f) / 600.0f, + (act_outputs.output[1] - 1500.0f) / 600.0f, rudder, throttle, - (act_outputs.output[4] - 1500.0f) / 1000.0f, - (act_outputs.output[5] - 1500.0f) / 1000.0f, - (act_outputs.output[6] - 1500.0f) / 1000.0f, - (act_outputs.output[7] - 1500.0f) / 1000.0f, + (act_outputs.output[4] - 1500.0f) / 600.0f, + (act_outputs.output[5] - 1500.0f) / 600.0f, + (act_outputs.output[6] - 1500.0f) / 600.0f, + (act_outputs.output[7] - 1500.0f) / 600.0f, mavlink_mode, 0); } From 60198e3a2da7c5507abcab7a3d032858691d024a Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 11 Nov 2012 17:35:55 +0100 Subject: [PATCH 31/34] small code cleanup --- .../fixedwing_pos_control_main.c | 8 +- apps/systemlib/geo/geo.c | 76 ++++++++++--------- apps/systemlib/geo/geo.h | 9 +-- 3 files changed, 48 insertions(+), 45 deletions(-) diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 38f5db9e42..4430489130 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -169,7 +169,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) memset(&global_setpoint, 0, sizeof(global_setpoint)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); - crosstrack_error_s xtrack_err; + struct crosstrack_error_s xtrack_err; memset(&xtrack_err, 0, sizeof(xtrack_err)); /* output structs */ @@ -257,11 +257,11 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* calculate crosstrack error */ // Only the case of a straight line track following handled so far - xtrack_err = get_distance_to_line((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, + int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d, (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - if(!(xtrack_err.error || xtrack_err.past_end)) { + if(!(distance_res != OK || xtrack_err.past_end)) { float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards @@ -286,7 +286,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) } else { if (counter % 100 == 0) - printf("error: %d, past_end %d\n", xtrack_err.error, xtrack_err.past_end); + printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end); } } diff --git a/apps/systemlib/geo/geo.c b/apps/systemlib/geo/geo.c index abe44c69e8..2f4b37e79e 100644 --- a/apps/systemlib/geo/geo.c +++ b/apps/systemlib/geo/geo.c @@ -45,7 +45,12 @@ */ #include +#include +#include +#include +#include #include +#include /* values for map projection */ @@ -230,25 +235,24 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub // Additional functions - @author Doug Weibel -__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end) +__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end) { // This function returns the distance to the nearest point on the track line. Distance is positive if current // position is right of the track and negative if left of the track as seen from a point on the track line // headed towards the end point. - crosstrack_error_s return_var; float dist_to_end; float bearing_end; float bearing_track; float bearing_diff; - return_var.error = true; // Set error flag, cleared when valid result calculated. - return_var.past_end = false; - return_var.distance = 0.0f; - return_var.bearing = 0.0f; + int return_value = ERROR; // Set error flag, cleared when valid result calculated. + crosstrack_error->past_end = false; + crosstrack_error->distance = 0.0f; + crosstrack_error->bearing = 0.0f; // Return error if arguments are bad - if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_var; + if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_value; bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end); @@ -257,35 +261,34 @@ __EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, // Return past_end = true if past end point of line if (bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) { - return_var.past_end = true; - return_var.error = false; - return return_var; + crosstrack_error->past_end = true; + return_value = OK; + return return_value; } dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); - return_var.distance = (dist_to_end) * sin(bearing_diff); + crosstrack_error->distance = (dist_to_end) * sin(bearing_diff); if (sin(bearing_diff) >= 0) { - return_var.bearing = _wrapPI(bearing_track - M_PI_2_F); + crosstrack_error->bearing = _wrapPI(bearing_track - M_PI_2_F); } else { - return_var.bearing = _wrapPI(bearing_track + M_PI_2_F); + crosstrack_error->bearing = _wrapPI(bearing_track + M_PI_2_F); } - return_var.error = false; + return_value = OK; - return return_var; + return return_value; } -__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center, +__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center, float radius, float arc_start_bearing, float arc_sweep) { // This function returns the distance to the nearest point on the track arc. Distance is positive if current // position is right of the arc and negative if left of the arc as seen from the closest point on the arc and // headed towards the end point. - crosstrack_error_s return_var; // Determine if the current position is inside or outside the sector between the line from the center // to the arc start and the line from the center to the arc end @@ -294,13 +297,13 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, float bearing_now = get_bearing_to_next_waypoint(lat_now, lon_now, lat_center, lon_center); bool in_sector; - return_var.error = true; // Set error flag, cleared when valid result calculated. - return_var.past_end = false; - return_var.distance = 0.0f; - return_var.bearing = 0.0f; + int return_value = ERROR; // Set error flag, cleared when valid result calculated. + crosstrack_error->past_end = false; + crosstrack_error->distance = 0.0f; + crosstrack_error->bearing = 0.0f; // Return error if arguments are bad - if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_var; + if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_value; if (arc_sweep >= 0) { @@ -313,7 +316,7 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, bearing_sector_end = arc_start_bearing; bearing_sector_start = arc_start_bearing - arc_sweep; - if (bearing_sector_start < 0.0) bearing_sector_start += M_TWOPI_F; + if (bearing_sector_start < 0.0f) bearing_sector_start += M_TWOPI_F; } in_sector = false; @@ -326,16 +329,16 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, // If in the sector then calculate distance and bearing to closest point if (in_sector) { - return_var.past_end = false; + crosstrack_error->past_end = false; float dist_to_center = get_distance_to_next_waypoint(lat_now, lon_now, lat_center, lon_center); if (dist_to_center <= radius) { - return_var.distance = radius - dist_to_center; - return_var.bearing = bearing_now + M_PI_F; + crosstrack_error->distance = radius - dist_to_center; + crosstrack_error->bearing = bearing_now + M_PI_F; } else { - return_var.distance = dist_to_center - radius; - return_var.bearing = bearing_now; + crosstrack_error->distance = dist_to_center - radius; + crosstrack_error->bearing = bearing_now; } // If out of the sector then calculate dist and bearing to start or end point @@ -359,21 +362,22 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start); float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); + if (dist_to_start < dist_to_end) { - return_var.distance = dist_to_start; - return_var.bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start); + crosstrack_error->distance = dist_to_start; + crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start); } else { - return_var.past_end = true; - return_var.distance = dist_to_end; - return_var.bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); + crosstrack_error->past_end = true; + crosstrack_error->distance = dist_to_end; + crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); } } - return_var.bearing = _wrapPI(return_var.bearing); - return_var.error = false; - return return_var; + crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing); + return_value = OK; + return return_value; } float _wrapPI(float bearing) diff --git a/apps/systemlib/geo/geo.h b/apps/systemlib/geo/geo.h index 807e508a29..7aad79a8c7 100644 --- a/apps/systemlib/geo/geo.h +++ b/apps/systemlib/geo/geo.h @@ -48,12 +48,11 @@ #include -typedef struct { - bool error; // Flag that the calculation failed +struct crosstrack_error_s { bool past_end; // Flag indicating we are past the end of the line/arc segment float distance; // Distance in meters to closest point on line/arc float bearing; // Bearing in radians to closest point on line/arc -} crosstrack_error_s; +} ; __EXPORT static void map_projection_init(double lat_0, double lon_0); @@ -67,9 +66,9 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub // -__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end); +__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end); -__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center, +__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center, float radius, float arc_start_bearing, float arc_sweep); float _wrap180(float bearing); From 403874d313464c72da309483e6e8271e9c70f965 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 11 Nov 2012 17:55:05 +0100 Subject: [PATCH 32/34] change sign of elevator in mixer to match standard convention (positive --> more lift) --- ROMFS/mixers/FMU_AERT.mix | 4 ++-- ROMFS/mixers/FMU_AET.mix | 4 ++-- ROMFS/mixers/FMU_RET.mix | 4 ++-- apps/fixedwing_att_control/fixedwing_att_control_rate.c | 2 +- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/mixers/FMU_AERT.mix index d7e317e134..75e82bb00a 100644 --- a/ROMFS/mixers/FMU_AERT.mix +++ b/ROMFS/mixers/FMU_AERT.mix @@ -36,8 +36,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and endpoints to suit. M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 Rudder mixer ------------ diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/mixers/FMU_AET.mix index bd7056f7ca..20cb88b916 100644 --- a/ROMFS/mixers/FMU_AET.mix +++ b/ROMFS/mixers/FMU_AET.mix @@ -39,8 +39,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and endpoints to suit. M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 Output 2 -------- diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix index 156fcb1292..95beb8927c 100644 --- a/ROMFS/mixers/FMU_RET.mix +++ b/ROMFS/mixers/FMU_RET.mix @@ -32,8 +32,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and endpoints to suit. M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 Output 2 -------- diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 567f037845..b81d50168b 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -171,7 +171,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); - actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer... + actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer... actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now counter++; From a1059c5657d9d2b83d0ef7fe51b0997bb983d86e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 12 Nov 2012 23:10:12 +0100 Subject: [PATCH 33/34] Added missing GPS message fields --- apps/uORB/topics/vehicle_gps_position.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h index 8e55ef1481..ebd83e1a9b 100644 --- a/apps/uORB/topics/vehicle_gps_position.h +++ b/apps/uORB/topics/vehicle_gps_position.h @@ -65,6 +65,8 @@ struct vehicle_gps_position_s uint16_t counter_pos_valid; /**< is only increased when new lat/lon/alt information was added */ uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME */ uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ + float s_variance; // XXX testing + float p_variance; // XXX testing uint16_t vel; /**< GPS ground speed (m/s * 100). If unknown, set to: 65535 */ float vel_n; /**< GPS ground speed in m/s */ float vel_e; /**< GPS ground speed in m/s */ From 050698bedc9340bfc23ed18dfa84de664747e678 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 13 Nov 2012 10:03:39 +0100 Subject: [PATCH 34/34] Added missing channel count in px4io driver --- apps/drivers/px4io/px4io.cpp | 1 + apps/sensors/sensors.cpp | 6 +++++- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 72c7e34a13..0e84760d5e 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -467,6 +467,7 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received) /* publish raw rc channel values from IO */ _input_rc.timestamp = hrt_absolute_time(); + _input_rc.channel_count = rep->channel_count; for (int i = 0; i < rep->channel_count; i++) { _input_rc.values[i] = rep->rc_channel[i]; diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 675a8602a4..7c1503f0d2 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -93,6 +93,8 @@ #define BAT_VOL_LOWPASS_2 0.01f #define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f +#define PPM_INPUT_TIMEOUT_INTERVAL 50000 /**< 50 ms timeout / 20 Hz */ + /** * Sensor app start / stop handling function * @@ -865,8 +867,10 @@ Sensors::ppm_poll() struct rc_input_values raw; raw.timestamp = ppm_last_valid_decode; + /* we are accepting this message */ + _ppm_last_valid = ppm_last_valid_decode; - if (ppm_decoded_channels > 1) { + if (ppm_decoded_channels > 2 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) { for (int i = 0; i < ppm_decoded_channels; i++) { raw.values[i] = ppm_buffer[i];