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remove fw_att_control_vector

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Thomas Gubler 2014-01-19 11:03:31 +01:00
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165
src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp
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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ecl_fw_att_control_vector.cpp
*
* Fixed wing attitude controller
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
*
*/
#include <mathlib/mathlib.h>
#include <systemlib/geo/geo.h>
#include "ecl_fw_att_control_vector.h"
ECL_FWAttControlVector::ECL_FWAttControlVector() :
_integral_error(0.0f, 0.0f),
_integral_max(1000.0f, 1000.0f),
_rates_demanded(0.0f, 0.0f, 0.0f),
_k_p(1.0f, 1.0f, 1.0f),
_k_d(1.0f, 1.0f, 1.0f),
_k_i(1.0f, 1.0f, 1.0f),
_integral_lock(false),
_p_airspeed_min(12.0f),
_p_airspeed_max(24.0f),
_p_tconst(0.1f),
_p_roll_ffd(1.0f),
_airspeed_enabled(false)
{
}
/**
*
* @param F_des_in Desired force vector in body frame (NED). Straight flight is (0 0 -1)',
* banking hard right (1 0 -1)' and pitching down (1 0 -1)'.
*/
void ECL_FWAttControlVector::control(float dt, float airspeed, float airspeed_scaling, const math::Dcm &R_nb, float roll, float pitch, float yaw, const math::Vector &F_des_in,
const math::Vector &angular_rates,
math::Vector &moment_des, float &thrust)
{
if (!isfinite(airspeed) || !airspeed_enabled()) {
// If airspeed is not available or Inf/NaN, use the center
// of min / max
airspeed = 0.5f * (_p_airspeed_min + _p_airspeed_max);
}
math::Dcm R_bn(R_nb.transpose());
math::Matrix R_yaw_bn = math::Dcm(math::EulerAngles(0.0f, 0.0f, yaw)).transpose();
// Establish actuator signs and lift compensation
float lift_sign = (R_bn(3, 3) >= 0) ? 1.0f : -1.0f;
float lift_comp = CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min) * (R_nb(2,3) * R_nb(2,3)) / (R_nb(3,3) * sqrtf((R_nb(2,3) * R_nb(2,3)) + (R_nb(3,3) * R_nb(3,3)))));
//float lift_comp = fabsf((CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min)) * tanf(roll) * sinf(roll))) * _p_roll_ffd;
float cy = cosf(yaw);
float sy = sinf(yaw);
//math::Matrix RYaw = math::Dcm(cy,-sy,0.0f,sy,cy,0.0f,0.0f,0.0f,1.0f);
math::Vector z_b = math::Vector3(R_bn(0,2), R_bn(1,2), R_bn(2,2));
math::Vector3 F_des = R_yaw_bn * F_des_in;
// desired thrust in body frame
// avoid division by zero
// compensates for thrust loss due to roll/pitch
if (F_des(2) >= 0.1f) {
thrust = F_des(2) / R_bn(2, 2);
} else {
F_des(2) = 0.1f;
thrust= F_des(2) / R_bn(2, 2);
}
math::Vector3 x_B_des;
math::Vector3 y_B_des;
math::Vector3 z_B_des;
// desired body z axis
z_B_des = (F_des / F_des.norm());
// desired direction in world coordinates (yaw angle)
math::Vector3 x_C(cy, sy, 0.0f);
// desired body y axis
y_B_des = z_B_des.cross(x_C) / (z_B_des.cross(x_C)).norm();
// desired body x axis
x_B_des = y_B_des.cross(z_B_des);
// desired Rotation Matrix
math::Dcm R_des(x_B_des(0), x_B_des(1), x_B_des(2),
y_B_des(0), y_B_des(1), y_B_des(2),
z_B_des(0), z_B_des(1), z_B_des(2));
// Attitude Controller
// P controller
// error rotation matrix
// operation executed in quaternion space to allow large differences
// XXX switch between operations based on difference,
// benchmark both options
math::Quaternion e_q = math::Quaternion(R_des) - math::Quaternion(R_bn);
// Renormalize
e_q = e_q / e_q.norm();
math::Matrix e_R = math::Dcm(e_q);
//small angles: math::Matrix e_R = (R_des.transpose() * R_bn - R_bn.transpose() * R_des) * 0.5f;
// error rotation vector
math::Vector e_R_v(3);
e_R_v(0) = e_R(1,2);
e_R_v(1) = e_R(0,2);
e_R_v(2) = e_R(0,1);
// attitude integral error
math::Vector intError = math::Vector3(0.0f, 0.0f, 0.0f);
if (!_integral_lock) {
if (fabsf(_integral_error(0)) < _integral_max(0)) {
_integral_error(0) = _integral_error(0) + e_R_v(0) * dt;
}
if (fabsf(_integral_error(1)) < _integral_max(1)) {
_integral_error(1) = _integral_error(1) + e_R_v(1) * dt;
}
intError(0) = _integral_error(0);
intError(1) = _integral_error(1);
intError(2) = 0.0f;
}
_rates_demanded = (e_R_v * _k_p(0) + angular_rates * _k_d(0) + intError * _k_i(0));
moment_des = _rates_demanded;
}

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src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h
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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ecl_fw_att_control_vector.cpp
*
* Fixed wing attitude controller
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
*
*/
#include <mathlib/mathlib.h>
class ECL_FWAttControlVector {
public:
ECL_FWAttControlVector();
void control(float dt, float airspeed, float airspeed_scaling, const math::Dcm &R_nb, float roll, float pitch, float yaw, const math::Vector &F_des_in,
const math::Vector &angular_rates,
math::Vector &moment_des, float &thrust);
void set_imax(float integral_max) {
_integral_max(0) = integral_max;
_integral_max(1) = integral_max;
}
void set_tconst(float tconst) {
_p_tconst = tconst;
}
void set_k_p(float roll, float pitch, float yaw) {
_k_p(0) = roll;
_k_p(1) = pitch;
_k_p(2) = yaw;
}
void set_k_d(float roll, float pitch, float yaw) {
_k_d(0) = roll;
_k_d(1) = pitch;
_k_d(2) = yaw;
}
void set_k_i(float roll, float pitch, float yaw) {
_k_i(0) = roll;
_k_i(1) = pitch;
_k_i(2) = yaw;
}
void reset_integral() {
_integral_error(0) = 0.0f;
_integral_error(1) = 0.0f;
}
void lock_integral(bool lock) {
_integral_lock = lock;
}
bool airspeed_enabled() {
return _airspeed_enabled;
}
void enable_airspeed(bool airspeed) {
_airspeed_enabled = airspeed;
}
math::Vector3 get_rates_des() {
return _rates_demanded;
}
protected:
math::Vector2f _integral_error;
math::Vector2f _integral_max;
math::Vector3 _rates_demanded;
math::Vector3 _k_p;
math::Vector3 _k_d;
math::Vector3 _k_i;
bool _integral_lock;
float _p_airspeed_min;
float _p_airspeed_max;
float _p_tconst;
float _p_roll_ffd;
bool _airspeed_enabled;
};

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src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp
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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier
*
* 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 fw_att_control_vector_main.c
* Implementation of a generic attitude controller based on classic orthogonal PIDs.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Please refer to the library files for the authors and acknowledgements of
* the used control library functions.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/pid/pid.h>
#include <systemlib/geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include "ecl_fw_att_control_vector.h"
/**
* Fixedwing attitude control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int fw_att_control_vector_main(int argc, char *argv[]);
class FixedwingAttitudeControlVector
{
public:
/**
* Constructor
*/
FixedwingAttitudeControlVector();
/**
* Destructor, also kills the sensors task.
*/
~FixedwingAttitudeControlVector();
/**
* Start the sensors task.
*
* @return OK on success.
*/
int start();
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
int _att_sub; /**< vehicle attitude subscription */
int _accel_sub; /**< accelerometer subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
int _arming_sub; /**< arming status of outputs */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct accel_report _accel; /**< body frame accelerations */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_status_s _vstatus; /**< vehicle status */
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_armed_s _arming; /**< actuator arming status */
perf_counter_t _loop_perf; /**< loop performance counter */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
bool _airspeed_valid; /**< flag if the airspeed measurement is valid */
struct {
float tconst;
float p_p;
float p_d;
float p_i;
float p_rmax_up;
float p_rmax_dn;
float p_imax;
float p_rll;
float r_p;
float r_d;
float r_i;
float r_imax;
float r_rmax;
float y_slip;
float y_int;
float y_damp;
float y_rll;
float y_imax;
float airspeed_min;
float airspeed_trim;
float airspeed_max;
} _parameters; /**< local copies of interesting parameters */
struct {
param_t tconst;
param_t p_p;
param_t p_d;
param_t p_i;
param_t p_rmax_up;
param_t p_rmax_dn;
param_t p_imax;
param_t p_rll;
param_t r_p;
param_t r_d;
param_t r_i;
param_t r_imax;
param_t r_rmax;
param_t y_slip;
param_t y_int;
param_t y_damp;
param_t y_rll;
param_t y_imax;
param_t airspeed_min;
param_t airspeed_trim;
param_t airspeed_max;
} _parameter_handles; /**< handles for interesting parameters */
ECL_FWAttControlVector _att_control;
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Update control outputs
*
*/
void control_update();
/**
* Check for changes in vehicle status.
*/
void vehicle_status_poll();
/**
* Check for airspeed updates.
*/
bool vehicle_airspeed_poll();
/**
* Check for accel updates.
*/
void vehicle_accel_poll();
/**
* Check for set triplet updates.
*/
void vehicle_setpoint_poll();
/**
* Check for arming status updates.
*/
void arming_status_poll();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
};
namespace att_control
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
FixedwingAttitudeControlVector *g_control;
}
FixedwingAttitudeControlVector::FixedwingAttitudeControlVector() :
_task_should_exit(false),
_control_task(-1),
/* subscriptions */
_att_sub(-1),
_accel_sub(-1),
_airspeed_sub(-1),
_vstatus_sub(-1),
_params_sub(-1),
_manual_control_sub(-1),
_arming_sub(-1),
/* publications */
_rate_sp_pub(-1),
_actuators_0_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
/* states */
_setpoint_valid(false),
_airspeed_valid(false)
{
// _parameter_handles.roll_p = param_find("FW_ROLL_P");
// _parameter_handles.pitch_p = param_find("FW_PITCH_P");
_parameter_handles.tconst = param_find("FW_TCONST");
_parameter_handles.p_p = param_find("FW_P_P");
_parameter_handles.p_d = param_find("FW_P_D");
_parameter_handles.p_i = param_find("FW_P_I");
_parameter_handles.p_rmax_up = param_find("FW_P_RMAX_UP");
_parameter_handles.p_rmax_dn = param_find("FW_P_RMAX_DN");
_parameter_handles.p_imax = param_find("FW_P_IMAX");
_parameter_handles.p_rll = param_find("FW_P_RLL");
_parameter_handles.r_p = param_find("FW_R_P");
_parameter_handles.r_d = param_find("FW_R_D");
_parameter_handles.r_i = param_find("FW_R_I");
_parameter_handles.r_imax = param_find("FW_R_IMAX");
_parameter_handles.r_rmax = param_find("FW_R_RMAX");
_parameter_handles.y_slip = param_find("FW_Y_SLIP");
_parameter_handles.y_int = param_find("FW_Y_INT");
_parameter_handles.y_damp = param_find("FW_Y_DAMP");
_parameter_handles.y_rll = param_find("FW_Y_RLL");
_parameter_handles.y_imax = param_find("FW_Y_IMAX");
_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
/* fetch initial parameter values */
parameters_update();
}
FixedwingAttitudeControlVector::~FixedwingAttitudeControlVector()
{
if (_control_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_control_task);
break;
}
} while (_control_task != -1);
}
att_control::g_control = nullptr;
}
int
FixedwingAttitudeControlVector::parameters_update()
{
param_get(_parameter_handles.tconst, &(_parameters.tconst));
param_get(_parameter_handles.p_p, &(_parameters.p_p));
param_get(_parameter_handles.p_d, &(_parameters.p_d));
param_get(_parameter_handles.p_i, &(_parameters.p_i));
param_get(_parameter_handles.p_rmax_up, &(_parameters.p_rmax_up));
param_get(_parameter_handles.p_rmax_dn, &(_parameters.p_rmax_dn));
param_get(_parameter_handles.p_imax, &(_parameters.p_imax));
param_get(_parameter_handles.p_rll, &(_parameters.p_rll));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_d, &(_parameters.r_d));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
param_get(_parameter_handles.r_imax, &(_parameters.r_imax));
param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));
param_get(_parameter_handles.y_slip, &(_parameters.y_slip));
param_get(_parameter_handles.y_int, &(_parameters.y_int));
param_get(_parameter_handles.y_damp, &(_parameters.y_damp));
param_get(_parameter_handles.y_rll, &(_parameters.y_rll));
param_get(_parameter_handles.y_imax, &(_parameters.y_imax));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
/* pitch control parameters */
_att_control.set_tconst(_parameters.tconst);
_att_control.set_k_p(math::radians(_parameters.r_p),
math::radians(_parameters.p_p), 0.0f);
_att_control.set_k_d(math::radians(_parameters.r_p),
math::radians(_parameters.p_p), 0.0f);
_att_control.set_k_i(math::radians(_parameters.r_i),
math::radians(_parameters.p_i),
math::radians(_parameters.y_int));
return OK;
}
void
FixedwingAttitudeControlVector::vehicle_status_poll()
{
bool vstatus_updated;
/* Check HIL state if vehicle status has changed */
orb_check(_vstatus_sub, &vstatus_updated);
if (vstatus_updated) {
orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
}
}
bool
FixedwingAttitudeControlVector::vehicle_airspeed_poll()
{
/* check if there is a new position */
bool airspeed_updated;
orb_check(_airspeed_sub, &airspeed_updated);
if (airspeed_updated) {
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
return true;
}
return false;
}
void
FixedwingAttitudeControlVector::vehicle_accel_poll()
{
/* check if there is a new position */
bool accel_updated;
orb_check(_accel_sub, &accel_updated);
if (accel_updated) {
orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
}
}
void
FixedwingAttitudeControlVector::vehicle_setpoint_poll()
{
/* check if there is a new setpoint */
bool att_sp_updated;
orb_check(_att_sp_sub, &att_sp_updated);
if (att_sp_updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
_setpoint_valid = true;
}
}
void
FixedwingAttitudeControlVector::arming_status_poll()
{
/* check if there is a new setpoint */
bool arming_updated;
orb_check(_arming_sub, &arming_updated);
if (arming_updated) {
orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming);
}
}
void
FixedwingAttitudeControlVector::task_main_trampoline(int argc, char *argv[])
{
att_control::g_control->task_main();
}
void
FixedwingAttitudeControlVector::task_main()
{
/* inform about start */
warnx("Initializing..");
fflush(stdout);
/*
* do subscriptions
*/
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
orb_set_interval(_att_sub, 100);
parameters_update();
/* initialize values of critical structs until first regular update */
_arming.armed = false;
/* get an initial update for all sensor and status data */
(void)vehicle_airspeed_poll();
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_status_poll();
arming_status_poll();
/* wakeup source(s) */
struct pollfd fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _att_sub;
fds[1].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0)
continue;
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f)
deltaT = 0.01f;
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
_airspeed_valid = vehicle_airspeed_poll();
vehicle_setpoint_poll();
vehicle_accel_poll();
/* check vehicle status for changes to publication state */
vehicle_status_poll();
/* check for arming status changes */
arming_status_poll();
/* lock integrator until armed */
bool lock_integrator;
if (_arming.armed) {
lock_integrator = false;
} else {
lock_integrator = true;
}
/* decide if in stabilized or full manual control */
if (_vstatus.state_machine == SYSTEM_STATE_MANUAL && !(_vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS)
) {
_actuators.control[0] = _manual.roll;
_actuators.control[1] = _manual.pitch;
_actuators.control[2] = _manual.yaw;
_actuators.control[3] = _manual.throttle;
_actuators.control[4] = _manual.flaps;
} else if (_vstatus.state_machine == SYSTEM_STATE_AUTO ||
(_vstatus.state_machine == SYSTEM_STATE_STABILIZED) ||
(_vstatus.state_machine == SYSTEM_STATE_MANUAL && _vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS)) {
/* scale from radians to normalized -1 .. 1 range */
const float actuator_scaling = 1.0f / (M_PI_F / 4.0f);
/* scale around tuning airspeed */
float airspeed;
/* if airspeed is smaller than min, the sensor is not giving good readings */
if (!_airspeed_valid ||
(_airspeed.indicated_airspeed_m_s < _parameters.airspeed_min) ||
!isfinite(_airspeed.indicated_airspeed_m_s)) {
airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) / 2.0f;
} else {
airspeed = _airspeed.indicated_airspeed_m_s;
}
float airspeed_scaling = _parameters.airspeed_trim / airspeed;
float roll_sp, pitch_sp;
float throttle_sp = 0.0f;
if (_vstatus.state_machine == SYSTEM_STATE_AUTO) {
roll_sp = _att_sp.roll_body;
pitch_sp = _att_sp.pitch_body;
throttle_sp = _att_sp.thrust;
} else if ((_vstatus.state_machine == SYSTEM_STATE_STABILIZED) ||
(_vstatus.state_machine == SYSTEM_STATE_MANUAL && _vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS)) {
/*
* Scale down roll and pitch as the setpoints are radians
* and a typical remote can only do 45 degrees, the mapping is
* -1..+1 to -45..+45 degrees or -0.75..+0.75 radians.
*
* With this mapping the stick angle is a 1:1 representation of
* the commanded attitude. If more than 45 degrees are desired,
* a scaling parameter can be applied to the remote.
*/
roll_sp = _manual.roll * 0.75f;
pitch_sp = _manual.pitch * 0.75f;
throttle_sp = _manual.throttle;
_actuators.control[4] = _manual.flaps;
}
math::Dcm R_nb(_att.R);
// Transform body frame forces to
// global frame
const math::Vector3 F_des(pitch_sp, roll_sp, throttle_sp);
const math::Vector3 angular_rates(_att.rollspeed, _att.pitchspeed, _att.yawspeed);
// Return variables
math::Vector3 moments_des;
float thrust;
_att_control.control(deltaT, airspeed_scaling, airspeed, R_nb, _att.roll, _att.pitch, _att.yaw,
F_des, angular_rates, moments_des, thrust);
_actuators.control[0] = (isfinite(moments_des(0))) ? moments_des(0) * actuator_scaling : 0.0f;
_actuators.control[1] = (isfinite(moments_des(1))) ? moments_des(1) * actuator_scaling : 0.0f;
_actuators.control[2] = 0.0f;//(isfinite(moments_des(0))) ? moments_des(0) * actuator_scaling : 0.0f;
/* throttle passed through */
_actuators.control[3] = (isfinite(thrust)) ? thrust : 0.0f;
// warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown",
// airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1],
// _actuators.control[2], _actuators.control[3]);
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
*/
vehicle_rates_setpoint_s rates_sp;
math::Vector3 rates_des = _att_control.get_rates_des();
rates_sp.roll = rates_des(0);
rates_sp.pitch = rates_des(1);
rates_sp.yaw = 0.0f; // XXX rates_des(2);
rates_sp.timestamp = hrt_absolute_time();
if (_rate_sp_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_rates_setpoint), _actuators_0_pub, &rates_sp);
} else {
/* advertise and publish */
_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
}
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
if (_actuators_0_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
} else {
/* advertise and publish */
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
}
}
}
perf_end(_loop_perf);
}
warnx("exiting.\n");
_control_task = -1;
_exit(0);
}
int
FixedwingAttitudeControlVector::start()
{
ASSERT(_control_task == -1);
/* start the task */
_control_task = task_spawn_cmd("fw_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
(main_t)&FixedwingAttitudeControlVector::task_main_trampoline,
nullptr);
if (_control_task < 0) {
warn("task start failed");
return -errno;
}
return OK;
}
int fw_att_control_vector_main(int argc, char *argv[])
{
if (argc < 1)
errx(1, "usage: fw_att_control {start|stop|status}");
if (!strcmp(argv[1], "start")) {
if (att_control::g_control != nullptr)
errx(1, "already running");
att_control::g_control = new FixedwingAttitudeControlVector;
if (att_control::g_control == nullptr)
errx(1, "alloc failed");
if (OK != att_control::g_control->start()) {
delete att_control::g_control;
att_control::g_control = nullptr;
err(1, "start failed");
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (att_control::g_control == nullptr)
errx(1, "not running");
delete att_control::g_control;
att_control::g_control = nullptr;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (att_control::g_control) {
errx(0, "running");
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
return 1;
}

67
src/modules/fw_att_control_vector/fw_att_control_vector_params.c
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@ -1,67 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file fw_pos_control_l1_params.c
*
* Parameters defined by the L1 position control task
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/*
* Controller parameters, accessible via MAVLink
*
*/
PARAM_DEFINE_FLOAT(FW_TCONST, 0.5f);
PARAM_DEFINE_FLOAT(FW_P_P, 40.0f);
PARAM_DEFINE_FLOAT(FW_P_D, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_RMAX_UP, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_RMAX_DN, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_P_RLL, 1.0f);
PARAM_DEFINE_FLOAT(FW_R_P, 40.0f);
PARAM_DEFINE_FLOAT(FW_R_D, 0.0f);
PARAM_DEFINE_FLOAT(FW_R_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_R_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_R_RMAX, 60);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f);

42
src/modules/fw_att_control_vector/module.mk
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@ -1,42 +0,0 @@
############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Multirotor attitude controller (vector based, no Euler singularities)
#
MODULE_COMMAND = fw_att_control_vector
SRCS = fw_att_control_vector_main.cpp \
ecl_fw_att_control_vector.cpp \
fw_att_control_vector_params.c