fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 16:47:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

uORB combine VTOL FW and MC virtual topics (#7008)

Browse Source
This commit is contained in:
Daniel Agar
2017-04-09 13:17:20 -04:00
committed by GitHub
parent 19f0b0be3a
commit c5e0bf1c2f
17 changed files with 74 additions and 263 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/fw_att_control_main.cpp
-2
View File
@@ -58,8 +58,6 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/fw_virtual_attitude_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
-1
View File
@@ -88,7 +88,6 @@
#include <systemlib/systemlib.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/fw_pos_ctrl_status.h>
#include <uORB/topics/fw_virtual_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
src/modules/mc_att_control/mc_att_control_main.cpp
+23 -33
View File
@@ -53,45 +53,35 @@
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
*/
#include <conversion/rotation.h>
#include <drivers/drv_hrt.h>
#include <lib/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/tailsitter_recovery/tailsitter_recovery.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.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/fw_virtual_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/mc_att_ctrl_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_correction.h>
#include <systemlib/param/param.h>
#include <px4_tasks.h>
#include <systemlib/circuit_breaker.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/circuit_breaker.h>
#include <lib/mathlib/mathlib.h>
#include <lib/geo/geo.h>
#include <lib/tailsitter_recovery/tailsitter_recovery.h>
#include <conversion/rotation.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mc_att_ctrl_status.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/uORB.h>
/**
* Multicopter attitude control app start / stop handling function
src/modules/mc_pos_control/mc_pos_control_main.cpp
+12 -22
View File
@@ -53,36 +53,26 @@
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_posix.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 <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/mc_virtual_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <float.h>
#include <systemlib/mavlink_log.h>
#include <mathlib/mathlib.h>
#include <lib/geo/geo.h>
#include <mathlib/mathlib.h>
#include <platforms/px4_defines.h>
#include <systemlib/mavlink_log.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
src/modules/navigator/navigator_main.cpp
+20 -36
View File
@@ -43,46 +43,33 @@
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include "navigator.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <float.h>
#include <poll.h>
#include <time.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <cfloat>
#include <arch/board/board.h>
#include <dataman/dataman.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/mission.h>
#include <geo/geo.h>
#include <mathlib/mathlib.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <systemlib/err.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/systemlib.h>
#include <uORB/topics/fence.h>
#include <uORB/topics/fw_pos_ctrl_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/vehicle_command.h>
#include <drivers/drv_baro.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <geo/geo.h>
#include <dataman/dataman.h>
#include <mathlib/mathlib.h>
#include <systemlib/mavlink_log.h>
#include "navigator.h"
#include <uORB/topics/vehicle_status.h>
#include <uORB/uORB.h>
/**
* navigator app start / stop handling function
@@ -778,9 +765,6 @@ Navigator::status()
void
Navigator::publish_position_setpoint_triplet()
{
/* update navigation state */
_pos_sp_triplet.nav_state = _vstatus.nav_state;
/* do not publish an empty triplet */
if (!_pos_sp_triplet.current.valid) {
return;
src/modules/sdlog2/sdlog2.c
-9
View File
@@ -57,18 +57,10 @@
#else
#include <sys/statfs.h>
#endif
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include <systemlib/err.h>
#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include <time.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
@@ -1965,7 +1957,6 @@ int sdlog2_thread_main(int argc, char *argv[])
if (buf.triplet.current.valid) {
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * (double)1e7);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * (double)1e7);
log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
src/modules/sdlog2/sdlog2_messages.h
+1 -2
View File
@@ -248,7 +248,6 @@ struct log_GPOS_s {
/* --- GPSP - GLOBAL POSITION SETPOINT --- */
#define LOG_GPSP_MSG 17
struct log_GPSP_s {
uint8_t nav_state;
int32_t lat;
int32_t lon;
float alt;
@@ -693,7 +692,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "BffffffLLHhB", "ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(GPSP, "LLffBfbf", "Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "fffffffB", "V,VFilt,C,CFilt,Discharged,Remaining,Scale,Warning"),
src/modules/vtol_att_control/vtol_att_control_main.h
+8 -21
View File
@@ -54,15 +54,6 @@
#include <px4_tasks.h>
#include <px4_posix.h>
#include <errno.h>
#include <fcntl.h>
#include <math.h>
#include <poll.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
@@ -77,11 +68,7 @@
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/fw_virtual_attitude_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mc_virtual_attitude_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -115,11 +102,11 @@ public:
struct vehicle_attitude_s *get_att() {return &_v_att;}
struct vehicle_attitude_setpoint_s *get_att_sp() {return &_v_att_sp;}
struct mc_virtual_attitude_setpoint_s *get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
struct fw_virtual_attitude_setpoint_s *get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
struct vehicle_attitude_setpoint_s *get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
struct vehicle_attitude_setpoint_s *get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
struct vehicle_rates_setpoint_s *get_rates_sp() {return &_v_rates_sp;}
struct mc_virtual_rates_setpoint_s *get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;}
struct fw_virtual_rates_setpoint_s *get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;}
struct vehicle_rates_setpoint_s *get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;}
struct vehicle_rates_setpoint_s *get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;}
struct manual_control_setpoint_s *get_manual_control_sp() {return &_manual_control_sp;}
struct vehicle_control_mode_s *get_control_mode() {return &_v_control_mode;}
struct vtol_vehicle_status_s *get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
@@ -174,11 +161,11 @@ private:
//*******************data containers***********************************************************
struct vehicle_attitude_s _v_att; //vehicle attitude
struct vehicle_attitude_setpoint_s _v_att_sp; //vehicle attitude setpoint
struct mc_virtual_attitude_setpoint_s _mc_virtual_att_sp; // virtual mc attitude setpoint
struct fw_virtual_attitude_setpoint_s _fw_virtual_att_sp; // virtual fw attitude setpoint
struct vehicle_attitude_setpoint_s _mc_virtual_att_sp; // virtual mc attitude setpoint
struct vehicle_attitude_setpoint_s _fw_virtual_att_sp; // virtual fw attitude setpoint
struct vehicle_rates_setpoint_s _v_rates_sp; //vehicle rates setpoint
struct mc_virtual_rates_setpoint_s _mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct fw_virtual_rates_setpoint_s _fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct vehicle_rates_setpoint_s _mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct vehicle_rates_setpoint_s _fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct manual_control_setpoint_s _manual_control_sp; //manual control setpoint
struct vehicle_control_mode_s _v_control_mode; //vehicle control mode
struct vtol_vehicle_status_s _vtol_vehicle_status;
src/modules/vtol_att_control/vtol_type.h
+5 -5
View File
@@ -152,11 +152,11 @@ protected:
struct vehicle_attitude_s *_v_att; //vehicle attitude
struct vehicle_attitude_setpoint_s *_v_att_sp; //vehicle attitude setpoint
struct mc_virtual_attitude_setpoint_s *_mc_virtual_att_sp; // virtual mc attitude setpoint
struct fw_virtual_attitude_setpoint_s *_fw_virtual_att_sp; // virtual fw attitude setpoint
struct vehicle_attitude_setpoint_s *_mc_virtual_att_sp; // virtual mc attitude setpoint
struct vehicle_attitude_setpoint_s *_fw_virtual_att_sp; // virtual fw attitude setpoint
struct vehicle_rates_setpoint_s *_v_rates_sp; //vehicle rates setpoint
struct mc_virtual_rates_setpoint_s *_mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct fw_virtual_rates_setpoint_s *_fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct vehicle_rates_setpoint_s *_mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct vehicle_rates_setpoint_s *_fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct manual_control_setpoint_s *_manual_control_sp; //manual control setpoint
struct vehicle_control_mode_s *_v_control_mode; //vehicle control mode
struct vtol_vehicle_status_s *_vtol_vehicle_status;
@@ -180,7 +180,7 @@ protected:
float _mc_pitch_weight = 1.0f; // weight for multicopter attitude controller pitch output
float _mc_yaw_weight = 1.0f; // weight for multicopter attitude controller yaw output
float _mc_throttle_weight = 1.0f; // weight for multicopter throttle command. Used to avoid
// motors spinning up or cutting too fast whend doing transitions.
// motors spinning up or cutting too fast when doing transitions.
float _thrust_transition = 0.0f; // thrust value applied during a front transition (tailsitter & tiltrotor only)
bool _flag_was_in_trans_mode = false; // true if mode has just switched to transition