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Adapted for shared library use with ROS

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This commit is contained in:
Roman Bapst 2014-09-27 12:01:11 +02:00
parent 020a829215
commit c8b1c5b119
4 changed files with 219 additions and 200 deletions
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6
src/lib/geo/geo.h
View File

@ -45,14 +45,16 @@
#pragma once
#ifdef CONFIG_ARCH_ARM
#include "uORB/topics/fence.h"
#include "uORB/topics/vehicle_global_position.h"
__BEGIN_DECLS
#endif
#include "geo_lookup/geo_mag_declination.h"
#include <stdbool.h>
#include <stdint.h>
#define CONSTANTS_ONE_G 9.80665f /* m/s^2 */
#define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C 1.225f /* kg/m^3 */
@ -276,4 +278,6 @@ __EXPORT float _wrap_360(float bearing);
__EXPORT float _wrap_pi(float bearing);
__EXPORT float _wrap_2pi(float bearing);
#ifdef CONFIG_ARCH_ARM
__END_DECLS
#endif

4
src/lib/geo_lookup/geo_mag_declination.h
View File

@ -40,8 +40,12 @@
#pragma once
#ifdef CONFIG_ARCH_ARM
__BEGIN_DECLS
__EXPORT float get_mag_declination(float lat, float lon);
__END_DECLS
#else
float get_mag_declination(float lat, float lon);
#endif

403
src/modules/fw_att_control/fw_att_control_main.cpp
View File

@ -83,8 +83,7 @@
*/
extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]);
class FixedwingAttitudeControl
{
class FixedwingAttitudeControl {
public:
/**
* Constructor
@ -101,54 +100,56 @@ public:
*
* @return OK on success.
*/
int start();
int start();
/**
* Task status
*
* @return true if the mainloop is running
*/
bool task_running() { return _task_running; }
bool task_running() {
return _task_running;
}
private:
bool _task_should_exit; /**< if true, sensor task should exit */
bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle for sensor task */
bool _task_should_exit; /**< if true, sensor task should exit */
bool _task_running; /**< if true, task is running in its mainloop */
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 _vcontrol_mode_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_sub; /**< notification of manual control updates */
int _global_pos_sub; /**< global position subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
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 _vcontrol_mode_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_sub; /**< notification of manual control updates */
int _global_pos_sub; /**< global position subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
orb_advert_t _actuators_1_pub; /**< actuator control group 1 setpoint (Airframe) */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
orb_advert_t _actuators_1_pub; /**< actuator control group 1 setpoint (Airframe) */
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_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct vehicle_global_position_s _global_pos; /**< global position */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
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_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct vehicle_global_position_s _global_pos; /**< global position */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
bool _debug; /**< if set to true, print debug output */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
bool _debug; /**< if set to true, print debug output */
struct {
float tconst;
@ -182,14 +183,14 @@ private:
float trim_roll;
float trim_pitch;
float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
} _parameters; /**< local copies of interesting parameters */
} _parameters; /**< local copies of interesting parameters */
struct {
@ -228,75 +229,71 @@ private:
param_t pitchsp_offset_deg;
param_t man_roll_max;
param_t man_pitch_max;
} _parameter_handles; /**< handles for interesting parameters */
ECL_RollController _roll_ctrl;
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
} _parameter_handles; /**< handles for interesting parameters */
ECL_RollController _roll_ctrl;
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
/**
* Update our local parameter cache.
*/
int parameters_update();
int parameters_update();
/**
* Update control outputs
*
*/
void control_update();
void control_update();
/**
* Check for changes in vehicle control mode.
*/
void vehicle_control_mode_poll();
void vehicle_control_mode_poll();
/**
* Check for changes in manual inputs.
*/
void vehicle_manual_poll();
void vehicle_manual_poll();
/**
* Check for airspeed updates.
*/
void vehicle_airspeed_poll();
void vehicle_airspeed_poll();
/**
* Check for accel updates.
*/
void vehicle_accel_poll();
void vehicle_accel_poll();
/**
* Check for set triplet updates.
*/
void vehicle_setpoint_poll();
void vehicle_setpoint_poll();
/**
* Check for global position updates.
*/
void global_pos_poll();
void global_pos_poll();
/**
* Check for vehicle status updates.
*/
void vehicle_status_poll();
void vehicle_status_poll();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
*/
void task_main();
void task_main();
};
namespace att_control
{
namespace att_control {
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@ -304,39 +301,28 @@ namespace att_control
#endif
static const int ERROR = -1;
FixedwingAttitudeControl *g_control = nullptr;
FixedwingAttitudeControl *g_control = nullptr;
}
FixedwingAttitudeControl::FixedwingAttitudeControl() :
_task_should_exit(false),
_task_running(false),
_control_task(-1),
_task_should_exit(false), _task_running(false), _control_task(-1),
/* subscriptions */
_att_sub(-1),
_accel_sub(-1),
_airspeed_sub(-1),
_vcontrol_mode_sub(-1),
_params_sub(-1),
_manual_sub(-1),
_global_pos_sub(-1),
_vehicle_status_sub(-1),
/* subscriptions */
_att_sub(-1), _accel_sub(-1), _airspeed_sub(-1), _vcontrol_mode_sub(-1), _params_sub(
-1), _manual_sub(-1), _global_pos_sub(-1), _vehicle_status_sub(
-1),
/* publications */
_rate_sp_pub(-1),
_attitude_sp_pub(-1),
_actuators_0_pub(-1),
_actuators_1_pub(-1),
/* publications */
_rate_sp_pub(-1), _attitude_sp_pub(-1), _actuators_0_pub(-1), _actuators_1_pub(
-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
_nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")),
/* states */
_setpoint_valid(false),
_debug(false)
{
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), _nonfinite_input_perf(
perf_alloc(PC_COUNT, "fw att control nonfinite input")), _nonfinite_output_perf(
perf_alloc(PC_COUNT, "fw att control nonfinite output")),
/* states */
_setpoint_valid(false), _debug(false) {
/* safely initialize structs */
_att = {};
_accel = {};
@ -349,7 +335,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_global_pos = {};
_vehicle_status = {};
_parameter_handles.tconst = param_find("FW_ATT_TC");
_parameter_handles.p_p = param_find("FW_PR_P");
_parameter_handles.p_i = param_find("FW_PR_I");
@ -390,8 +375,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
parameters_update();
}
FixedwingAttitudeControl::~FixedwingAttitudeControl()
{
FixedwingAttitudeControl::~FixedwingAttitudeControl() {
if (_control_task != -1) {
/* task wakes up every 100ms or so at the longest */
@ -419,9 +403,7 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
att_control::g_control = nullptr;
}
int
FixedwingAttitudeControl::parameters_update()
{
int FixedwingAttitudeControl::parameters_update() {
param_get(_parameter_handles.tconst, &(_parameters.tconst));
param_get(_parameter_handles.p_p, &(_parameters.p_p));
@ -429,21 +411,26 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
param_get(_parameter_handles.p_roll_feedforward, &(_parameters.p_roll_feedforward));
param_get(_parameter_handles.p_integrator_max,
&(_parameters.p_integrator_max));
param_get(_parameter_handles.p_roll_feedforward,
&(_parameters.p_roll_feedforward));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
param_get(_parameter_handles.r_integrator_max,
&(_parameters.r_integrator_max));
param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));
param_get(_parameter_handles.y_p, &(_parameters.y_p));
param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
param_get(_parameter_handles.y_integrator_max,
&(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated_min_speed,
&(_parameters.y_coordinated_min_speed));
param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
@ -453,16 +440,19 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
param_get(_parameter_handles.rollsp_offset_deg,
&(_parameters.rollsp_offset_deg));
param_get(_parameter_handles.pitchsp_offset_deg,
&(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(
_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(
_parameters.pitchsp_offset_deg);
param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_k_p(_parameters.p_p);
@ -492,9 +482,7 @@ FixedwingAttitudeControl::parameters_update()
return OK;
}
void
FixedwingAttitudeControl::vehicle_control_mode_poll()
{
void FixedwingAttitudeControl::vehicle_control_mode_poll() {
bool vcontrol_mode_updated;
/* Check HIL state if vehicle status has changed */
@ -502,13 +490,12 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
if (vcontrol_mode_updated) {
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub,
&_vcontrol_mode);
}
}
void
FixedwingAttitudeControl::vehicle_manual_poll()
{
void FixedwingAttitudeControl::vehicle_manual_poll() {
bool manual_updated;
/* get pilots inputs */
@ -520,9 +507,7 @@ FixedwingAttitudeControl::vehicle_manual_poll()
}
}
void
FixedwingAttitudeControl::vehicle_airspeed_poll()
{
void FixedwingAttitudeControl::vehicle_airspeed_poll() {
/* check if there is a new position */
bool airspeed_updated;
orb_check(_airspeed_sub, &airspeed_updated);
@ -533,9 +518,7 @@ FixedwingAttitudeControl::vehicle_airspeed_poll()
}
}
void
FixedwingAttitudeControl::vehicle_accel_poll()
{
void FixedwingAttitudeControl::vehicle_accel_poll() {
/* check if there is a new position */
bool accel_updated;
orb_check(_accel_sub, &accel_updated);
@ -545,9 +528,7 @@ FixedwingAttitudeControl::vehicle_accel_poll()
}
}
void
FixedwingAttitudeControl::vehicle_setpoint_poll()
{
void FixedwingAttitudeControl::vehicle_setpoint_poll() {
/* check if there is a new setpoint */
bool att_sp_updated;
orb_check(_att_sp_sub, &att_sp_updated);
@ -558,21 +539,18 @@ FixedwingAttitudeControl::vehicle_setpoint_poll()
}
}
void
FixedwingAttitudeControl::global_pos_poll()
{
void FixedwingAttitudeControl::global_pos_poll() {
/* check if there is a new global position */
bool global_pos_updated;
orb_check(_global_pos_sub, &global_pos_updated);
if (global_pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub,
&_global_pos);
}
}
void
FixedwingAttitudeControl::vehicle_status_poll()
{
void FixedwingAttitudeControl::vehicle_status_poll() {
/* check if there is new status information */
bool vehicle_status_updated;
orb_check(_vehicle_status_sub, &vehicle_status_updated);
@ -582,15 +560,11 @@ FixedwingAttitudeControl::vehicle_status_poll()
}
}
void
FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[])
{
void FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[]) {
att_control::g_control->task_main();
}
void
FixedwingAttitudeControl::task_main()
{
void FixedwingAttitudeControl::task_main() {
/* inform about start */
warnx("Initializing..");
@ -667,7 +641,6 @@ FixedwingAttitudeControl::task_main()
/* 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();
@ -721,8 +694,8 @@ FixedwingAttitudeControl::task_main()
float airspeed;
/* if airspeed is not updating, we assume the normal average speed */
if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s) ||
hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s)
|| hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
airspeed = _parameters.airspeed_trim;
if (nonfinite) {
perf_count(_nonfinite_input_perf);
@ -740,16 +713,20 @@ FixedwingAttitudeControl::task_main()
* Forcing the scaling to this value allows reasonable handheld tests.
*/
float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed);
float airspeed_scaling = _parameters.airspeed_trim
/ ((airspeed < _parameters.airspeed_min) ?
_parameters.airspeed_min : airspeed);
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;
float throttle_sp = 0.0f;
if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) {
if (_vcontrol_mode.flag_control_velocity_enabled
|| _vcontrol_mode.flag_control_position_enabled) {
/* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
pitch_sp = _att_sp.pitch_body
+ _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
@ -775,10 +752,12 @@ FixedwingAttitudeControl::task_main()
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+ _parameters.rollsp_offset_rad;
pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
+ _parameters.pitchsp_offset_rad;
roll_sp = (_manual.y * _parameters.man_roll_max
- _parameters.trim_roll)
+ _parameters.rollsp_offset_rad;
pitch_sp = -(_manual.x * _parameters.man_pitch_max
- _parameters.trim_pitch)
+ _parameters.pitchsp_offset_rad;
throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
@ -797,11 +776,13 @@ FixedwingAttitudeControl::task_main()
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &att_sp);
orb_publish(ORB_ID(vehicle_attitude_setpoint),
_attitude_sp_pub, &att_sp);
} else {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
_attitude_sp_pub = orb_advertise(
ORB_ID(vehicle_attitude_setpoint), &att_sp);
}
}
@ -816,11 +797,17 @@ FixedwingAttitudeControl::task_main()
float speed_body_u = 0.0f;
float speed_body_v = 0.0f;
float speed_body_w = 0.0f;
if(_att.R_valid) {
speed_body_u = _att.R[0][0] * _global_pos.vel_n + _att.R[1][0] * _global_pos.vel_e + _att.R[2][0] * _global_pos.vel_d;
speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d;
speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d;
} else {
if (_att.R_valid) {
speed_body_u = _att.R[0][0] * _global_pos.vel_n
+ _att.R[1][0] * _global_pos.vel_e
+ _att.R[2][0] * _global_pos.vel_d;
speed_body_v = _att.R[0][1] * _global_pos.vel_n
+ _att.R[1][1] * _global_pos.vel_e
+ _att.R[2][1] * _global_pos.vel_d;
speed_body_w = _att.R[0][2] * _global_pos.vel_n
+ _att.R[1][2] * _global_pos.vel_e
+ _att.R[2][2] * _global_pos.vel_d;
} else {
if (_debug && loop_counter % 10 == 0) {
warnx("Did not get a valid R\n");
}
@ -829,74 +816,94 @@ FixedwingAttitudeControl::task_main()
/* Run attitude controllers */
if (isfinite(roll_sp) && isfinite(pitch_sp)) {
_roll_ctrl.control_attitude(roll_sp, _att.roll);
_pitch_ctrl.control_attitude(pitch_sp, _att.roll, _att.pitch, airspeed);
_pitch_ctrl.control_attitude(pitch_sp, _att.roll,
_att.pitch, airspeed);
_yaw_ctrl.control_attitude(_att.roll, _att.pitch,
speed_body_u, speed_body_v, speed_body_w,
_roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude
_roll_ctrl.get_desired_rate(),
_pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
float roll_u = _roll_ctrl.control_bodyrate(_att.pitch,
_att.rollspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
_parameters.airspeed_min, _parameters.airspeed_max,
airspeed, airspeed_scaling, lock_integrator);
_actuators.control[0] =
(isfinite(roll_u)) ?
roll_u + _parameters.trim_roll :
_parameters.trim_roll;
if (!isfinite(roll_u)) {
_roll_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("roll_u %.4f", (double)roll_u);
warnx("roll_u %.4f", (double) roll_u);
}
}
float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
_att.pitchspeed, _att.yawspeed,
float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll,
_att.pitch, _att.pitchspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
_parameters.airspeed_min, _parameters.airspeed_max,
airspeed, airspeed_scaling, lock_integrator);
_actuators.control[1] =
(isfinite(pitch_u)) ?
pitch_u + _parameters.trim_pitch :
_parameters.trim_pitch;
if (!isfinite(pitch_u)) {
_pitch_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
(double)airspeed, (double)airspeed_scaling,
(double)roll_sp, (double)pitch_sp,
(double)_roll_ctrl.get_desired_rate(),
(double)_pitch_ctrl.get_desired_rate(),
(double)_att_sp.roll_body);
warnx(
"pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f",
(double) pitch_u,
(double) _yaw_ctrl.get_desired_rate(),
(double) airspeed,
(double) airspeed_scaling, (double) roll_sp,
(double) pitch_sp,
(double) _roll_ctrl.get_desired_rate(),
(double) _pitch_ctrl.get_desired_rate(),
(double) _att_sp.roll_body);
}
}
float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
_att.pitchspeed, _att.yawspeed,
float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll,
_att.pitch, _att.pitchspeed, _att.yawspeed,
_pitch_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
_parameters.airspeed_min, _parameters.airspeed_max,
airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] =
(isfinite(yaw_u)) ?
yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
if (!isfinite(yaw_u)) {
_yaw_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u);
warnx("yaw_u %.4f", (double) yaw_u);
}
}
/* throttle passed through */
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
_actuators.control[3] =
(isfinite(throttle_sp)) ? throttle_sp : 0.0f;
if (!isfinite(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);
warnx("throttle_sp %.4f", (double) throttle_sp);
}
}
} else {
perf_count(_nonfinite_input_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
warnx(
"Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f",
(double) roll_sp, (double) pitch_sp);
}
}
@ -913,11 +920,13 @@ FixedwingAttitudeControl::task_main()
if (_rate_sp_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &rates_sp);
orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub,
&rates_sp);
} else {
/* advertise and publish */
_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint),
&rates_sp);
}
} else {
@ -939,16 +948,19 @@ FixedwingAttitudeControl::task_main()
if (_actuators_0_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
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);
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0),
&_actuators);
}
if (_actuators_1_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe);
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub,
&_actuators_airframe);
// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f",
// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2],
// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5],
@ -956,7 +968,8 @@ FixedwingAttitudeControl::task_main()
} else {
/* advertise and publish */
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe);
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1),
&_actuators_airframe);
}
}
@ -972,18 +985,14 @@ FixedwingAttitudeControl::task_main()
_exit(0);
}
int
FixedwingAttitudeControl::start()
{
int FixedwingAttitudeControl::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)&FixedwingAttitudeControl::task_main_trampoline,
nullptr);
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, 2048,
(main_t) &FixedwingAttitudeControl::task_main_trampoline, nullptr);
if (_control_task < 0) {
warn("task start failed");
@ -993,8 +1002,7 @@ FixedwingAttitudeControl::start()
return OK;
}
int fw_att_control_main(int argc, char *argv[])
{
int fw_att_control_main(int argc, char *argv[]) {
if (argc < 1)
errx(1, "usage: fw_att_control {start|stop|status}");
@ -1015,7 +1023,8 @@ int fw_att_control_main(int argc, char *argv[])
}
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (att_control::g_control == nullptr || !att_control::g_control->task_running()) {
while (att_control::g_control == nullptr
|| !att_control::g_control->task_running()) {
usleep(50000);
printf(".");
fflush(stdout);

6
src/modules/uORB/topics/actuator_armed.h
View File

@ -42,8 +42,9 @@
#define TOPIC_ACTUATOR_ARMED_H
#include <stdint.h>
#ifdef CONFIG_ARCH_ARM
#include "../uORB.h"
#endif
/**
* @addtogroup topics
* @{
@ -64,6 +65,7 @@ struct actuator_armed_s {
*/
/* register this as object request broker structure */
#ifdef CONFIG_ARCH_ARM
ORB_DECLARE(actuator_armed);
#endif
#endif