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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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src/lib/geo/geo.h
+5 -1
View File
@@ -45,14 +45,16 @@
#pragma once #pragma once
#ifdef CONFIG_ARCH_ARM
#include "uORB/topics/fence.h" #include "uORB/topics/fence.h"
#include "uORB/topics/vehicle_global_position.h" #include "uORB/topics/vehicle_global_position.h"
__BEGIN_DECLS __BEGIN_DECLS
#endif
#include "geo_lookup/geo_mag_declination.h" #include "geo_lookup/geo_mag_declination.h"
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h>
#define CONSTANTS_ONE_G 9.80665f /* m/s^2 */ #define CONSTANTS_ONE_G 9.80665f /* m/s^2 */
#define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C 1.225f /* kg/m^3 */ #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_pi(float bearing);
__EXPORT float _wrap_2pi(float bearing); __EXPORT float _wrap_2pi(float bearing);
#ifdef CONFIG_ARCH_ARM
__END_DECLS __END_DECLS
#endif
src/lib/geo_lookup/geo_mag_declination.h
+4
View File
@@ -40,8 +40,12 @@
#pragma once #pragma once
#ifdef CONFIG_ARCH_ARM
__BEGIN_DECLS __BEGIN_DECLS
__EXPORT float get_mag_declination(float lat, float lon); __EXPORT float get_mag_declination(float lat, float lon);
__END_DECLS __END_DECLS
#else
float get_mag_declination(float lat, float lon);
#endif
src/modules/fw_att_control/fw_att_control_main.cpp
+206 -197
View File
@@ -83,8 +83,7 @@
*/ */
extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]); extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]);
class FixedwingAttitudeControl class FixedwingAttitudeControl {
{
public: public:
/** /**
* Constructor * Constructor
@@ -101,54 +100,56 @@ public:
* *
* @return OK on success. * @return OK on success.
*/ */
int start(); int start();
/** /**
* Task status * Task status
* *
* @return true if the mainloop is running * @return true if the mainloop is running
*/ */
bool task_running() { return _task_running; } bool task_running() {
return _task_running;
}
private: private:
bool _task_should_exit; /**< if true, sensor task should exit */ bool _task_should_exit; /**< if true, sensor task should exit */
bool _task_running; /**< if true, task is running in its mainloop */ bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle for sensor task */ int _control_task; /**< task handle for sensor task */
int _att_sub; /**< vehicle attitude subscription */ int _att_sub; /**< vehicle attitude subscription */
int _accel_sub; /**< accelerometer subscription */ int _accel_sub; /**< accelerometer subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */ int _att_sp_sub; /**< vehicle attitude setpoint */
int _attitude_sub; /**< raw rc channels data subscription */ int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */ int _airspeed_sub; /**< airspeed subscription */
int _vcontrol_mode_sub; /**< vehicle status subscription */ int _vcontrol_mode_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */ int _params_sub; /**< notification of parameter updates */
int _manual_sub; /**< notification of manual control updates */ int _manual_sub; /**< notification of manual control updates */
int _global_pos_sub; /**< global position subscription */ int _global_pos_sub; /**< global position subscription */
int _vehicle_status_sub; /**< vehicle status subscription */ int _vehicle_status_sub; /**< vehicle status subscription */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */ orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */ 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 _actuators_1_pub; /**< actuator control group 1 setpoint (Airframe) */
struct vehicle_attitude_s _att; /**< vehicle attitude */ struct vehicle_attitude_s _att; /**< vehicle attitude */
struct accel_report _accel; /**< body frame accelerations */ struct accel_report _accel; /**< body frame accelerations */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */ struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct airspeed_s _airspeed; /**< airspeed */ struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */ struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator control inputs */ struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */ struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct vehicle_global_position_s _global_pos; /**< global position */ struct vehicle_global_position_s _global_pos; /**< global position */
struct vehicle_status_s _vehicle_status; /**< vehicle status */ struct vehicle_status_s _vehicle_status; /**< vehicle status */
perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */ 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 _nonfinite_output_perf; /**< performance counter for non finite output */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */ bool _setpoint_valid; /**< flag if the position control setpoint is valid */
bool _debug; /**< if set to true, print debug output */ bool _debug; /**< if set to true, print debug output */
struct { struct {
float tconst; float tconst;
@@ -182,14 +183,14 @@ private:
float trim_roll; float trim_roll;
float trim_pitch; float trim_pitch;
float trim_yaw; float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */ float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */ float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */ float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */ float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */ float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */ float man_pitch_max; /**< Max Pitch in rad */
} _parameters; /**< local copies of interesting parameters */ } _parameters; /**< local copies of interesting parameters */
struct { struct {
@@ -228,75 +229,71 @@ private:
param_t pitchsp_offset_deg; param_t pitchsp_offset_deg;
param_t man_roll_max; param_t man_roll_max;
param_t man_pitch_max; param_t man_pitch_max;
} _parameter_handles; /**< handles for interesting parameters */ } _parameter_handles; /**< handles for interesting parameters */
ECL_RollController _roll_ctrl;
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
ECL_RollController _roll_ctrl;
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
/** /**
* Update our local parameter cache. * Update our local parameter cache.
*/ */
int parameters_update(); int parameters_update();
/** /**
* Update control outputs * Update control outputs
* *
*/ */
void control_update(); void control_update();
/** /**
* Check for changes in vehicle control mode. * Check for changes in vehicle control mode.
*/ */
void vehicle_control_mode_poll(); void vehicle_control_mode_poll();
/** /**
* Check for changes in manual inputs. * Check for changes in manual inputs.
*/ */
void vehicle_manual_poll(); void vehicle_manual_poll();
/** /**
* Check for airspeed updates. * Check for airspeed updates.
*/ */
void vehicle_airspeed_poll(); void vehicle_airspeed_poll();
/** /**
* Check for accel updates. * Check for accel updates.
*/ */
void vehicle_accel_poll(); void vehicle_accel_poll();
/** /**
* Check for set triplet updates. * Check for set triplet updates.
*/ */
void vehicle_setpoint_poll(); void vehicle_setpoint_poll();
/** /**
* Check for global position updates. * Check for global position updates.
*/ */
void global_pos_poll(); void global_pos_poll();
/** /**
* Check for vehicle status updates. * Check for vehicle status updates.
*/ */
void vehicle_status_poll(); void vehicle_status_poll();
/** /**
* Shim for calling task_main from task_create. * 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. * Main sensor collection task.
*/ */
void task_main(); void task_main();
}; };
namespace att_control namespace att_control {
{
/* oddly, ERROR is not defined for c++ */ /* oddly, ERROR is not defined for c++ */
#ifdef ERROR #ifdef ERROR
@@ -304,39 +301,28 @@ namespace att_control
#endif #endif
static const int ERROR = -1; static const int ERROR = -1;
FixedwingAttitudeControl *g_control = nullptr; FixedwingAttitudeControl *g_control = nullptr;
} }
FixedwingAttitudeControl::FixedwingAttitudeControl() : FixedwingAttitudeControl::FixedwingAttitudeControl() :
_task_should_exit(false), _task_should_exit(false), _task_running(false), _control_task(-1),
_task_running(false),
_control_task(-1),
/* subscriptions */ /* subscriptions */
_att_sub(-1), _att_sub(-1), _accel_sub(-1), _airspeed_sub(-1), _vcontrol_mode_sub(-1), _params_sub(
_accel_sub(-1), -1), _manual_sub(-1), _global_pos_sub(-1), _vehicle_status_sub(
_airspeed_sub(-1), -1),
_vcontrol_mode_sub(-1),
_params_sub(-1),
_manual_sub(-1),
_global_pos_sub(-1),
_vehicle_status_sub(-1),
/* publications */ /* publications */
_rate_sp_pub(-1), _rate_sp_pub(-1), _attitude_sp_pub(-1), _actuators_0_pub(-1), _actuators_1_pub(
_attitude_sp_pub(-1), -1),
_actuators_0_pub(-1),
_actuators_1_pub(-1),
/* performance counters */ /* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), _nonfinite_input_perf(
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")), perf_alloc(PC_COUNT, "fw att control nonfinite input")), _nonfinite_output_perf(
_nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")), perf_alloc(PC_COUNT, "fw att control nonfinite output")),
/* states */ /* states */
_setpoint_valid(false), _setpoint_valid(false), _debug(false) {
_debug(false)
{
/* safely initialize structs */ /* safely initialize structs */
_att = {}; _att = {};
_accel = {}; _accel = {};
@@ -349,7 +335,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_global_pos = {}; _global_pos = {};
_vehicle_status = {}; _vehicle_status = {};
_parameter_handles.tconst = param_find("FW_ATT_TC"); _parameter_handles.tconst = param_find("FW_ATT_TC");
_parameter_handles.p_p = param_find("FW_PR_P"); _parameter_handles.p_p = param_find("FW_PR_P");
_parameter_handles.p_i = param_find("FW_PR_I"); _parameter_handles.p_i = param_find("FW_PR_I");
@@ -390,8 +375,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
parameters_update(); parameters_update();
} }
FixedwingAttitudeControl::~FixedwingAttitudeControl() FixedwingAttitudeControl::~FixedwingAttitudeControl() {
{
if (_control_task != -1) { if (_control_task != -1) {
/* task wakes up every 100ms or so at the longest */ /* task wakes up every 100ms or so at the longest */
@@ -419,9 +403,7 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
att_control::g_control = nullptr; att_control::g_control = nullptr;
} }
int int FixedwingAttitudeControl::parameters_update() {
FixedwingAttitudeControl::parameters_update()
{
param_get(_parameter_handles.tconst, &(_parameters.tconst)); param_get(_parameter_handles.tconst, &(_parameters.tconst));
param_get(_parameter_handles.p_p, &(_parameters.p_p)); 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_ff, &(_parameters.p_ff));
param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos)); 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_rmax_neg, &(_parameters.p_rmax_neg));
param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max)); param_get(_parameter_handles.p_integrator_max,
param_get(_parameter_handles.p_roll_feedforward, &(_parameters.p_roll_feedforward)); &(_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_p, &(_parameters.r_p));
param_get(_parameter_handles.r_i, &(_parameters.r_i)); param_get(_parameter_handles.r_i, &(_parameters.r_i));
param_get(_parameter_handles.r_ff, &(_parameters.r_ff)); 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.r_rmax, &(_parameters.r_rmax));
param_get(_parameter_handles.y_p, &(_parameters.y_p)); param_get(_parameter_handles.y_p, &(_parameters.y_p));
param_get(_parameter_handles.y_i, &(_parameters.y_i)); param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff)); 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_integrator_max,
param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed)); &(_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.y_rmax, &(_parameters.y_rmax));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min)); 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_roll, &(_parameters.trim_roll));
param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch)); param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw)); param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg)); param_get(_parameter_handles.rollsp_offset_deg,
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg)); &(_parameters.rollsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg); param_get(_parameter_handles.pitchsp_offset_deg,
_parameters.pitchsp_offset_rad = math::radians(_parameters.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_roll_max, &(_parameters.man_roll_max));
param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max)); param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
_parameters.man_roll_max = math::radians(_parameters.man_roll_max); _parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max); _parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
/* pitch control parameters */ /* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst); _pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_k_p(_parameters.p_p); _pitch_ctrl.set_k_p(_parameters.p_p);
@@ -492,9 +482,7 @@ FixedwingAttitudeControl::parameters_update()
return OK; return OK;
} }
void void FixedwingAttitudeControl::vehicle_control_mode_poll() {
FixedwingAttitudeControl::vehicle_control_mode_poll()
{
bool vcontrol_mode_updated; bool vcontrol_mode_updated;
/* Check HIL state if vehicle status has changed */ /* Check HIL state if vehicle status has changed */
@@ -502,13 +490,12 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
if (vcontrol_mode_updated) { 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 void FixedwingAttitudeControl::vehicle_manual_poll() {
FixedwingAttitudeControl::vehicle_manual_poll()
{
bool manual_updated; bool manual_updated;
/* get pilots inputs */ /* get pilots inputs */
@@ -520,9 +507,7 @@ FixedwingAttitudeControl::vehicle_manual_poll()
} }
} }
void void FixedwingAttitudeControl::vehicle_airspeed_poll() {
FixedwingAttitudeControl::vehicle_airspeed_poll()
{
/* check if there is a new position */ /* check if there is a new position */
bool airspeed_updated; bool airspeed_updated;
orb_check(_airspeed_sub, &airspeed_updated); orb_check(_airspeed_sub, &airspeed_updated);
@@ -533,9 +518,7 @@ FixedwingAttitudeControl::vehicle_airspeed_poll()
} }
} }
void void FixedwingAttitudeControl::vehicle_accel_poll() {
FixedwingAttitudeControl::vehicle_accel_poll()
{
/* check if there is a new position */ /* check if there is a new position */
bool accel_updated; bool accel_updated;
orb_check(_accel_sub, &accel_updated); orb_check(_accel_sub, &accel_updated);
@@ -545,9 +528,7 @@ FixedwingAttitudeControl::vehicle_accel_poll()
} }
} }
void void FixedwingAttitudeControl::vehicle_setpoint_poll() {
FixedwingAttitudeControl::vehicle_setpoint_poll()
{
/* check if there is a new setpoint */ /* check if there is a new setpoint */
bool att_sp_updated; bool att_sp_updated;
orb_check(_att_sp_sub, &att_sp_updated); orb_check(_att_sp_sub, &att_sp_updated);
@@ -558,21 +539,18 @@ FixedwingAttitudeControl::vehicle_setpoint_poll()
} }
} }
void void FixedwingAttitudeControl::global_pos_poll() {
FixedwingAttitudeControl::global_pos_poll()
{
/* check if there is a new global position */ /* check if there is a new global position */
bool global_pos_updated; bool global_pos_updated;
orb_check(_global_pos_sub, &global_pos_updated); orb_check(_global_pos_sub, &global_pos_updated);
if (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 void FixedwingAttitudeControl::vehicle_status_poll() {
FixedwingAttitudeControl::vehicle_status_poll()
{
/* check if there is new status information */ /* check if there is new status information */
bool vehicle_status_updated; bool vehicle_status_updated;
orb_check(_vehicle_status_sub, &vehicle_status_updated); orb_check(_vehicle_status_sub, &vehicle_status_updated);
@@ -582,15 +560,11 @@ FixedwingAttitudeControl::vehicle_status_poll()
} }
} }
void void FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[]) {
FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[])
{
att_control::g_control->task_main(); att_control::g_control->task_main();
} }
void void FixedwingAttitudeControl::task_main() {
FixedwingAttitudeControl::task_main()
{
/* inform about start */ /* inform about start */
warnx("Initializing.."); warnx("Initializing..");
@@ -667,7 +641,6 @@ FixedwingAttitudeControl::task_main()
/* only run controller if attitude changed */ /* only run controller if attitude changed */
if (fds[1].revents & POLLIN) { if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0; static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time(); last_run = hrt_absolute_time();
@@ -721,8 +694,8 @@ FixedwingAttitudeControl::task_main()
float airspeed; float airspeed;
/* if airspeed is not updating, we assume the normal average speed */ /* if airspeed is not updating, we assume the normal average speed */
if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s) || if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s)
hrt_elapsed_time(&_airspeed.timestamp) > 1e6) { || hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
airspeed = _parameters.airspeed_trim; airspeed = _parameters.airspeed_trim;
if (nonfinite) { if (nonfinite) {
perf_count(_nonfinite_input_perf); perf_count(_nonfinite_input_perf);
@@ -740,16 +713,20 @@ FixedwingAttitudeControl::task_main()
* Forcing the scaling to this value allows reasonable handheld tests. * 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 roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad; float pitch_sp = _parameters.pitchsp_offset_rad;
float throttle_sp = 0.0f; 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 */ /* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad; 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; throttle_sp = _att_sp.thrust;
/* reset integrals where needed */ /* reset integrals where needed */
@@ -775,10 +752,12 @@ FixedwingAttitudeControl::task_main()
* the intended attitude setpoint. Later, after the rate control step the * the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal. * trim is added again to the control signal.
*/ */
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll) roll_sp = (_manual.y * _parameters.man_roll_max
+ _parameters.rollsp_offset_rad; - _parameters.trim_roll)
pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.rollsp_offset_rad;
+ _parameters.pitchsp_offset_rad; pitch_sp = -(_manual.x * _parameters.man_pitch_max
- _parameters.trim_pitch)
+ _parameters.pitchsp_offset_rad;
throttle_sp = _manual.z; throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps; _actuators.control[4] = _manual.flaps;
@@ -797,11 +776,13 @@ FixedwingAttitudeControl::task_main()
/* lazily publish the setpoint only once available */ /* lazily publish the setpoint only once available */
if (_attitude_sp_pub > 0) { if (_attitude_sp_pub > 0) {
/* publish the attitude setpoint */ /* 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 { } else {
/* advertise and publish */ /* 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_u = 0.0f;
float speed_body_v = 0.0f; float speed_body_v = 0.0f;
float speed_body_w = 0.0f; float speed_body_w = 0.0f;
if(_att.R_valid) { 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_u = _att.R[0][0] * _global_pos.vel_n
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; + _att.R[1][0] * _global_pos.vel_e
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; + _att.R[2][0] * _global_pos.vel_d;
} else { 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) { if (_debug && loop_counter % 10 == 0) {
warnx("Did not get a valid R\n"); warnx("Did not get a valid R\n");
} }
@@ -829,74 +816,94 @@ FixedwingAttitudeControl::task_main()
/* Run attitude controllers */ /* Run attitude controllers */
if (isfinite(roll_sp) && isfinite(pitch_sp)) { if (isfinite(roll_sp) && isfinite(pitch_sp)) {
_roll_ctrl.control_attitude(roll_sp, _att.roll); _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, _yaw_ctrl.control_attitude(_att.roll, _att.pitch,
speed_body_u, speed_body_v, speed_body_w, 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 */ /* Run attitude RATE controllers which need the desired attitudes from above, add trim */
float roll_u = _roll_ctrl.control_bodyrate(_att.pitch, float roll_u = _roll_ctrl.control_bodyrate(_att.pitch,
_att.rollspeed, _att.yawspeed, _att.rollspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(), _yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); _parameters.airspeed_min, _parameters.airspeed_max,
_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll; airspeed, airspeed_scaling, lock_integrator);
_actuators.control[0] =
(isfinite(roll_u)) ?
roll_u + _parameters.trim_roll :
_parameters.trim_roll;
if (!isfinite(roll_u)) { if (!isfinite(roll_u)) {
_roll_ctrl.reset_integrator(); _roll_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf); perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) { 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, float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll,
_att.pitchspeed, _att.yawspeed, _att.pitch, _att.pitchspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(), _yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); _parameters.airspeed_min, _parameters.airspeed_max,
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch; airspeed, airspeed_scaling, lock_integrator);
_actuators.control[1] =
(isfinite(pitch_u)) ?
pitch_u + _parameters.trim_pitch :
_parameters.trim_pitch;
if (!isfinite(pitch_u)) { if (!isfinite(pitch_u)) {
_pitch_ctrl.reset_integrator(); _pitch_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf); perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) { if (_debug && loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f," warnx(
" airspeed %.4f, airspeed_scaling %.4f," "pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" roll_sp %.4f, pitch_sp %.4f," " airspeed %.4f, airspeed_scaling %.4f,"
" _roll_ctrl.get_desired_rate() %.4f," " roll_sp %.4f, pitch_sp %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f" " _roll_ctrl.get_desired_rate() %.4f,"
" att_sp.roll_body %.4f", " _pitch_ctrl.get_desired_rate() %.4f"
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(), " att_sp.roll_body %.4f",
(double)airspeed, (double)airspeed_scaling, (double) pitch_u,
(double)roll_sp, (double)pitch_sp, (double) _yaw_ctrl.get_desired_rate(),
(double)_roll_ctrl.get_desired_rate(), (double) airspeed,
(double)_pitch_ctrl.get_desired_rate(), (double) airspeed_scaling, (double) roll_sp,
(double)_att_sp.roll_body); (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, float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll,
_att.pitchspeed, _att.yawspeed, _att.pitch, _att.pitchspeed, _att.yawspeed,
_pitch_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); _parameters.airspeed_min, _parameters.airspeed_max,
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw; airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] =
(isfinite(yaw_u)) ?
yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
if (!isfinite(yaw_u)) { if (!isfinite(yaw_u)) {
_yaw_ctrl.reset_integrator(); _yaw_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf); perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) { if (_debug && loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u); warnx("yaw_u %.4f", (double) yaw_u);
} }
} }
/* throttle passed through */ /* 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 (!isfinite(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) { if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp); warnx("throttle_sp %.4f", (double) throttle_sp);
} }
} }
} else { } else {
perf_count(_nonfinite_input_perf); perf_count(_nonfinite_input_perf);
if (_debug && loop_counter % 10 == 0) { 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) { if (_rate_sp_pub > 0) {
/* publish the attitude setpoint */ /* 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 { } else {
/* advertise and publish */ /* 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 { } else {
@@ -939,16 +948,19 @@ FixedwingAttitudeControl::task_main()
if (_actuators_0_pub > 0) { if (_actuators_0_pub > 0) {
/* publish the attitude setpoint */ /* 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 { } else {
/* advertise and publish */ /* 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) { if (_actuators_1_pub > 0) {
/* publish the attitude setpoint */ /* 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", // 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[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], // (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5],
@@ -956,7 +968,8 @@ FixedwingAttitudeControl::task_main()
} else { } else {
/* advertise and publish */ /* 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); _exit(0);
} }
int int FixedwingAttitudeControl::start() {
FixedwingAttitudeControl::start()
{
ASSERT(_control_task == -1); ASSERT(_control_task == -1);
/* start the task */ /* start the task */
_control_task = task_spawn_cmd("fw_att_control", _control_task = task_spawn_cmd("fw_att_control",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5, 2048,
2048, (main_t) &FixedwingAttitudeControl::task_main_trampoline, nullptr);
(main_t)&FixedwingAttitudeControl::task_main_trampoline,
nullptr);
if (_control_task < 0) { if (_control_task < 0) {
warn("task start failed"); warn("task start failed");
@@ -993,8 +1002,7 @@ FixedwingAttitudeControl::start()
return OK; return OK;
} }
int fw_att_control_main(int argc, char *argv[]) int fw_att_control_main(int argc, char *argv[]) {
{
if (argc < 1) if (argc < 1)
errx(1, "usage: fw_att_control {start|stop|status}"); 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 */ /* 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); usleep(50000);
printf("."); printf(".");
fflush(stdout); fflush(stdout);
src/modules/uORB/topics/actuator_armed.h
+4 -2
View File
@@ -42,8 +42,9 @@
#define TOPIC_ACTUATOR_ARMED_H #define TOPIC_ACTUATOR_ARMED_H
#include <stdint.h> #include <stdint.h>
#ifdef CONFIG_ARCH_ARM
#include "../uORB.h" #include "../uORB.h"
#endif
/** /**
* @addtogroup topics * @addtogroup topics
* @{ * @{
@@ -64,6 +65,7 @@ struct actuator_armed_s {
*/ */
/* register this as object request broker structure */ /* register this as object request broker structure */
#ifdef CONFIG_ARCH_ARM
ORB_DECLARE(actuator_armed); ORB_DECLARE(actuator_armed);
#endif
#endif #endif