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Multiplatform controllers: Move to examples and fix code style
This commit is contained in:
Lorenz Meier
@@ -1,44 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
|
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# 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
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE modules__mc_att_control_multiplatform
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MAIN mc_att_control_m
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SRCS
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mc_att_control_main.cpp
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mc_att_control_start_nuttx.cpp
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mc_att_control.cpp
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mc_att_control_base.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -1,257 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mc_att_control.cpp
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* Multicopter attitude controller.
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*
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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* @author Julian Oes <julian@oes.ch>
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* @author Roman Bapst <bapstr@ethz.ch>
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*/
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#include "mc_att_control.h"
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#include "mc_att_control_params.h"
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#include "math.h"
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#define YAW_DEADZONE 0.05f
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#define MIN_TAKEOFF_THRUST 0.2f
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#define RATES_I_LIMIT 0.3f
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namespace mc_att_control
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{
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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}
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MulticopterAttitudeControlMultiplatform::MulticopterAttitudeControlMultiplatform() :
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MulticopterAttitudeControlBase(),
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_actuators_0_circuit_breaker_enabled(false),
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/* publications */
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_v_rates_sp_pub(nullptr),
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_actuators_0_pub(nullptr),
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_n(_appState),
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/* parameters */
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_params_handles({
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.roll_p = px4::ParameterFloat("MP_ROLL_P", PARAM_MP_ROLL_P_DEFAULT),
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.roll_rate_p = px4::ParameterFloat("MP_ROLLRATE_P", PARAM_MP_ROLLRATE_P_DEFAULT),
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.roll_rate_i = px4::ParameterFloat("MP_ROLLRATE_I", PARAM_MP_ROLLRATE_I_DEFAULT),
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.roll_rate_d = px4::ParameterFloat("MP_ROLLRATE_D", PARAM_MP_ROLLRATE_D_DEFAULT),
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.pitch_p = px4::ParameterFloat("MP_PITCH_P", PARAM_MP_PITCH_P_DEFAULT),
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.pitch_rate_p = px4::ParameterFloat("MP_PITCHRATE_P", PARAM_MP_PITCHRATE_P_DEFAULT),
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.pitch_rate_i = px4::ParameterFloat("MP_PITCHRATE_I", PARAM_MP_PITCHRATE_I_DEFAULT),
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.pitch_rate_d = px4::ParameterFloat("MP_PITCHRATE_D", PARAM_MP_PITCHRATE_D_DEFAULT),
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.yaw_p = px4::ParameterFloat("MP_YAW_P", PARAM_MP_YAW_P_DEFAULT),
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.yaw_rate_p = px4::ParameterFloat("MP_YAWRATE_P", PARAM_MP_YAWRATE_P_DEFAULT),
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.yaw_rate_i = px4::ParameterFloat("MP_YAWRATE_I", PARAM_MP_YAWRATE_I_DEFAULT),
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.yaw_rate_d = px4::ParameterFloat("MP_YAWRATE_D", PARAM_MP_YAWRATE_D_DEFAULT),
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.yaw_ff = px4::ParameterFloat("MP_YAW_FF", PARAM_MP_YAW_FF_DEFAULT),
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.yaw_rate_max = px4::ParameterFloat("MP_YAWRATE_MAX", PARAM_MP_YAWRATE_MAX_DEFAULT),
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.acro_roll_max = px4::ParameterFloat("MP_ACRO_R_MAX", PARAM_MP_ACRO_R_MAX_DEFAULT),
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.acro_pitch_max = px4::ParameterFloat("MP_ACRO_P_MAX", PARAM_MP_ACRO_P_MAX_DEFAULT),
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.acro_yaw_max = px4::ParameterFloat("MP_ACRO_Y_MAX", PARAM_MP_ACRO_Y_MAX_DEFAULT)
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}),
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
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{
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/* fetch initial parameter values */
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parameters_update();
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/*
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* do subscriptions
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*/
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_v_att = _n.subscribe<px4_vehicle_attitude>(&MulticopterAttitudeControlMultiplatform::handle_vehicle_attitude, this, 0);
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_v_att_sp = _n.subscribe<px4_vehicle_attitude_setpoint>(0);
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_v_rates_sp = _n.subscribe<px4_vehicle_rates_setpoint>(0);
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_v_control_mode = _n.subscribe<px4_vehicle_control_mode>(0);
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_parameter_update = _n.subscribe<px4_parameter_update>(
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&MulticopterAttitudeControlMultiplatform::handle_parameter_update, this, 1000);
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_manual_control_sp = _n.subscribe<px4_manual_control_setpoint>(0);
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_armed = _n.subscribe<px4_actuator_armed>(0);
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_v_status = _n.subscribe<px4_vehicle_status>(0);
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}
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MulticopterAttitudeControlMultiplatform::~MulticopterAttitudeControlMultiplatform()
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{
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}
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int
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MulticopterAttitudeControlMultiplatform::parameters_update()
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{
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/* roll gains */
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_params.att_p(0) = _params_handles.roll_p.update();
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_params.rate_p(0) = _params_handles.roll_rate_p.update();
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_params.rate_i(0) = _params_handles.roll_rate_i.update();
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_params.rate_d(0) = _params_handles.roll_rate_d.update();
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/* pitch gains */
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_params.att_p(1) = _params_handles.pitch_p.update();
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_params.rate_p(1) = _params_handles.pitch_rate_p.update();
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_params.rate_i(1) = _params_handles.pitch_rate_i.update();
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_params.rate_d(1) = _params_handles.pitch_rate_d.update();
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/* yaw gains */
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_params.att_p(2) = _params_handles.yaw_p.update();
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_params.rate_p(2) = _params_handles.yaw_rate_p.update();
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_params.rate_i(2) = _params_handles.yaw_rate_i.update();
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_params.rate_d(2) = _params_handles.yaw_rate_d.update();
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_params.yaw_ff = _params_handles.yaw_ff.update();
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_params.yaw_rate_max = math::radians(_params_handles.yaw_rate_max.update());
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/* acro control scale */
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_params.acro_rate_max(0) = math::radians(_params_handles.acro_roll_max.update());
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_params.acro_rate_max(1) = math::radians(_params_handles.acro_pitch_max.update());
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_params.acro_rate_max(2) = math::radians(_params_handles.acro_yaw_max.update());
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_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
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return OK;
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}
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void MulticopterAttitudeControlMultiplatform::handle_parameter_update(const px4_parameter_update &msg)
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{
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parameters_update();
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}
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void MulticopterAttitudeControlMultiplatform::handle_vehicle_attitude(const px4_vehicle_attitude &msg) {
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perf_begin(_loop_perf);
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/* run controller on attitude changes */
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static uint64_t last_run = 0;
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float dt = (px4::get_time_micros() - last_run) / 1000000.0f;
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last_run = px4::get_time_micros();
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/* guard against too small (< 2ms) and too large (> 20ms) dt's */
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if (dt < 0.002f) {
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dt = 0.002f;
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} else if (dt > 0.02f) {
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dt = 0.02f;
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}
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if (_v_control_mode->data().flag_control_attitude_enabled) {
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control_attitude(dt);
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/* publish attitude rates setpoint */
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_v_rates_sp_mod.data().roll = _rates_sp(0);
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_v_rates_sp_mod.data().pitch = _rates_sp(1);
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_v_rates_sp_mod.data().yaw = _rates_sp(2);
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_v_rates_sp_mod.data().thrust = _thrust_sp;
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_v_rates_sp_mod.data().timestamp = px4::get_time_micros();
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if (_v_rates_sp_pub != nullptr) {
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_v_rates_sp_pub->publish(_v_rates_sp_mod);
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} else {
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if (_v_status->data().is_vtol) {
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//XXX add a second publisher?
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// _v_rates_sp_pub = _n.advertise<px4_mc_virtual_rates_setpoint>();
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} else {
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_v_rates_sp_pub = _n.advertise<px4_vehicle_rates_setpoint>();
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}
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}
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} else {
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/* attitude controller disabled, poll rates setpoint topic */
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if (_v_control_mode->data().flag_control_manual_enabled) {
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/* manual rates control - ACRO mode */
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_rates_sp = math::Vector<3>(_manual_control_sp->data().y, -_manual_control_sp->data().x,
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_manual_control_sp->data().r).emult(_params.acro_rate_max);
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_thrust_sp = _manual_control_sp->data().z;
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/* publish attitude rates setpoint */
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_v_rates_sp_mod.data().roll = _rates_sp(0);
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_v_rates_sp_mod.data().pitch = _rates_sp(1);
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_v_rates_sp_mod.data().yaw = _rates_sp(2);
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_v_rates_sp_mod.data().thrust = _thrust_sp;
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_v_rates_sp_mod.data().timestamp = px4::get_time_micros();
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if (_v_rates_sp_pub != nullptr) {
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_v_rates_sp_pub->publish(_v_rates_sp_mod);
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} else {
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if (_v_status->data().is_vtol) {
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//XXX add a second publisher?
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// _v_rates_sp_pub = _n.advertise<px4_mc_virtual_rates_setpoint>();
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} else {
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_v_rates_sp_pub = _n.advertise<px4_vehicle_rates_setpoint>();
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}
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}
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} else {
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/* attitude controller disabled, poll rates setpoint topic */
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_rates_sp(0) = _v_rates_sp->data().roll;
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_rates_sp(1) = _v_rates_sp->data().pitch;
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_rates_sp(2) = _v_rates_sp->data().yaw;
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_thrust_sp = _v_rates_sp->data().thrust;
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}
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}
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if (_v_control_mode->data().flag_control_rates_enabled) {
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control_attitude_rates(dt);
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/* publish actuator controls */
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_actuators.data().control[0] = (PX4_ISFINITE(_att_control(0))) ? _att_control(0) : 0.0f;
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_actuators.data().control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
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_actuators.data().control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
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_actuators.data().control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
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_actuators.data().timestamp = px4::get_time_micros();
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if (!_actuators_0_circuit_breaker_enabled) {
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if (_actuators_0_pub != nullptr) {
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_actuators_0_pub->publish(_actuators);
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} else {
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if (_v_status->data().is_vtol) {
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//XXX add a second publisher?
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// _actuators_0_pub = _n.advertise<px4_actuator_controls_virtual_mc>();
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} else {
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_actuators_0_pub = _n.advertise<px4_actuator_controls_0>();
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}
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}
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}
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}
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}
|
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@@ -1,126 +0,0 @@
|
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 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 mc_att_control.h
|
||||
* Multicopter attitude controller.
|
||||
*
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Roman Bapst <bapstr@ethz.ch>
|
||||
*
|
||||
* The controller has two loops: P loop for angular error and PD loop for angular rate error.
|
||||
* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
|
||||
* For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
|
||||
* so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
|
||||
* These two approaches fused seamlessly with weight depending on angular error.
|
||||
* When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
|
||||
* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
|
||||
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <poll.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/circuit_breaker.h>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
|
||||
#include "mc_att_control_base.h"
|
||||
|
||||
class MulticopterAttitudeControlMultiplatform :
|
||||
public MulticopterAttitudeControlBase
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
MulticopterAttitudeControlMultiplatform();
|
||||
|
||||
/**
|
||||
* Destructor, also kills the sensors task.
|
||||
*/
|
||||
~MulticopterAttitudeControlMultiplatform();
|
||||
|
||||
/* Callbacks for topics */
|
||||
void handle_vehicle_attitude(const px4_vehicle_attitude &msg);
|
||||
void handle_parameter_update(const px4_parameter_update &msg);
|
||||
|
||||
void spin() { _n.spin(); }
|
||||
|
||||
private:
|
||||
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
|
||||
|
||||
px4::Publisher<px4_vehicle_rates_setpoint> *_v_rates_sp_pub; /**< rate setpoint publication */
|
||||
px4::Publisher<px4_actuator_controls_0> *_actuators_0_pub; /**< attitude actuator controls publication */
|
||||
|
||||
px4::NodeHandle _n;
|
||||
|
||||
px4::AppState _appState;
|
||||
|
||||
struct {
|
||||
px4::ParameterFloat roll_p;
|
||||
px4::ParameterFloat roll_rate_p;
|
||||
px4::ParameterFloat roll_rate_i;
|
||||
px4::ParameterFloat roll_rate_d;
|
||||
px4::ParameterFloat pitch_p;
|
||||
px4::ParameterFloat pitch_rate_p;
|
||||
px4::ParameterFloat pitch_rate_i;
|
||||
px4::ParameterFloat pitch_rate_d;
|
||||
px4::ParameterFloat yaw_p;
|
||||
px4::ParameterFloat yaw_rate_p;
|
||||
px4::ParameterFloat yaw_rate_i;
|
||||
px4::ParameterFloat yaw_rate_d;
|
||||
px4::ParameterFloat yaw_ff;
|
||||
px4::ParameterFloat yaw_rate_max;
|
||||
|
||||
px4::ParameterFloat acro_roll_max;
|
||||
px4::ParameterFloat acro_pitch_max;
|
||||
px4::ParameterFloat acro_yaw_max;
|
||||
|
||||
} _params_handles; /**< handles for interesting parameters */
|
||||
|
||||
perf_counter_t _loop_perf; /**< loop performance counter */
|
||||
|
||||
/**
|
||||
* Update our local parameter cache.
|
||||
*/
|
||||
int parameters_update();
|
||||
};
|
||||
|
||||
@@ -1,214 +0,0 @@
|
||||
/* Copyright (c) 2014 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 mc_att_control_base.cpp
|
||||
*
|
||||
* MC Attitude Controller : Control and math code
|
||||
*
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Roman Bapst <bapstr@ethz.ch>
|
||||
*
|
||||
*/
|
||||
|
||||
#include "mc_att_control_base.h"
|
||||
#include <geo/geo.h>
|
||||
#include <math.h>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
|
||||
#ifdef CONFIG_ARCH_ARM
|
||||
#else
|
||||
#include <cmath>
|
||||
using namespace std;
|
||||
#endif
|
||||
|
||||
MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
|
||||
_v_rates_sp_mod(),
|
||||
_actuators(),
|
||||
_publish_att_sp(false)
|
||||
|
||||
{
|
||||
_params.att_p.zero();
|
||||
_params.rate_p.zero();
|
||||
_params.rate_i.zero();
|
||||
_params.rate_d.zero();
|
||||
_params.yaw_ff = 0.0f;
|
||||
_params.yaw_rate_max = 0.0f;
|
||||
_params.acro_rate_max.zero();
|
||||
|
||||
_rates_prev.zero();
|
||||
_rates_sp.zero();
|
||||
_rates_int.zero();
|
||||
_thrust_sp = 0.0f;
|
||||
_att_control.zero();
|
||||
|
||||
_I.identity();
|
||||
}
|
||||
|
||||
MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase()
|
||||
{
|
||||
}
|
||||
|
||||
void MulticopterAttitudeControlBase::control_attitude(float dt)
|
||||
{
|
||||
_thrust_sp = _v_att_sp->data().thrust;
|
||||
|
||||
/* construct attitude setpoint rotation matrix */
|
||||
math::Matrix<3, 3> R_sp;
|
||||
R_sp.set(_v_att_sp->data().R_body);
|
||||
|
||||
/* rotation matrix for current state */
|
||||
math::Matrix<3, 3> R;
|
||||
R.set(_v_att->data().R);
|
||||
|
||||
/* all input data is ready, run controller itself */
|
||||
|
||||
/* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
|
||||
math::Vector <3> R_z(R(0, 2), R(1, 2), R(2, 2));
|
||||
math::Vector <3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
|
||||
|
||||
/* axis and sin(angle) of desired rotation */
|
||||
math::Vector <3> e_R = R.transposed() * (R_z % R_sp_z);
|
||||
|
||||
/* calculate angle error */
|
||||
float e_R_z_sin = e_R.length();
|
||||
float e_R_z_cos = R_z * R_sp_z;
|
||||
|
||||
/* calculate weight for yaw control */
|
||||
float yaw_w = R_sp(2, 2) * R_sp(2, 2);
|
||||
|
||||
/* calculate rotation matrix after roll/pitch only rotation */
|
||||
math::Matrix<3, 3> R_rp;
|
||||
|
||||
if (e_R_z_sin > 0.0f) {
|
||||
/* get axis-angle representation */
|
||||
float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos);
|
||||
math::Vector <3> e_R_z_axis = e_R / e_R_z_sin;
|
||||
|
||||
e_R = e_R_z_axis * e_R_z_angle;
|
||||
|
||||
/* cross product matrix for e_R_axis */
|
||||
math::Matrix<3, 3> e_R_cp;
|
||||
e_R_cp.zero();
|
||||
e_R_cp(0, 1) = -e_R_z_axis(2);
|
||||
e_R_cp(0, 2) = e_R_z_axis(1);
|
||||
e_R_cp(1, 0) = e_R_z_axis(2);
|
||||
e_R_cp(1, 2) = -e_R_z_axis(0);
|
||||
e_R_cp(2, 0) = -e_R_z_axis(1);
|
||||
e_R_cp(2, 1) = e_R_z_axis(0);
|
||||
|
||||
/* rotation matrix for roll/pitch only rotation */
|
||||
R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
|
||||
|
||||
} else {
|
||||
/* zero roll/pitch rotation */
|
||||
R_rp = R;
|
||||
}
|
||||
|
||||
/* R_rp and R_sp has the same Z axis, calculate yaw error */
|
||||
math::Vector <3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
|
||||
math::Vector <3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
|
||||
e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
|
||||
|
||||
if (e_R_z_cos < 0.0f) {
|
||||
/* for large thrust vector rotations use another rotation method:
|
||||
* calculate angle and axis for R -> R_sp rotation directly */
|
||||
math::Quaternion q;
|
||||
q.from_dcm(R.transposed() * R_sp);
|
||||
math::Vector <3> e_R_d = q.imag();
|
||||
e_R_d.normalize();
|
||||
e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0));
|
||||
|
||||
/* use fusion of Z axis based rotation and direct rotation */
|
||||
float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;
|
||||
e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w;
|
||||
}
|
||||
|
||||
/* calculate angular rates setpoint */
|
||||
_rates_sp = _params.att_p.emult(e_R);
|
||||
|
||||
/* limit yaw rate */
|
||||
_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max,
|
||||
_params.yaw_rate_max);
|
||||
|
||||
/* feed forward yaw setpoint rate */
|
||||
_rates_sp(2) += _v_att_sp->data().yaw_sp_move_rate * yaw_w * _params.yaw_ff;
|
||||
|
||||
}
|
||||
|
||||
void MulticopterAttitudeControlBase::control_attitude_rates(float dt)
|
||||
{
|
||||
/* reset integral if disarmed */
|
||||
if (!_armed->data().armed || !_v_status->data().is_rotary_wing) {
|
||||
_rates_int.zero();
|
||||
}
|
||||
|
||||
/* current body angular rates */
|
||||
math::Vector < 3 > rates;
|
||||
rates(0) = _v_att->data().rollspeed;
|
||||
rates(1) = _v_att->data().pitchspeed;
|
||||
rates(2) = _v_att->data().yawspeed;
|
||||
|
||||
/* angular rates error */
|
||||
math::Vector < 3 > rates_err = _rates_sp - rates;
|
||||
_att_control = _params.rate_p.emult(rates_err)
|
||||
+ _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
|
||||
_rates_prev = rates;
|
||||
|
||||
/* update integral only if not saturated on low limit */
|
||||
if (_thrust_sp > MIN_TAKEOFF_THRUST) {
|
||||
for (int i = 0; i < 3; i++) {
|
||||
if (fabsf(_att_control(i)) < _thrust_sp) {
|
||||
float rate_i = _rates_int(i)
|
||||
+ _params.rate_i(i) * rates_err(i) * dt;
|
||||
|
||||
if (isfinite(
|
||||
rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
|
||||
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
|
||||
_rates_int(i) = rate_i;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void MulticopterAttitudeControlBase::set_actuator_controls()
|
||||
{
|
||||
_actuators.data().control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
|
||||
_actuators.data().control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
|
||||
_actuators.data().control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
|
||||
_actuators.data().control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
|
||||
}
|
||||
@@ -1,131 +0,0 @@
|
||||
#ifndef MC_ATT_CONTROL_BASE_H_
|
||||
#define MC_ATT_CONTROL_BASE_H_
|
||||
|
||||
/* Copyright (c) 2014 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 mc_att_control_base.h
|
||||
*
|
||||
* MC Attitude Controller : Control and math code
|
||||
*
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Roman Bapst <bapstr@ethz.ch>
|
||||
*
|
||||
*/
|
||||
#include <px4.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
|
||||
|
||||
|
||||
#define YAW_DEADZONE 0.05f
|
||||
#define MIN_TAKEOFF_THRUST 0.2f
|
||||
#define RATES_I_LIMIT 0.3f
|
||||
|
||||
using namespace px4;
|
||||
|
||||
class MulticopterAttitudeControlBase
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
MulticopterAttitudeControlBase();
|
||||
|
||||
/**
|
||||
* Destructor
|
||||
*/
|
||||
~MulticopterAttitudeControlBase();
|
||||
|
||||
/**
|
||||
* Start the sensors task.
|
||||
*
|
||||
* @return OK on success.
|
||||
*/
|
||||
void control_attitude(float dt);
|
||||
void control_attitude_rates(float dt);
|
||||
|
||||
void set_actuator_controls();
|
||||
|
||||
protected:
|
||||
px4::Subscriber<px4_vehicle_attitude> *_v_att; /**< vehicle attitude */
|
||||
px4::Subscriber<px4_vehicle_attitude_setpoint> *_v_att_sp; /**< vehicle attitude setpoint */
|
||||
px4::Subscriber<px4_vehicle_rates_setpoint> *_v_rates_sp; /**< vehicle rates setpoint */
|
||||
px4::Subscriber<px4_vehicle_control_mode> *_v_control_mode; /**< vehicle control mode */
|
||||
px4::Subscriber<px4_parameter_update> *_parameter_update; /**< parameter update */
|
||||
px4::Subscriber<px4_manual_control_setpoint> *_manual_control_sp; /**< manual control setpoint */
|
||||
px4::Subscriber<px4_actuator_armed> *_armed; /**< actuator arming status */
|
||||
px4::Subscriber<px4_vehicle_status> *_v_status; /**< vehicle status */
|
||||
|
||||
px4_vehicle_rates_setpoint _v_rates_sp_mod; /**< vehicle rates setpoint
|
||||
that gets published eventually*/
|
||||
px4_actuator_controls_0 _actuators; /**< actuator controls */
|
||||
|
||||
math::Vector<3> _rates_prev; /**< angular rates on previous step */
|
||||
math::Vector<3> _rates_sp; /**< angular rates setpoint */
|
||||
math::Vector<3> _rates_int; /**< angular rates integral error */
|
||||
float _thrust_sp; /**< thrust setpoint */
|
||||
math::Vector<3> _att_control; /**< attitude control vector */
|
||||
|
||||
math::Matrix<3, 3> _I; /**< identity matrix */
|
||||
|
||||
bool _reset_yaw_sp; /**< reset yaw setpoint flag */
|
||||
|
||||
struct {
|
||||
math::Vector<3> att_p; /**< P gain for angular error */
|
||||
math::Vector<3> rate_p; /**< P gain for angular rate error */
|
||||
math::Vector<3> rate_i; /**< I gain for angular rate error */
|
||||
math::Vector<3> rate_d; /**< D gain for angular rate error */
|
||||
float yaw_ff; /**< yaw control feed-forward */
|
||||
float yaw_rate_max; /**< max yaw rate */
|
||||
|
||||
math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
|
||||
|
||||
int32_t autostart_id;
|
||||
} _params;
|
||||
|
||||
bool _publish_att_sp;
|
||||
|
||||
};
|
||||
|
||||
#endif /* MC_ATT_CONTROL_BASE_H_ */
|
||||
@@ -1,78 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 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 mc_att_control_main.cpp
|
||||
* Multicopter attitude controller.
|
||||
*
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Roman Bapst <bapstr@ethz.ch>
|
||||
*
|
||||
* The controller has two loops: P loop for angular error and PD loop for angular rate error.
|
||||
* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
|
||||
* For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
|
||||
* so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
|
||||
* These two approaches fused seamlessly with weight depending on angular error.
|
||||
* When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
|
||||
* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
|
||||
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
|
||||
*/
|
||||
|
||||
#include "mc_att_control.h"
|
||||
|
||||
bool mc_att_control_thread_running = false; /**< Deamon status flag */
|
||||
|
||||
#if defined(__PX4_ROS)
|
||||
int main(int argc, char **argv)
|
||||
#else
|
||||
int mc_att_control_start_main(int argc, char **argv); // Prototype for missing declearation error with nuttx
|
||||
int mc_att_control_start_main(int argc, char **argv)
|
||||
#endif
|
||||
{
|
||||
px4::init(argc, argv, "mc_att_control_m");
|
||||
|
||||
PX4_INFO("starting");
|
||||
MulticopterAttitudeControlMultiplatform attctl;
|
||||
mc_att_control_thread_running = true;
|
||||
attctl.spin();
|
||||
|
||||
PX4_INFO("exiting.");
|
||||
mc_att_control_thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,215 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 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 mc_att_control_params.c
|
||||
* Parameters for multicopter attitude controller.
|
||||
*
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Lorenz Meier <lorenz@px4.io>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
*/
|
||||
|
||||
/**
|
||||
* Roll P gain
|
||||
*
|
||||
* Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_ROLL_P);
|
||||
|
||||
/**
|
||||
* Roll rate P gain
|
||||
*
|
||||
* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_P);
|
||||
|
||||
/**
|
||||
* Roll rate I gain
|
||||
*
|
||||
* Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_I);
|
||||
|
||||
/**
|
||||
* Roll rate D gain
|
||||
*
|
||||
* Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_D);
|
||||
|
||||
/**
|
||||
* Pitch P gain
|
||||
*
|
||||
* Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
|
||||
*
|
||||
* @unit 1/s
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_PITCH_P);
|
||||
|
||||
/**
|
||||
* Pitch rate P gain
|
||||
*
|
||||
* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_P);
|
||||
|
||||
/**
|
||||
* Pitch rate I gain
|
||||
*
|
||||
* Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_I);
|
||||
|
||||
/**
|
||||
* Pitch rate D gain
|
||||
*
|
||||
* Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_D);
|
||||
|
||||
/**
|
||||
* Yaw P gain
|
||||
*
|
||||
* Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
|
||||
*
|
||||
* @unit 1/s
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_YAW_P);
|
||||
|
||||
/**
|
||||
* Yaw rate P gain
|
||||
*
|
||||
* Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_P);
|
||||
|
||||
/**
|
||||
* Yaw rate I gain
|
||||
*
|
||||
* Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_I);
|
||||
|
||||
/**
|
||||
* Yaw rate D gain
|
||||
*
|
||||
* Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_D);
|
||||
|
||||
/**
|
||||
* Yaw feed forward
|
||||
*
|
||||
* Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_YAW_FF);
|
||||
|
||||
/**
|
||||
* Max yaw rate
|
||||
*
|
||||
* Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 360.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_MAX);
|
||||
|
||||
/**
|
||||
* Max acro roll rate
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 360.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_ACRO_R_MAX);
|
||||
|
||||
/**
|
||||
* Max acro pitch rate
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 360.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_ACRO_P_MAX);
|
||||
|
||||
/**
|
||||
* Max acro yaw rate
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MP_ACRO_Y_MAX);
|
||||
@@ -1,62 +0,0 @@
|
||||
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 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 MP_att_control_params.h
|
||||
* Parameters for multicopter attitude controller.
|
||||
*
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#define PARAM_MP_ROLL_P_DEFAULT 6.0f
|
||||
#define PARAM_MP_ROLLRATE_P_DEFAULT 0.1f
|
||||
#define PARAM_MP_ROLLRATE_I_DEFAULT 0.0f
|
||||
#define PARAM_MP_ROLLRATE_D_DEFAULT 0.002f
|
||||
#define PARAM_MP_PITCH_P_DEFAULT 6.0f
|
||||
#define PARAM_MP_PITCHRATE_P_DEFAULT 0.1f
|
||||
#define PARAM_MP_PITCHRATE_I_DEFAULT 0.0f
|
||||
#define PARAM_MP_PITCHRATE_D_DEFAULT 0.002f
|
||||
#define PARAM_MP_YAW_P_DEFAULT 2.0f
|
||||
#define PARAM_MP_YAWRATE_P_DEFAULT 0.3f
|
||||
#define PARAM_MP_YAWRATE_I_DEFAULT 0.0f
|
||||
#define PARAM_MP_YAWRATE_D_DEFAULT 0.0f
|
||||
#define PARAM_MP_YAW_FF_DEFAULT 0.5f
|
||||
#define PARAM_MP_YAWRATE_MAX_DEFAULT 60.0f
|
||||
#define PARAM_MP_ACRO_R_MAX_DEFAULT 35.0f
|
||||
#define PARAM_MP_ACRO_P_MAX_DEFAULT 35.0f
|
||||
#define PARAM_MP_ACRO_Y_MAX_DEFAULT 120.0f
|
||||
@@ -1,142 +0,0 @@
|
||||
/* Copyright (c) 2014 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 mc_att_control_sim.cpp
|
||||
*
|
||||
* MC Attitude Controller Interface for usage in a simulator
|
||||
*
|
||||
* @author Roman Bapst <bapstr@ethz.ch>
|
||||
*
|
||||
*/
|
||||
|
||||
#include "mc_att_control_sim.h"
|
||||
#include <geo/geo.h>
|
||||
#include <math.h>
|
||||
|
||||
#ifdef CONFIG_ARCH_ARM
|
||||
#else
|
||||
#include <cmath>
|
||||
using namespace std;
|
||||
#endif
|
||||
|
||||
MulticopterAttitudeControlSim::MulticopterAttitudeControlSim()
|
||||
{
|
||||
/* setup standard gains */
|
||||
//XXX: make these configurable
|
||||
_params.att_p(0) = 5.0;
|
||||
_params.rate_p(0) = 0.05;
|
||||
_params.rate_i(0) = 0.0;
|
||||
_params.rate_d(0) = 0.003;
|
||||
/* pitch gains */
|
||||
_params.att_p(1) = 5.0;
|
||||
_params.rate_p(1) = 0.05;
|
||||
_params.rate_i(1) = 0.0;
|
||||
_params.rate_d(1) = 0.003;
|
||||
/* yaw gains */
|
||||
_params.att_p(2) = 2.8;
|
||||
_params.rate_p(2) = 0.2;
|
||||
_params.rate_i(2) = 0.1;
|
||||
_params.rate_d(2) = 0.0;
|
||||
_params.yaw_rate_max = 0.5;
|
||||
_params.yaw_ff = 0.5;
|
||||
_params.man_roll_max = 0.6;
|
||||
_params.man_pitch_max = 0.6;
|
||||
_params.man_yaw_max = 0.6;
|
||||
}
|
||||
|
||||
MulticopterAttitudeControlSim::~MulticopterAttitudeControlSim()
|
||||
{
|
||||
}
|
||||
|
||||
void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude)
|
||||
{
|
||||
math::Quaternion quat;
|
||||
quat(0) = (float)attitude.w();
|
||||
quat(1) = (float)attitude.x();
|
||||
quat(2) = (float)attitude.y();
|
||||
quat(3) = (float)attitude.z();
|
||||
|
||||
_v_att.q[0] = quat(0);
|
||||
_v_att.q[1] = quat(1);
|
||||
_v_att.q[2] = quat(2);
|
||||
_v_att.q[3] = quat(3);
|
||||
|
||||
math::Matrix<3, 3> Rot = quat.to_dcm();
|
||||
_v_att.R[0][0] = Rot(0, 0);
|
||||
_v_att.R[1][0] = Rot(1, 0);
|
||||
_v_att.R[2][0] = Rot(2, 0);
|
||||
_v_att.R[0][1] = Rot(0, 1);
|
||||
_v_att.R[1][1] = Rot(1, 1);
|
||||
_v_att.R[2][1] = Rot(2, 1);
|
||||
_v_att.R[0][2] = Rot(0, 2);
|
||||
_v_att.R[1][2] = Rot(1, 2);
|
||||
_v_att.R[2][2] = Rot(2, 2);
|
||||
|
||||
_v_att.R_valid = true;
|
||||
}
|
||||
|
||||
void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d &angular_rate)
|
||||
{
|
||||
// check if this is consistent !!!
|
||||
_v_att.rollspeed = angular_rate(0);
|
||||
_v_att.pitchspeed = angular_rate(1);
|
||||
_v_att.yawspeed = angular_rate(2);
|
||||
}
|
||||
|
||||
void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference)
|
||||
{
|
||||
_v_att_sp.roll_body = control_attitude_thrust_reference(0);
|
||||
_v_att_sp.pitch_body = control_attitude_thrust_reference(1);
|
||||
_v_att_sp.yaw_body = control_attitude_thrust_reference(2);
|
||||
_v_att_sp.thrust = (control_attitude_thrust_reference(3) - 30) * (-1) / 30;
|
||||
|
||||
// setup rotation matrix
|
||||
math::Matrix<3, 3> Rot_sp;
|
||||
Rot_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
|
||||
_v_att_sp.R_body[0][0] = Rot_sp(0, 0);
|
||||
_v_att_sp.R_body[1][0] = Rot_sp(1, 0);
|
||||
_v_att_sp.R_body[2][0] = Rot_sp(2, 0);
|
||||
_v_att_sp.R_body[0][1] = Rot_sp(0, 1);
|
||||
_v_att_sp.R_body[1][1] = Rot_sp(1, 1);
|
||||
_v_att_sp.R_body[2][1] = Rot_sp(2, 1);
|
||||
_v_att_sp.R_body[0][2] = Rot_sp(0, 2);
|
||||
_v_att_sp.R_body[1][2] = Rot_sp(1, 2);
|
||||
_v_att_sp.R_body[2][2] = Rot_sp(2, 2);
|
||||
}
|
||||
|
||||
void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d &motor_inputs)
|
||||
{
|
||||
motor_inputs(0) = _actuators.control[0];
|
||||
motor_inputs(1) = _actuators.control[1];
|
||||
motor_inputs(2) = _actuators.control[2];
|
||||
motor_inputs(3) = _actuators.control[3];
|
||||
}
|
||||
@@ -1,97 +0,0 @@
|
||||
#ifndef MC_ATT_CONTROL_BASE_H_
|
||||
#define MC_ATT_CONTROL_BASE_H_
|
||||
|
||||
/* Copyright (c) 2014 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 mc_att_control_sim.h
|
||||
*
|
||||
* MC Attitude Controller Interface for usage in a simulator
|
||||
*
|
||||
* @author Roman Bapst <bapstr@ethz.ch>
|
||||
*
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <drivers/drv_hrt.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_control_mode.h>
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
#inlcude "mc_att_control_base.h"
|
||||
|
||||
|
||||
|
||||
#define YAW_DEADZONE 0.05f
|
||||
#define MIN_TAKEOFF_THRUST 0.2f
|
||||
#define RATES_I_LIMIT 0.3f
|
||||
|
||||
class MulticopterAttitudeControlSim :
|
||||
public MulticopterAttitudeControlBase
|
||||
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
MulticopterAttitudeControlSim();
|
||||
|
||||
/**
|
||||
* Destructor
|
||||
*/
|
||||
~MulticopterAttitudeControlSim();
|
||||
|
||||
/* setters and getters for interface with rotors-gazebo simulator */
|
||||
void set_attitude(const Eigen::Quaternion<double> attitude);
|
||||
void set_attitude_rates(const Eigen::Vector3d &angular_rate);
|
||||
void set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference);
|
||||
void get_mixer_input(Eigen::Vector4d &motor_inputs);
|
||||
|
||||
protected:
|
||||
void vehicle_attitude_setpoint_poll() {};
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif /* MC_ATT_CONTROL_BASE_H_ */
|
||||
@@ -1,100 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 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 mc_att_control_m_start_nuttx.cpp
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
#include <string.h>
|
||||
#include <cstdlib>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
extern bool mc_att_control_thread_running;
|
||||
int mc_att_control_daemon_task; /**< Handle of deamon task / thread */
|
||||
namespace px4
|
||||
{
|
||||
bool mc_att_control_task_should_exit = false;
|
||||
}
|
||||
using namespace px4;
|
||||
|
||||
extern int mc_att_control_start_main(int argc, char **argv);
|
||||
|
||||
extern "C" __EXPORT int mc_att_control_m_main(int argc, char *argv[]);
|
||||
int mc_att_control_m_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
warnx("usage: mc_att_control_m {start|stop|status}");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (mc_att_control_thread_running) {
|
||||
warnx("already running");
|
||||
/* this is not an error */
|
||||
return 0;
|
||||
}
|
||||
|
||||
mc_att_control_task_should_exit = false;
|
||||
warnx("ok now btak running");
|
||||
mc_att_control_daemon_task = px4_task_spawn_cmd("mc_att_control_m",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
1900,
|
||||
mc_att_control_start_main,
|
||||
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
mc_att_control_task_should_exit = true;
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (mc_att_control_thread_running) {
|
||||
warnx("is running");
|
||||
|
||||
} else {
|
||||
warnx("not started");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
warnx("unrecognized command");
|
||||
return 1;
|
||||
}
|
||||
@@ -1,43 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 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.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE modules__mc_pos_control_multiplatform
|
||||
MAIN mc_pos_control_m
|
||||
SRCS
|
||||
mc_pos_control_main.cpp
|
||||
mc_pos_control_start_nuttx.cpp
|
||||
mc_pos_control.cpp
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,228 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 - 2015 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 mc_pos_control.h
|
||||
* Multicopter position controller.
|
||||
*
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4.h>
|
||||
#include <cstdio>
|
||||
#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 <systemlib/systemlib.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <lib/geo/geo.h>
|
||||
// #include <mavlink/mavlink_log.h>
|
||||
|
||||
using namespace px4;
|
||||
|
||||
class MulticopterPositionControlMultiplatform
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
MulticopterPositionControlMultiplatform();
|
||||
|
||||
/**
|
||||
* Destructor, also kills task.
|
||||
*/
|
||||
~MulticopterPositionControlMultiplatform();
|
||||
|
||||
/* Callbacks for topics */
|
||||
void handle_vehicle_attitude(const px4_vehicle_attitude &msg);
|
||||
void handle_parameter_update(const px4_parameter_update &msg);
|
||||
void handle_position_setpoint_triplet(const px4_position_setpoint_triplet &msg);
|
||||
|
||||
void spin() { _n.spin(); }
|
||||
|
||||
protected:
|
||||
const float alt_ctl_dz = 0.2f;
|
||||
|
||||
bool _task_should_exit; /**< if true, task should exit */
|
||||
int _control_task; /**< task handle for task */
|
||||
//orb_advert_t _mavlink_log_pub; /**< mavlink log advert */
|
||||
|
||||
Publisher<px4_vehicle_attitude_setpoint> *_att_sp_pub; /**< attitude setpoint publication */
|
||||
Publisher<px4_vehicle_local_position_setpoint> *_local_pos_sp_pub; /**< vehicle local position setpoint publication */
|
||||
Publisher<px4_vehicle_global_velocity_setpoint> *_global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
|
||||
|
||||
|
||||
Subscriber<px4_vehicle_attitude> *_att; /**< vehicle attitude */
|
||||
Subscriber<px4_vehicle_control_mode> *_control_mode; /**< vehicle control mode */
|
||||
Subscriber<px4_parameter_update> *_parameter_update; /**< parameter update */
|
||||
Subscriber<px4_manual_control_setpoint> *_manual_control_sp; /**< manual control setpoint */
|
||||
Subscriber<px4_actuator_armed> *_armed; /**< actuator arming status */
|
||||
Subscriber<px4_vehicle_local_position> *_local_pos; /**< local position */
|
||||
Subscriber<px4_position_setpoint_triplet> *_pos_sp_triplet; /**< local position */
|
||||
Subscriber<px4_vehicle_local_position_setpoint> *_local_pos_sp; /**< local position */
|
||||
Subscriber<px4_vehicle_global_velocity_setpoint> *_global_vel_sp; /**< local position */
|
||||
|
||||
px4_vehicle_attitude_setpoint _att_sp_msg;
|
||||
px4_vehicle_local_position_setpoint _local_pos_sp_msg;
|
||||
px4_vehicle_global_velocity_setpoint _global_vel_sp_msg;
|
||||
|
||||
px4::NodeHandle _n;
|
||||
|
||||
px4::AppState _appState;
|
||||
|
||||
struct {
|
||||
px4::ParameterFloat thr_min;
|
||||
px4::ParameterFloat thr_max;
|
||||
px4::ParameterFloat z_p;
|
||||
px4::ParameterFloat z_vel_p;
|
||||
px4::ParameterFloat z_vel_i;
|
||||
px4::ParameterFloat z_vel_d;
|
||||
px4::ParameterFloat z_vel_max;
|
||||
px4::ParameterFloat z_ff;
|
||||
px4::ParameterFloat xy_p;
|
||||
px4::ParameterFloat xy_vel_p;
|
||||
px4::ParameterFloat xy_vel_i;
|
||||
px4::ParameterFloat xy_vel_d;
|
||||
px4::ParameterFloat xy_vel_max;
|
||||
px4::ParameterFloat xy_ff;
|
||||
px4::ParameterFloat tilt_max_air;
|
||||
px4::ParameterFloat land_speed;
|
||||
px4::ParameterFloat tilt_max_land;
|
||||
px4::ParameterFloat man_roll_max;
|
||||
px4::ParameterFloat man_pitch_max;
|
||||
px4::ParameterFloat man_yaw_max;
|
||||
px4::ParameterFloat mc_att_yaw_p; // needed for calculating reasonable attitude setpoints in manual
|
||||
} _params_handles; /**< handles for interesting parameters */
|
||||
|
||||
struct {
|
||||
float thr_min;
|
||||
float thr_max;
|
||||
float tilt_max_air;
|
||||
float land_speed;
|
||||
float tilt_max_land;
|
||||
float man_roll_max;
|
||||
float man_pitch_max;
|
||||
float man_yaw_max;
|
||||
float mc_att_yaw_p;
|
||||
|
||||
math::Vector<3> pos_p;
|
||||
math::Vector<3> vel_p;
|
||||
math::Vector<3> vel_i;
|
||||
math::Vector<3> vel_d;
|
||||
math::Vector<3> vel_ff;
|
||||
math::Vector<3> vel_max;
|
||||
math::Vector<3> sp_offs_max;
|
||||
} _params;
|
||||
|
||||
struct map_projection_reference_s _ref_pos;
|
||||
float _ref_alt;
|
||||
uint64_t _ref_timestamp;
|
||||
|
||||
bool _reset_pos_sp;
|
||||
bool _reset_alt_sp;
|
||||
bool _mode_auto;
|
||||
|
||||
math::Vector<3> _pos;
|
||||
math::Vector<3> _pos_sp;
|
||||
math::Vector<3> _vel;
|
||||
math::Vector<3> _vel_sp;
|
||||
math::Vector<3> _vel_prev; /**< velocity on previous step */
|
||||
math::Vector<3> _vel_ff;
|
||||
math::Vector<3> _sp_move_rate;
|
||||
|
||||
math::Vector<3> _thrust_int;
|
||||
math::Matrix<3, 3> _R;
|
||||
|
||||
/**
|
||||
* Update our local parameter cache.
|
||||
*/
|
||||
int parameters_update();
|
||||
|
||||
/**
|
||||
* Update control outputs
|
||||
*/
|
||||
void control_update();
|
||||
|
||||
static float scale_control(float ctl, float end, float dz);
|
||||
|
||||
/**
|
||||
* Update reference for local position projection
|
||||
*/
|
||||
void update_ref();
|
||||
/**
|
||||
* Reset position setpoint to current position
|
||||
*/
|
||||
void reset_pos_sp();
|
||||
|
||||
/**
|
||||
* Reset altitude setpoint to current altitude
|
||||
*/
|
||||
void reset_alt_sp();
|
||||
|
||||
/**
|
||||
* Check if position setpoint is too far from current position and adjust it if needed.
|
||||
*/
|
||||
void limit_pos_sp_offset();
|
||||
|
||||
/**
|
||||
* Set position setpoint using manual control
|
||||
*/
|
||||
void control_manual(float dt);
|
||||
|
||||
/**
|
||||
* Set position setpoint using offboard control
|
||||
*/
|
||||
void control_offboard(float dt);
|
||||
|
||||
bool cross_sphere_line(const math::Vector<3>& sphere_c, float sphere_r,
|
||||
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3>& res);
|
||||
|
||||
/**
|
||||
* Set position setpoint for AUTO
|
||||
*/
|
||||
void control_auto(float dt);
|
||||
|
||||
/**
|
||||
* Select between barometric and global (AMSL) altitudes
|
||||
*/
|
||||
void select_alt(bool global);
|
||||
};
|
||||
@@ -1,68 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 - 2015 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 mc_pos_control_main.cpp
|
||||
* Multicopter position controller.
|
||||
*
|
||||
* The controller has two loops: P loop for position error and PID loop for velocity error.
|
||||
* Output of velocity controller is thrust vector that splitted to thrust direction
|
||||
* (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself).
|
||||
* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
|
||||
*
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
|
||||
#include "mc_pos_control.h"
|
||||
|
||||
bool mc_pos_control_thread_running = false; /**< Deamon status flag */
|
||||
|
||||
#if defined(__PX4_ROS)
|
||||
int main(int argc, char **argv)
|
||||
#else
|
||||
int mc_pos_control_start_main(int argc, char **argv); // Prototype for missing declearation error with nuttx
|
||||
int mc_pos_control_start_main(int argc, char **argv)
|
||||
#endif
|
||||
{
|
||||
px4::init(argc, argv, "mc_pos_control_m");
|
||||
|
||||
PX4_INFO("starting");
|
||||
MulticopterPositionControlMultiplatform posctl;
|
||||
mc_pos_control_thread_running = true;
|
||||
posctl.spin();
|
||||
|
||||
PX4_INFO("exiting.");
|
||||
mc_pos_control_thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
@@ -1,236 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Anton Babushkin <anton.babushkin@me.com>
|
||||
*
|
||||
* 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) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file mc_pos_control_params.c
|
||||
* Multicopter position controller parameters.
|
||||
*
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
*/
|
||||
|
||||
/**
|
||||
* Minimum thrust
|
||||
*
|
||||
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_THR_MIN);
|
||||
|
||||
/**
|
||||
* Maximum thrust
|
||||
*
|
||||
* Limit max allowed thrust.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_THR_MAX);
|
||||
|
||||
/**
|
||||
* Proportional gain for vertical position error
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_Z_P);
|
||||
|
||||
/**
|
||||
* Proportional gain for vertical velocity error
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_P);
|
||||
|
||||
/**
|
||||
* Integral gain for vertical velocity error
|
||||
*
|
||||
* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_I);
|
||||
|
||||
/**
|
||||
* Differential gain for vertical velocity error
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_D);
|
||||
|
||||
/**
|
||||
* Maximum vertical velocity
|
||||
*
|
||||
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL).
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_MAX);
|
||||
|
||||
/**
|
||||
* Vertical velocity feed forward
|
||||
*
|
||||
* Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_Z_FF);
|
||||
|
||||
/**
|
||||
* Proportional gain for horizontal position error
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_XY_P);
|
||||
|
||||
/**
|
||||
* Proportional gain for horizontal velocity error
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_P);
|
||||
|
||||
/**
|
||||
* Integral gain for horizontal velocity error
|
||||
*
|
||||
* Non-zero value allows to resist wind.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_I);
|
||||
|
||||
/**
|
||||
* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
|
||||
*
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_D);
|
||||
|
||||
/**
|
||||
* Maximum horizontal velocity
|
||||
*
|
||||
* Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_MAX);
|
||||
|
||||
/**
|
||||
* Horizontal velocity feed forward
|
||||
*
|
||||
* Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_XY_FF);
|
||||
|
||||
/**
|
||||
* Maximum tilt angle in air
|
||||
*
|
||||
* Limits maximum tilt in AUTO and POSCTRL modes during flight.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0.0
|
||||
* @max 90.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_TILTMAX_AIR);
|
||||
|
||||
/**
|
||||
* Maximum tilt during landing
|
||||
*
|
||||
* Limits maximum tilt angle on landing.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0.0
|
||||
* @max 90.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_TILTMAX_LND);
|
||||
|
||||
/**
|
||||
* Landing descend rate
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.0
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_LAND_SPEED);
|
||||
|
||||
/**
|
||||
* Max manual roll
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0.0
|
||||
* @max 90.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_MAN_R_MAX);
|
||||
|
||||
/**
|
||||
* Max manual pitch
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0.0
|
||||
* @max 90.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_MAN_P_MAX);
|
||||
|
||||
/**
|
||||
* Max manual yaw rate
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PX4_PARAM_DEFINE_FLOAT(MPP_MAN_Y_MAX);
|
||||
@@ -1,64 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Anton Babushkin <anton.babushkin@me.com>
|
||||
*
|
||||
* 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 mc_pos_control_params.h
|
||||
* Multicopter position controller parameters.
|
||||
*
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#define PARAM_MPP_THR_MIN_DEFAULT 0.1f
|
||||
#define PARAM_MPP_THR_MAX_DEFAULT 1.0f
|
||||
#define PARAM_MPP_Z_P_DEFAULT 1.0f
|
||||
#define PARAM_MPP_Z_VEL_P_DEFAULT 0.1f
|
||||
#define PARAM_MPP_Z_VEL_I_DEFAULT 0.02f
|
||||
#define PARAM_MPP_Z_VEL_D_DEFAULT 0.0f
|
||||
#define PARAM_MPP_Z_VEL_MAX_DEFAULT 5.0f
|
||||
#define PARAM_MPP_Z_FF_DEFAULT 0.5f
|
||||
#define PARAM_MPP_XY_P_DEFAULT 1.0f
|
||||
#define PARAM_MPP_XY_VEL_P_DEFAULT 0.1f
|
||||
#define PARAM_MPP_XY_VEL_I_DEFAULT 0.02f
|
||||
#define PARAM_MPP_XY_VEL_D_DEFAULT 0.01f
|
||||
#define PARAM_MPP_XY_VEL_MAX_DEFAULT 5.0f
|
||||
#define PARAM_MPP_XY_FF_DEFAULT 0.5f
|
||||
#define PARAM_MPP_TILTMAX_AIR_DEFAULT 45.0f
|
||||
#define PARAM_MPP_TILTMAX_LND_DEFAULT 15.0f
|
||||
#define PARAM_MPP_LAND_SPEED_DEFAULT 1.0f
|
||||
#define PARAM_MPP_MAN_R_MAX_DEFAULT 35.0f
|
||||
#define PARAM_MPP_MAN_P_MAX_DEFAULT 35.0f
|
||||
#define PARAM_MPP_MAN_Y_MAX_DEFAULT 120.0f
|
||||
|
||||
@@ -1,99 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 - 2015 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 mc_pos_control_m_start_nuttx.cpp
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
#include <string.h>
|
||||
#include <cstdlib>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
extern bool mc_pos_control_thread_running;
|
||||
int mc_pos_control_daemon_task; /**< Handle of deamon task / thread */
|
||||
namespace px4
|
||||
{
|
||||
bool mc_pos_control_task_should_exit = false;
|
||||
}
|
||||
using namespace px4;
|
||||
|
||||
extern int mc_pos_control_start_main(int argc, char **argv);
|
||||
|
||||
extern "C" __EXPORT int mc_pos_control_m_main(int argc, char *argv[]);
|
||||
int mc_pos_control_m_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
PX4_WARN("usage: mc_pos_control_m {start|stop|status}");
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (mc_pos_control_thread_running) {
|
||||
warnx("already running");
|
||||
/* this is not an error */
|
||||
return 0;
|
||||
}
|
||||
|
||||
mc_pos_control_task_should_exit = false;
|
||||
|
||||
mc_pos_control_daemon_task = px4_task_spawn_cmd("mc_pos_control_m",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
2500,
|
||||
mc_pos_control_start_main,
|
||||
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
mc_pos_control_task_should_exit = true;
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (mc_pos_control_thread_running) {
|
||||
warnx("is running");
|
||||
|
||||
} else {
|
||||
warnx("not started");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
warnx("unrecognized command");
|
||||
return 1;
|
||||
}
|
||||
Reference in New Issue
Block a user