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multirotor_pos_control: global_position_setpoint support in AUTO mode

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Anton Babushkin
2013-07-12 13:17:42 +04:00
parent babbcea3b6
commit d4c6ebde33
1 changed files with 38 additions and 1 deletions
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src/modules/multirotor_pos_control/multirotor_pos_control.c
+38 -1
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@@ -60,6 +60,7 @@
#include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <systemlib/systemlib.h> #include <systemlib/systemlib.h>
#include <systemlib/pid/pid.h> #include <systemlib/pid/pid.h>
#include <mavlink/mavlink_log.h> #include <mavlink/mavlink_log.h>
@@ -179,6 +180,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
memset(&local_pos, 0, sizeof(local_pos)); memset(&local_pos, 0, sizeof(local_pos));
struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_local_position_setpoint_s local_pos_sp;
memset(&local_pos_sp, 0, sizeof(local_pos_sp)); memset(&local_pos_sp, 0, sizeof(local_pos_sp));
struct vehicle_global_position_setpoint_s global_pos_sp;
memset(&local_pos_sp, 0, sizeof(local_pos_sp));
/* subscribe to attitude, motor setpoints and system state */ /* subscribe to attitude, motor setpoints and system state */
int param_sub = orb_subscribe(ORB_ID(parameter_update)); int param_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -188,6 +191,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
/* publish setpoint */ /* publish setpoint */
orb_advert_t local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &local_pos_sp); orb_advert_t local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &local_pos_sp);
@@ -201,6 +205,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
const float pos_ctl_dz = 0.05f; const float pos_ctl_dz = 0.05f;
float home_alt = 0.0f; float home_alt = 0.0f;
hrt_abstime home_alt_t = 0; hrt_abstime home_alt_t = 0;
uint64_t local_home_timestamp = 0;
static PID_t xy_pos_pids[2]; static PID_t xy_pos_pids[2];
static PID_t xy_vel_pids[2]; static PID_t xy_vel_pids[2];
@@ -222,6 +227,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
thrust_pid_init(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f); thrust_pid_init(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
int paramcheck_counter = 0; int paramcheck_counter = 0;
bool global_pos_sp_updated = false;
while (!thread_should_exit) { while (!thread_should_exit) {
orb_copy(ORB_ID(vehicle_status), state_sub, &status); orb_copy(ORB_ID(vehicle_status), state_sub, &status);
@@ -243,6 +249,11 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
paramcheck_counter = 0; paramcheck_counter = 0;
} }
/* only check global position setpoint updates but not read */
if (!global_pos_sp_updated) {
orb_check(global_pos_sp_sub, &global_pos_sp_updated);
}
/* Check if controller should act */ /* Check if controller should act */
bool act = status.flag_system_armed && ( bool act = status.flag_system_armed && (
/* SAS modes */ /* SAS modes */
@@ -271,7 +282,33 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos); orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
if (status.state_machine == SYSTEM_STATE_AUTO) { if (status.state_machine == SYSTEM_STATE_AUTO) {
orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp); //orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp);
if (local_pos.home_timestamp != local_home_timestamp) {
local_home_timestamp = local_pos.home_timestamp;
/* init local projection using local position home */
double lat_home = local_pos.home_lat * 1e-7;
double lon_home = local_pos.home_lon * 1e-7;
map_projection_init(lat_home, lon_home);
warnx("local pos home: lat = %.10f, lon = %.10f", lat_home, lon_home);
mavlink_log_info(mavlink_fd, "local pos home: %.7f, %.7f", lat_home, lon_home);
}
if (global_pos_sp_updated) {
global_pos_sp_updated = false;
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_pos_sp_sub, &global_pos_sp);
double sp_lat = global_pos_sp.lat * 1e-7;
double sp_lon = global_pos_sp.lon * 1e-7;
/* project global setpoint to local setpoint */
map_projection_project(sp_lat, sp_lon, &(local_pos_sp.x), &(local_pos_sp.y));
if (global_pos_sp.altitude_is_relative) {
local_pos_sp.z = -global_pos_sp.altitude;
} else {
local_pos_sp.z = local_pos.home_alt - global_pos_sp.altitude;
}
warnx("new setpoint: lat = %.10f, lon = %.10f, x = %.2f, y = %.2f", sp_lat, sp_lon, local_pos_sp.x, local_pos_sp.y);
mavlink_log_info(mavlink_fd, "new setpoint: %.7f, %.7f, %.2f, %.2f", sp_lat, sp_lon, local_pos_sp.x, local_pos_sp.y);
/* publish local position setpoint as projection of global position setpoint */
orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp);
}
} }
if (reset_sp_alt) { if (reset_sp_alt) {