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mc_rate: compute control energy and publish to status msg

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bresch 2021-09-29 11:12:38 +02:00 committed by Daniel Agar
parent 0a662ef22c
commit d504b49695
5 changed files with 46 additions and 2 deletions
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1
msg/CMakeLists.txt
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@ -39,6 +39,7 @@ include(px4_list_make_absolute)
set(msg_files
actuator_armed.msg
actuator_controls.msg
actuator_controls_status.msg
actuator_outputs.msg
adc_report.msg
airspeed.msg

10
msg/actuator_controls_status.msg Normal file
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@ -0,0 +1,10 @@
uint64 timestamp # time since system start (microseconds)
uint8 INDEX_ROLL = 0
uint8 INDEX_PITCH = 1
uint8 INDEX_YAW = 2
uint8 INDEX_THROTTLE = 3
float32[4] control_power
# TOPICS actuator_controls_status actuator_controls_status_0 actuator_controls_status_1

1
src/modules/logger/logged_topics.cpp
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@ -52,6 +52,7 @@ void LoggedTopics::add_default_topics()
add_topic("actuator_controls_3", 100);
add_topic("actuator_controls_4", 100);
add_topic("actuator_controls_5", 100);
add_topic("actuator_controls_status_0", 300);
add_topic("airspeed", 1000);
add_topic("airspeed_validated", 200);
add_topic("camera_capture");

25
src/modules/mc_rate_control/MulticopterRateControl.cpp
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@ -256,6 +256,8 @@ MulticopterRateControl::Run()
actuators.timestamp = hrt_absolute_time();
_actuators_0_pub.publish(actuators);
updateActuatorControlsStatus(actuators, dt);
} else if (_v_control_mode.flag_control_termination_enabled) {
if (!_vehicle_status.is_vtol) {
// publish actuator controls
@ -269,6 +271,29 @@ MulticopterRateControl::Run()
perf_end(_loop_perf);
}
void MulticopterRateControl::updateActuatorControlsStatus(const actuator_controls_s &actuators, float dt)
{
for (int i = 0; i < 4; i++) {
_control_energy[i] += actuators.control[i] * actuators.control[i] * dt;
}
_energy_integration_time += dt;
if (_energy_integration_time > 500e-3f) {
actuator_controls_status_s status;
status.timestamp = actuators.timestamp;
for (int i = 0; i < 4; i++) {
status.control_power[i] = _control_energy[i] / _energy_integration_time;
_control_energy[i] = 0.f;
}
_actuator_controls_status_0_pub.publish(status);
_energy_integration_time = 0.f;
}
}
int MulticopterRateControl::task_spawn(int argc, char *argv[])
{
bool vtol = false;

11
src/modules/mc_rate_control/MulticopterRateControl.hpp
View File

@ -47,6 +47,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/manual_control_setpoint.h>
@ -87,6 +88,8 @@ private:
*/
void parameters_updated();
void updateActuatorControlsStatus(const actuator_controls_s &actuators, float dt);
RateControl _rate_control; ///< class for rate control calculations
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
@ -104,8 +107,9 @@ private:
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
uORB::Publication<actuator_controls_s> _actuators_0_pub;
uORB::PublicationMulti<rate_ctrl_status_s> _controller_status_pub{ORB_ID(rate_ctrl_status)}; /**< controller status publication */
uORB::Publication<vehicle_rates_setpoint_s> _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)}; /**< rate setpoint publication */
uORB::Publication<actuator_controls_status_s> _actuator_controls_status_0_pub{ORB_ID(actuator_controls_status_0)};
uORB::PublicationMulti<rate_ctrl_status_s> _controller_status_pub{ORB_ID(rate_ctrl_status)};
uORB::Publication<vehicle_rates_setpoint_s> _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};
vehicle_control_mode_s _v_control_mode{};
vehicle_status_s _vehicle_status{};
@ -126,6 +130,9 @@ private:
int8_t _landing_gear{landing_gear_s::GEAR_DOWN};
float _energy_integration_time{0.0f};
float _control_energy[4] {};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MC_ROLLRATE_P>) _param_mc_rollrate_p,
(ParamFloat<px4::params::MC_ROLLRATE_I>) _param_mc_rollrate_i,