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fw_lat_lon_control: use control flags to determine when to run

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2025-02-04 14:17:43 +03:00
parent 37fe25570d
commit d72d899b98
2 changed files with 46 additions and 55 deletions
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src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+42 -55
View File
@@ -61,8 +61,6 @@ static constexpr uint64_t ROLL_WARNING_TIMEOUT = 2_s;
// [-] Can-run threshold needed to trigger the roll-constraining failsafe warning // [-] Can-run threshold needed to trigger the roll-constraining failsafe warning
static constexpr float ROLL_WARNING_CAN_RUN_THRESHOLD = 0.9f; static constexpr float ROLL_WARNING_CAN_RUN_THRESHOLD = 0.9f;
const fw_lateral_control_setpoint_s empty_lateral_control_setpoint = {.timestamp = 0, .course_setpoint = NAN, .airspeed_reference_direction = NAN, .lateral_acceleration_setpoint = NAN, .roll_sp = NAN};
const fw_longitudinal_control_setpoint_s empty_longitudinal_control_setpoint = {.timestamp = 0, .altitude_setpoint = NAN, .height_rate_setpoint = NAN, .equivalent_airspeed_setpoint = NAN, .pitch_sp = NAN, .thrust_sp = NAN};
FwLateralLongitudinalControl::FwLateralLongitudinalControl(bool is_vtol) : FwLateralLongitudinalControl::FwLateralLongitudinalControl(bool is_vtol) :
ModuleParams(nullptr), ModuleParams(nullptr),
@@ -139,7 +137,6 @@ void FwLateralLongitudinalControl::Run()
0.001f, 0.1f); 0.001f, 0.1f);
_last_time_loop_ran = _local_pos.timestamp; _last_time_loop_ran = _local_pos.timestamp;
_long_control_limits_sub.update(); _long_control_limits_sub.update();
_lateral_control_limits_sub.update(); _lateral_control_limits_sub.update();
@@ -174,19 +171,23 @@ void FwLateralLongitudinalControl::Run()
} }
} }
float pitch_sp{NAN}; const bool should_run = _control_mode_sub.get().flag_control_position_enabled ||
float throttle_sp{NAN}; _control_mode_sub.get().flag_control_velocity_enabled ||
_control_mode_sub.get().flag_control_acceleration_enabled ||
_control_mode_sub.get().flag_control_altitude_enabled ||
_control_mode_sub.get().flag_control_climb_rate_enabled;
bool publish = false; if (should_run) {
float pitch_sp{NAN};
float throttle_sp{NAN};
fw_longitudinal_control_setpoint_s longitudinal_sp = {empty_longitudinal_control_setpoint}; if (_fw_longitudinal_ctrl_sub.updated()) {
_fw_longitudinal_ctrl_sub.copy(&longitudinal_sp); _fw_longitudinal_ctrl_sub.copy(&_long_control_sp);
}
if (longitudinal_sp.timestamp > 0 && hrt_elapsed_time(&longitudinal_sp.timestamp) < 1_s) { tecs_update_pitch_throttle(control_interval, _long_control_sp.altitude_setpoint,
publish = true; PX4_ISFINITE(_long_control_sp.equivalent_airspeed_setpoint)
tecs_update_pitch_throttle(control_interval, longitudinal_sp.altitude_setpoint, ? _long_control_sp.equivalent_airspeed_setpoint :
PX4_ISFINITE(longitudinal_sp.equivalent_airspeed_setpoint)
? longitudinal_sp.equivalent_airspeed_setpoint :
_performance_model.getCalibratedTrimAirspeed(), _performance_model.getCalibratedTrimAirspeed(),
_long_control_limits_sub.get().pitch_min, _long_control_limits_sub.get().pitch_min,
_long_control_limits_sub.get().pitch_max, _long_control_limits_sub.get().pitch_max,
@@ -195,42 +196,39 @@ void FwLateralLongitudinalControl::Run()
_long_control_limits_sub.get().sink_rate_target, _long_control_limits_sub.get().sink_rate_target,
_long_control_limits_sub.get().climb_rate_target, _long_control_limits_sub.get().climb_rate_target,
_long_control_limits_sub.get().disable_underspeed_protection, _long_control_limits_sub.get().disable_underspeed_protection,
longitudinal_sp.height_rate_setpoint _long_control_sp.height_rate_setpoint
); );
pitch_sp = PX4_ISFINITE(longitudinal_sp.pitch_sp) ? longitudinal_sp.pitch_sp : _tecs.get_pitch_setpoint(); pitch_sp = PX4_ISFINITE(_long_control_sp.pitch_sp) ? _long_control_sp.pitch_sp : _tecs.get_pitch_setpoint();
throttle_sp = PX4_ISFINITE(longitudinal_sp.thrust_sp) ? longitudinal_sp.thrust_sp : _tecs.get_throttle_setpoint(); throttle_sp = PX4_ISFINITE(_long_control_sp.thrust_sp) ? _long_control_sp.thrust_sp : _tecs.get_throttle_setpoint();
fw_longitudinal_control_setpoint_s longitudinal_control_status { fw_longitudinal_control_setpoint_s longitudinal_control_status {
.timestamp = hrt_absolute_time(), .timestamp = hrt_absolute_time(),
.altitude_setpoint = longitudinal_sp.altitude_setpoint, .altitude_setpoint = _long_control_sp.altitude_setpoint,
.height_rate_setpoint = _tecs.getStatus().control.altitude_rate_control, .height_rate_setpoint = _tecs.getStatus().control.altitude_rate_control,
.equivalent_airspeed_setpoint = _tecs.getStatus().true_airspeed_sp / _long_control_state.eas2tas, .equivalent_airspeed_setpoint = _tecs.getStatus().true_airspeed_sp / _long_control_state.eas2tas,
}; };
_longitudinal_ctrl_status_pub.publish(longitudinal_control_status); _longitudinal_ctrl_status_pub.publish(longitudinal_control_status);
}
float roll_sp {NAN};
float yaw_sp {NAN};
float roll_sp {NAN}; if (_fw_lateral_ctrl_sub.updated()) {
float yaw_sp {NAN}; _fw_lateral_ctrl_sub.copy(&_lat_control_sp);
}
fw_lateral_control_setpoint_s lateral_sp = {empty_lateral_control_setpoint};
_fw_lateral_ctrl_sub.copy(&lateral_sp);
if (lateral_sp.timestamp > 0 && hrt_elapsed_time(&lateral_sp.timestamp) < 1_s) {
publish = true;
float airspeed_reference_direction{NAN}; float airspeed_reference_direction{NAN};
float lateral_accel_sp {NAN}; float lateral_accel_sp {NAN};
if (PX4_ISFINITE(lateral_sp.course_setpoint)) { if (PX4_ISFINITE(_lat_control_sp.course_setpoint)) {
airspeed_reference_direction = _course_to_airspeed.mapCourseSetpointToHeadingSetpoint( airspeed_reference_direction = _course_to_airspeed.mapCourseSetpointToHeadingSetpoint(
lateral_sp.course_setpoint, _lateral_control_state.wind_speed, _lat_control_sp.course_setpoint, _lateral_control_state.wind_speed,
_long_control_state.airspeed_eas * _long_control_state.eas2tas); _long_control_state.airspeed_eas * _long_control_state.eas2tas);
} }
if (PX4_ISFINITE(lateral_sp.airspeed_reference_direction)) { if (PX4_ISFINITE(_lat_control_sp.airspeed_reference_direction)) {
airspeed_reference_direction = PX4_ISFINITE(airspeed_reference_direction) ? airspeed_reference_direction + airspeed_reference_direction = PX4_ISFINITE(airspeed_reference_direction) ? airspeed_reference_direction +
lateral_sp.airspeed_reference_direction : lateral_sp.airspeed_reference_direction; _lat_control_sp.airspeed_reference_direction : _lat_control_sp.airspeed_reference_direction;
} }
if (PX4_ISFINITE(airspeed_reference_direction)) { if (PX4_ISFINITE(airspeed_reference_direction)) {
@@ -240,9 +238,9 @@ void FwLateralLongitudinalControl::Run()
_long_control_state.airspeed_eas * _long_control_state.eas2tas); _long_control_state.airspeed_eas * _long_control_state.eas2tas);
} }
if (PX4_ISFINITE(lateral_sp.lateral_acceleration_setpoint)) { if (PX4_ISFINITE(_lat_control_sp.lateral_acceleration_setpoint)) {
lateral_accel_sp = PX4_ISFINITE(lateral_accel_sp) ? lateral_accel_sp + lateral_sp.lateral_acceleration_setpoint : lateral_accel_sp = PX4_ISFINITE(lateral_accel_sp) ? lateral_accel_sp + _lat_control_sp.lateral_acceleration_setpoint :
lateral_sp.lateral_acceleration_setpoint; _lat_control_sp.lateral_acceleration_setpoint;
} }
if (PX4_ISFINITE(lateral_accel_sp)) { if (PX4_ISFINITE(lateral_accel_sp)) {
@@ -252,23 +250,20 @@ void FwLateralLongitudinalControl::Run()
roll_sp = mapLateralAccelerationToRollAngle(lateral_accel_sp); roll_sp = mapLateralAccelerationToRollAngle(lateral_accel_sp);
} }
_att_sp.reset_integral = lateral_sp.reset_integral; _att_sp.reset_integral = _lat_control_sp.reset_integral;
_att_sp.fw_control_yaw_wheel = PX4_ISFINITE(lateral_sp.heading_sp_runway_takeoff); _att_sp.fw_control_yaw_wheel = PX4_ISFINITE(_lat_control_sp.heading_sp_runway_takeoff);
yaw_sp = lateral_sp.heading_sp_runway_takeoff; yaw_sp = _lat_control_sp.heading_sp_runway_takeoff;
fw_lateral_control_setpoint_s status = { fw_lateral_control_setpoint_s status = {
.timestamp = lateral_sp.timestamp, .timestamp = _lat_control_sp.timestamp,
.course_setpoint = lateral_sp.course_setpoint, .course_setpoint = _lat_control_sp.course_setpoint,
.airspeed_reference_direction = airspeed_reference_direction, .airspeed_reference_direction = airspeed_reference_direction,
.lateral_acceleration_setpoint = lateral_accel_sp, .lateral_acceleration_setpoint = lateral_accel_sp,
.roll_sp = roll_sp // TODO: just for logging, can be removed later .roll_sp = roll_sp // TODO: just for logging, can be removed later
}; };
_lateral_ctrl_status_pub.publish(status); _lateral_ctrl_status_pub.publish(status);
}
if (publish) {
float roll_body = PX4_ISFINITE(roll_sp) ? roll_sp : 0.0f; float roll_body = PX4_ISFINITE(roll_sp) ? roll_sp : 0.0f;
float pitch_body = PX4_ISFINITE(pitch_sp) ? pitch_sp : 0.0f; float pitch_body = PX4_ISFINITE(pitch_sp) ? pitch_sp : 0.0f;
const float yaw_body = PX4_ISFINITE(yaw_sp) ? yaw_sp : _yaw; const float yaw_body = PX4_ISFINITE(yaw_sp) ? yaw_sp : _yaw;
@@ -281,24 +276,16 @@ void FwLateralLongitudinalControl::Run()
radians(_param_fw_p_lim_max.get())); radians(_param_fw_p_lim_max.get()));
} }
if (_control_mode_sub.get().flag_control_position_enabled || // roll slew rate
_control_mode_sub.get().flag_control_velocity_enabled || roll_body = _roll_slew_rate.update(roll_body, control_interval);
_control_mode_sub.get().flag_control_acceleration_enabled ||
_control_mode_sub.get().flag_control_altitude_enabled ||
_control_mode_sub.get().flag_control_climb_rate_enabled) {
// roll slew rate _att_sp.timestamp = hrt_absolute_time();
roll_body = _roll_slew_rate.update(roll_body, control_interval); const Quatf q(Eulerf(roll_body, pitch_body, yaw_body));
q.copyTo(_att_sp.q_d);
_att_sp.timestamp = hrt_absolute_time(); _att_sp.thrust_body[0] = thrust_body_x;
const Quatf q(Eulerf(roll_body, pitch_body, yaw_body));
q.copyTo(_att_sp.q_d);
_att_sp.thrust_body[0] = thrust_body_x;
_attitude_sp_pub.publish(_att_sp);
}
_attitude_sp_pub.publish(_att_sp);
} }
_z_reset_counter = _local_pos.z_reset_counter; _z_reset_counter = _local_pos.z_reset_counter;
src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp
+4
View File
@@ -79,6 +79,8 @@
#include <fw_performance_model/PerformanceModel.hpp> #include <fw_performance_model/PerformanceModel.hpp>
#include <slew_rate/SlewRate.hpp> #include <slew_rate/SlewRate.hpp>
const fw_lateral_control_setpoint_s empty_lateral_control_setpoint = {.timestamp = 0, .course_setpoint = NAN, .airspeed_reference_direction = NAN, .lateral_acceleration_setpoint = NAN, .roll_sp = NAN};
const fw_longitudinal_control_setpoint_s empty_longitudinal_control_setpoint = {.timestamp = 0, .altitude_setpoint = NAN, .height_rate_setpoint = NAN, .equivalent_airspeed_setpoint = NAN, .pitch_sp = NAN, .thrust_sp = NAN};
class FwLateralLongitudinalControl final : public ModuleBase<FwLateralLongitudinalControl>, public ModuleParams, class FwLateralLongitudinalControl final : public ModuleBase<FwLateralLongitudinalControl>, public ModuleParams,
public px4::WorkItem public px4::WorkItem
@@ -119,6 +121,8 @@ private:
uORB::SubscriptionData<lateral_control_limits_s> _lateral_control_limits_sub{ORB_ID(lateral_control_limits)}; uORB::SubscriptionData<lateral_control_limits_s> _lateral_control_limits_sub{ORB_ID(lateral_control_limits)};
vehicle_local_position_s _local_pos{}; vehicle_local_position_s _local_pos{};
fw_longitudinal_control_setpoint_s _long_control_sp{empty_longitudinal_control_setpoint};
fw_lateral_control_setpoint_s _lat_control_sp{empty_lateral_control_setpoint};
uORB::Publication <vehicle_attitude_setpoint_s> _attitude_sp_pub; uORB::Publication <vehicle_attitude_setpoint_s> _attitude_sp_pub;
uORB::Publication <tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)}; uORB::Publication <tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)};