mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 21:13:33 +08:00
uuv_att_control: removed redundant code, switched to new uORB API
This commit is contained in:
Thies Lennart Alff
@@ -59,8 +59,9 @@ extern "C" __EXPORT int uuv_att_control_main(int argc, char *argv[]);
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UUVAttitudeControl::UUVAttitudeControl():
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::attitude_ctrl),
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "gnda_dt"))
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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{
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}
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@@ -69,6 +70,16 @@ UUVAttitudeControl::~UUVAttitudeControl()
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perf_free(_loop_perf);
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}
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bool UUVAttitudeControl::init()
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{
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if (!_vehicle_attitude_sub.registerCallback()) {
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PX4_ERR("vehicle_attitude callback registration failed!");
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return false;
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}
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return true;
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}
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void UUVAttitudeControl::parameters_update(bool force)
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{
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// check for parameter updates
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@@ -82,42 +93,6 @@ void UUVAttitudeControl::parameters_update(bool force)
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}
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}
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void UUVAttitudeControl::vehicle_control_mode_poll()
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{
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bool updated = false;
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orb_check(_vcontrol_mode_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
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}
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}
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void UUVAttitudeControl::manual_control_setpoint_poll()
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{
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bool updated = false;
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orb_check(_manual_control_setpoint_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(manual_control_setpoint), _manual_control_setpoint_sub, &_manual_control_setpoint);
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}
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}
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void UUVAttitudeControl::vehicle_attitude_setpoint_poll()
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{
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bool updated = false;
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orb_check(_vehicle_attitude_sp_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_attitude_setpoint), _vehicle_attitude_sp_sub, &_vehicle_attitude_sp);
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}
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}
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void UUVAttitudeControl::vehicle_rates_setpoint_poll()
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{
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_vehicle_rates_setpoint_sub.update(&_vehicle_rates_sp);
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}
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void UUVAttitudeControl::constrain_actuator_commands(float roll_u, float pitch_u, float yaw_u, float thrust_u)
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{
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if (PX4_ISFINITE(roll_u)) {
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@@ -126,10 +101,6 @@ void UUVAttitudeControl::constrain_actuator_commands(float roll_u, float pitch_u
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} else {
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_actuators.control[actuator_controls_s::INDEX_ROLL] = 0.0f;
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if (loop_counter % 10 == 0) {
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PX4_INFO("roll_u %.4f", (double)roll_u);
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}
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}
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if (PX4_ISFINITE(pitch_u)) {
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@@ -138,10 +109,6 @@ void UUVAttitudeControl::constrain_actuator_commands(float roll_u, float pitch_u
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} else {
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_actuators.control[actuator_controls_s::INDEX_PITCH] = 0.0f;
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if (loop_counter % 10 == 0) {
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PX4_INFO("pitch_u %.4f", (double)pitch_u);
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}
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}
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if (PX4_ISFINITE(yaw_u)) {
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@@ -150,10 +117,6 @@ void UUVAttitudeControl::constrain_actuator_commands(float roll_u, float pitch_u
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} else {
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_actuators.control[actuator_controls_s::INDEX_YAW] = 0.0f;
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if (loop_counter % 10 == 0) {
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PX4_INFO("yaw_u %.4f", (double)yaw_u);
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}
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}
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if (PX4_ISFINITE(thrust_u)) {
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@@ -162,15 +125,12 @@ void UUVAttitudeControl::constrain_actuator_commands(float roll_u, float pitch_u
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} else {
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_actuators.control[actuator_controls_s::INDEX_THROTTLE] = 0.0f;
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if (loop_counter % 10 == 0) {
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PX4_INFO("thrust_u %.4f", (double)thrust_u);
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}
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}
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}
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void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &att, const vehicle_attitude_setpoint_s &att_sp)
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void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &attitude,
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const vehicle_attitude_setpoint_s &attitude_setpoint, const vehicle_angular_velocity_s &angular_velocity,
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const vehicle_rates_setpoint_s &rates_setpoint)
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{
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/** Geometric Controller
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*
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@@ -178,45 +138,43 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &att, con
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* D. Mellinger, V. Kumar, "Minimum Snap Trajectory Generation and Control for Quadrotors", IEEE ICRA 2011, pp. 2520-2525.
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* D. A. Duecker, A. Hackbarth, T. Johannink, E. Kreuzer, and E. Solowjow, “Micro Underwater Vehicle Hydrobatics: A SubmergedFuruta Pendulum,” IEEE ICRA 2018, pp. 7498–7503.
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*/
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Eulerf euler_angles(matrix::Quatf(att.q));
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Eulerf euler_angles(matrix::Quatf(attitude.q));
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float roll_u;
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float pitch_u;
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float yaw_u;
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float thrust_u;
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float roll_body = _vehicle_attitude_sp.roll_body;
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float pitch_body = _vehicle_attitude_sp.pitch_body;
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float yaw_body = _vehicle_attitude_sp.yaw_body;
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float roll_body = attitude_setpoint.roll_body;
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float pitch_body = attitude_setpoint.pitch_body;
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float yaw_body = attitude_setpoint.yaw_body;
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float roll_rate_desired = _vehicle_rates_sp.roll;
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float pitch_rate_desired = _vehicle_rates_sp.pitch;
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float yaw_rate_desired = _vehicle_rates_sp.yaw;
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float roll_rate_desired = rates_setpoint.roll;
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float pitch_rate_desired = rates_setpoint.pitch;
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float yaw_rate_desired = rates_setpoint.yaw;
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/* get attitude setpoint rotational matrix */
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Dcmf _rot_des = Eulerf(roll_body, pitch_body, yaw_body);
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Dcmf rot_des = Eulerf(roll_body, pitch_body, yaw_body);
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/* get current rotation matrix from control state quaternions */
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Quatf q_att(att.q[0], att.q[1], att.q[2], att.q[3]);
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Matrix3f _rot_att = matrix::Dcm<float>(q_att);
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Quatf q_att(attitude.q);
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Matrix3f rot_att = matrix::Dcm<float>(q_att);
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Vector3f e_R_vec;
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Vector3f torques;
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Vector3f omega;
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/* Compute matrix: attitude error */
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Matrix3f e_R = (_rot_des.transpose() * _rot_att - _rot_att.transpose() * _rot_des) * 0.5;
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Matrix3f e_R = (rot_des.transpose() * rot_att - rot_att.transpose() * rot_des) * 0.5;
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/* vee-map the error to get a vector instead of matrix e_R */
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e_R_vec(0) = e_R(2, 1); /**< Roll */
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e_R_vec(1) = e_R(0, 2); /**< Pitch */
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e_R_vec(2) = e_R(1, 0); /**< Yaw */
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omega(0) = _angular_velocity.xyz[0] - roll_rate_desired;
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omega(1) = _angular_velocity.xyz[1] - pitch_rate_desired;
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omega(2) = _angular_velocity.xyz[2] - yaw_rate_desired;
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Vector3f omega{angular_velocity.xyz};
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omega(0) -= roll_rate_desired;
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omega(1) -= pitch_rate_desired;
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omega(2) -= yaw_rate_desired;
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/**< P-Control */
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torques(0) = - e_R_vec(0) * _param_roll_p.get(); /**< Roll */
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@@ -232,154 +190,79 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &att, con
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pitch_u = torques(1);
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yaw_u = torques(2);
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//Quatf q_att(_att.q[0], _att.q[1], _att.q[2], _att.q[3]);
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//Matrix3f _rot_att = q_att.to_dcm();
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/** Vector3f current_velocity_boat;
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current_velocity_boat(0) = _local_pos.vx;
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current_velocity_boat(1) = _local_pos.vy;
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current_velocity_boat(2) = _local_pos.vz;
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current_velocity_boat = q_att.to_dcm() * current_velocity_boat;
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*/
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// take thrust as
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thrust_u = _vehicle_attitude_sp.thrust_body[0];
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thrust_u = attitude_setpoint.thrust_body[0];
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constrain_actuator_commands(roll_u, pitch_u, yaw_u, thrust_u);
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/* Geometric Controller END*/
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}
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void UUVAttitudeControl::run()
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void UUVAttitudeControl::Run()
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{
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_vehicle_attitude_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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_vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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_angular_velocity_sub = orb_subscribe(ORB_ID(vehicle_angular_velocity));
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_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
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_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
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if (should_exit()) {
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_vehicle_attitude_sub.unregisterCallback();
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exit_and_cleanup();
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return;
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}
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_manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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/* check vehicle control mode for changes to publication state */
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_vcontrol_mode_sub.update(&_vcontrol_mode);
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_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
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/* update parameters from storage */
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parameters_update();
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vehicle_attitude_s attitude;
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/* rate limit control mode updates to 5Hz */
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orb_set_interval(_vcontrol_mode_sub, 200);
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/* only run controller if attitude changed */
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if (_vehicle_attitude_sub.update(&attitude)) {
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vehicle_angular_velocity_s angular_velocity {};
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_angular_velocity_sub.copy(&angular_velocity);
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parameters_update(true);
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/* Run geometric attitude controllers if NOT manual mode*/
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if (!_vcontrol_mode.flag_control_manual_enabled
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&& _vcontrol_mode.flag_control_attitude_enabled
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&& _vcontrol_mode.flag_control_rates_enabled) {
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/* wakeup source(s) */
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px4_pollfd_struct_t fds[3];
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int input_mode = _param_input_mode.get();
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/* Setup of loop */
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fds[0].fd = _vehicle_attitude_sub;
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fds[0].events = POLLIN;
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fds[1].fd = _manual_control_setpoint_sub;
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fds[1].events = POLLIN;
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fds[2].fd = _sensor_combined_sub;
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fds[2].events = POLLIN;
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_vehicle_attitude_setpoint_sub.update(&_attitude_setpoint);
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_vehicle_rates_setpoint_sub.update(&_rates_setpoint);
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while (!should_exit()) {
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/* wait for up to 500ms for data */
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
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/* this is undesirable but not much we can do - might want to flag unhappy status */
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if (pret < 0) {
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warn("poll error %d, %d", pret, errno);
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continue;
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}
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/* check vehicle control mode for changes to publication state */
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vehicle_control_mode_poll();
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vehicle_attitude_setpoint_poll();
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/* update parameters from storage */
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parameters_update();
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/* only run controller if attitude changed */
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if (fds[0].revents & POLLIN) {
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static uint64_t last_run = 0;
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float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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/* guard against too large deltaT's */
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if (deltaT > 1.0f || fabsf(deltaT) < 0.00001f || !PX4_ISFINITE(deltaT)) {
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deltaT = 0.01f;
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if (input_mode == 1) { // process manual data
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_attitude_setpoint.roll_body = _param_direct_roll.get();
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_attitude_setpoint.pitch_body = _param_direct_pitch.get();
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_attitude_setpoint.yaw_body = _param_direct_yaw.get();
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_attitude_setpoint.thrust_body[0] = _param_direct_thrust.get();
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}
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/* load local copies */
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orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &_vehicle_attitude);
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orb_copy(ORB_ID(vehicle_angular_velocity), _angular_velocity_sub, &_angular_velocity);
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orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
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vehicle_attitude_setpoint_poll();
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vehicle_rates_setpoint_poll();
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vehicle_control_mode_poll();
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manual_control_setpoint_poll();
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/* Run geometric attitude controllers if NOT manual mode*/
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if (!_vcontrol_mode.flag_control_manual_enabled
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&& _vcontrol_mode.flag_control_attitude_enabled
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&& _vcontrol_mode.flag_control_rates_enabled) {
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int input_mode = _param_input_mode.get();
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// if (input_mode == 0) // process incoming vehicles setpoint data --> nothing to do
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if (input_mode == 1) { // process manual data
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_vehicle_attitude_sp.roll_body = _param_direct_roll.get();
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_vehicle_attitude_sp.pitch_body = _param_direct_pitch.get();
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_vehicle_attitude_sp.yaw_body = _param_direct_yaw.get();
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_vehicle_attitude_sp.thrust_body[0] = _param_direct_thrust.get();
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}
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/* Geometric Control*/
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control_attitude_geo(_vehicle_attitude, _vehicle_attitude_sp);
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}
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}
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loop_counter++;
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perf_end(_loop_perf);
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/* Manual Control mode (e.g. gamepad,...) - raw feedthrough no assistance */
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if (fds[1].revents & POLLIN) {
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// This should be copied even if not in manual mode. Otherwise, the poll(...) call will keep
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// returning immediately and this loop will eat up resources.
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orb_copy(ORB_ID(manual_control_setpoint), _manual_control_setpoint_sub, &_manual_control_setpoint);
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if (_vcontrol_mode.flag_control_manual_enabled && !_vcontrol_mode.flag_control_rates_enabled) {
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/* manual/direct control */
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constrain_actuator_commands(_manual_control_setpoint.y, -_manual_control_setpoint.x,
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_manual_control_setpoint.r, _manual_control_setpoint.z);
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}
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}
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if (fds[2].revents & POLLIN) {
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orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
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_actuators.timestamp = hrt_absolute_time();
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/* Only publish if any of the proper modes are enabled */
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if (_vcontrol_mode.flag_control_manual_enabled ||
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_vcontrol_mode.flag_control_attitude_enabled) {
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/* publish the actuator controls */
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_actuator_controls_pub.publish(_actuators);
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}
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/* Geometric Control*/
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control_attitude_geo(attitude, _attitude_setpoint, angular_velocity, _rates_setpoint);
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}
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}
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orb_unsubscribe(_vcontrol_mode_sub);
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orb_unsubscribe(_vehicle_attitude_sp_sub);
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orb_unsubscribe(_angular_velocity_sub);
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orb_unsubscribe(_manual_control_setpoint_sub);
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orb_unsubscribe(_vehicle_attitude_sub);
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orb_unsubscribe(_local_pos_sub);
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orb_unsubscribe(_sensor_combined_sub);
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perf_end(_loop_perf);
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/* Manual Control mode (e.g. gamepad,...) - raw feedthrough no assistance */
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if (_manual_control_setpoint_sub.update(&_manual_control_setpoint)) {
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// This should be copied even if not in manual mode. Otherwise, the poll(...) call will keep
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// returning immediately and this loop will eat up resources.
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if (_vcontrol_mode.flag_control_manual_enabled && !_vcontrol_mode.flag_control_rates_enabled) {
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/* manual/direct control */
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constrain_actuator_commands(_manual_control_setpoint.y, -_manual_control_setpoint.x,
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_manual_control_setpoint.r, _manual_control_setpoint.z);
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}
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}
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_actuators.timestamp = hrt_absolute_time();
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/* Only publish if any of the proper modes are enabled */
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if (_vcontrol_mode.flag_control_manual_enabled ||
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_vcontrol_mode.flag_control_attitude_enabled) {
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/* publish the actuator controls */
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_actuator_controls_pub.publish(_actuators);
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}
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warnx("exiting.\n");
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}
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