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Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (C) 2012 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.
|
||||
#
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||||
############################################################################
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||||
#
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# Makefile to build uORB
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#
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APPNAME = multirotor_att_control
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PRIORITY = SCHED_PRIORITY_MAX - 15
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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@@ -0,0 +1,258 @@
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/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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.
|
||||
*
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****************************************************************************/
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/*
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* @file multirotor_att_control_main.c
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*
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* Implementation of multirotor attitude control main loop.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <getopt.h>
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#include <time.h>
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#include <math.h>
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#include <poll.h>
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#include <sys/prctl.h>
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#include <arch/board/up_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/ardrone_control.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/ardrone_motors_setpoint.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/actuator_controls.h>
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#include <systemlib/perf_counter.h>
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#include "multirotor_attitude_control.h"
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__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
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static enum {
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CONTROL_MODE_RATES = 0,
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CONTROL_MODE_ATTITUDE = 1,
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} control_mode;
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static bool thread_should_exit;
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static int mc_task;
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static int
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mc_thread_main(int argc, char *argv[])
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{
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bool motor_test_mode = false;
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/* structures */
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/* declare and safely initialize all structs */
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struct vehicle_status_s state;
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memset(&state, 0, sizeof(state));
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struct vehicle_attitude_s att;
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memset(&att, 0, sizeof(att));
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struct vehicle_attitude_setpoint_s att_sp;
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memset(&att_sp, 0, sizeof(att_sp));
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struct manual_control_setpoint_s manual;
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memset(&manual, 0, sizeof(manual));
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struct sensor_combined_s raw;
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memset(&raw, 0, sizeof(raw));
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struct ardrone_motors_setpoint_s setpoint;
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memset(&setpoint, 0, sizeof(setpoint));
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struct actuator_controls_s actuator_controls;
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memset(&actuator_controls, 0, sizeof(actuator_controls));
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struct actuator_controls_s actuators;
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struct actuator_armed_s armed;
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/* subscribe to attitude, motor setpoints and system state */
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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int state_sub = orb_subscribe(ORB_ID(vehicle_status));
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int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
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// int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
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/* rate-limit the attitude subscription to 200Hz to pace our loop */
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orb_set_interval(att_sub, 5);
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struct pollfd fds = { .fd = att_sub, .events = POLLIN };
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/* publish actuator controls */
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
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actuators.control[i] = 0.0f;
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int actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
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armed.armed = true;
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int armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
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/* register the perf counter */
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perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control");
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/* welcome user */
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printf("[multirotor_att_control] starting\n");
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while (!thread_should_exit) {
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/* wait for a sensor update, check for exit condition every 500 ms */
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poll(&fds, 1, 500);
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perf_begin(mc_loop_perf);
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/* get a local copy of manual setpoint */
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orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
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/* get a local copy of attitude */
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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/* get a local copy of attitude setpoint */
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orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
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att_sp.roll_body = -manual.roll * M_PI_F / 8.0f;
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att_sp.pitch_body = -manual.pitch * M_PI_F / 8.0f;
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att_sp.yaw_body = -manual.yaw * M_PI_F;
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if (motor_test_mode) {
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att_sp.roll_body = 0.0f;
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att_sp.pitch_body = 0.0f;
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att_sp.yaw_body = 0.0f;
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att_sp.thrust = 0.3f;
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} else {
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if (state.state_machine == SYSTEM_STATE_MANUAL ||
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state.state_machine == SYSTEM_STATE_GROUND_READY ||
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state.state_machine == SYSTEM_STATE_STABILIZED ||
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state.state_machine == SYSTEM_STATE_AUTO ||
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state.state_machine == SYSTEM_STATE_MISSION_ABORT ||
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state.state_machine == SYSTEM_STATE_EMCY_LANDING) {
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att_sp.thrust = manual.throttle;
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} else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) {
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/* immediately cut off motors */
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att_sp.thrust = 0.0f;
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} else {
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/* limit motor throttle to zero for an unknown mode */
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att_sp.thrust = 0.0f;
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}
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}
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multirotor_control_attitude(&att_sp, &att, &state, &actuator_controls, motor_test_mode);
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//ardrone_mixing_and_output(ardrone_write, &actuator_controls, motor_test_mode);
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/* publish the result */
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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perf_end(mc_loop_perf);
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}
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printf("[multirotor att control] stopping.\n");
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/* kill all outputs */
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armed.armed = false;
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orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
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actuators.control[i] = 0.0f;
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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close(att_sub);
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close(state_sub);
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close(manual_sub);
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close(actuator_pub);
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close(armed_pub);
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perf_print_counter(mc_loop_perf);
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perf_free(mc_loop_perf);
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fflush(stdout);
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exit(0);
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}
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static void
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usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: multirotor_att_control [-m <mode>] {start|stop}\n");
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fprintf(stderr, " <mode> is 'rates' or 'attitude'\n");
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exit(1);
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}
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int multirotor_att_control_main(int argc, char *argv[])
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{
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int ch;
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control_mode = CONTROL_MODE_RATES;
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unsigned int optioncount = 0;
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while ((ch = getopt(argc, argv, "m:")) != EOF) {
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switch (ch) {
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case 'm':
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if (!strcmp(optarg, "rates")) {
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control_mode = CONTROL_MODE_RATES;
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} else if (!strcmp(optarg, "attitude")) {
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control_mode = CONTROL_MODE_RATES;
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} else {
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usage("unrecognized -m value");
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}
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optioncount += 2;
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default:
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usage("unrecognized option");
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}
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}
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argc -= optioncount;
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argv += optioncount;
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if (argc < 1)
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usage("missing command");
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if (!strcmp(argv[1], "start")) {
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thread_should_exit = false;
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mc_task = task_create("multirotor_att_control", SCHED_PRIORITY_MAX - 15, 2048, mc_thread_main, NULL);
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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thread_should_exit = true;
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exit(0);
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}
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usage("unrecognized command");
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exit(1);
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}
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@@ -0,0 +1,223 @@
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/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Laurens Mackay <mackayl@student.ethz.ch>
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Martin Rutschmann <rutmarti@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
|
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*
|
||||
* 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 multirotor_attitude_control.c
|
||||
* Implementation of attitude controller
|
||||
*/
|
||||
|
||||
#include "multirotor_attitude_control.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <float.h>
|
||||
#include <math.h>
|
||||
#include <systemlib/pid/pid.h>
|
||||
#include <arch/board/up_hrt.h>
|
||||
|
||||
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
|
||||
const struct vehicle_attitude_s *att, const struct vehicle_status_s *status,
|
||||
struct actuator_controls_s *actuators, bool verbose)
|
||||
{
|
||||
static uint64_t last_run = 0;
|
||||
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
|
||||
last_run = hrt_absolute_time();
|
||||
|
||||
static int motor_skip_counter = 0;
|
||||
|
||||
static PID_t yaw_pos_controller;
|
||||
static PID_t yaw_speed_controller;
|
||||
static PID_t pitch_controller;
|
||||
static PID_t roll_controller;
|
||||
|
||||
static float pid_yawpos_lim;
|
||||
static float pid_yawspeed_lim;
|
||||
static float pid_att_lim;
|
||||
|
||||
static bool initialized = false;
|
||||
|
||||
/* initialize the pid controllers when the function is called for the first time */
|
||||
if (initialized == false) {
|
||||
|
||||
pid_init(&yaw_pos_controller,
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU],
|
||||
PID_MODE_DERIVATIV_CALC, 154);
|
||||
|
||||
pid_init(&yaw_speed_controller,
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU],
|
||||
PID_MODE_DERIVATIV_CALC, 155);
|
||||
|
||||
pid_init(&pitch_controller,
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
|
||||
PID_MODE_DERIVATIV_SET, 156);
|
||||
|
||||
pid_init(&roll_controller,
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
|
||||
PID_MODE_DERIVATIV_SET, 157);
|
||||
|
||||
pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
|
||||
pid_yawspeed_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
|
||||
pid_att_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
|
||||
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
/* load new parameters with lower rate */
|
||||
if (motor_skip_counter % 50 == 0) {
|
||||
pid_set_parameters(&yaw_pos_controller,
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU]);
|
||||
|
||||
pid_set_parameters(&yaw_speed_controller,
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU]);
|
||||
|
||||
pid_set_parameters(&pitch_controller,
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
|
||||
|
||||
pid_set_parameters(&roll_controller,
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
|
||||
|
||||
pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
|
||||
pid_yawspeed_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
|
||||
pid_att_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
|
||||
}
|
||||
|
||||
/*Calculate Controllers*/
|
||||
//control Nick
|
||||
float pitch_control = pid_calculate(&pitch_controller, att_sp->pitch_body + global_data_parameter_storage->pm.param_values[PARAM_ATT_YOFFSET],
|
||||
att->pitch, att->pitchspeed, deltaT);
|
||||
//control Roll
|
||||
float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + global_data_parameter_storage->pm.param_values[PARAM_ATT_XOFFSET],
|
||||
att->roll, att->rollspeed, deltaT);
|
||||
//control Yaw Speed
|
||||
float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT); //attitude_setpoint_bodyframe.z is yaw speed!
|
||||
|
||||
/*
|
||||
* compensate the vertical loss of thrust
|
||||
* when thrust plane has an angle.
|
||||
* start with a factor of 1.0 (no change)
|
||||
*/
|
||||
float zcompensation = 1.0f;
|
||||
|
||||
if (fabsf(att->roll) > 1.0f) {
|
||||
zcompensation *= 1.85081571768f;
|
||||
|
||||
} else {
|
||||
zcompensation *= 1.0f / cosf(att->roll);
|
||||
}
|
||||
|
||||
if (fabsf(att->pitch) > 1.0f) {
|
||||
zcompensation *= 1.85081571768f;
|
||||
|
||||
} else {
|
||||
zcompensation *= 1.0f / cosf(att->pitch);
|
||||
}
|
||||
|
||||
float motor_thrust = 0.0f;
|
||||
|
||||
// FLYING MODES
|
||||
motor_thrust = att_sp->thrust;
|
||||
|
||||
//printf("mot0: %3.1f\n", motor_thrust);
|
||||
|
||||
/* compensate thrust vector for roll / pitch contributions */
|
||||
motor_thrust *= zcompensation;
|
||||
|
||||
/* limit yaw rate output */
|
||||
if (yaw_rate_control > pid_yawspeed_lim) {
|
||||
yaw_rate_control = pid_yawspeed_lim;
|
||||
yaw_speed_controller.saturated = 1;
|
||||
}
|
||||
|
||||
if (yaw_rate_control < -pid_yawspeed_lim) {
|
||||
yaw_rate_control = -pid_yawspeed_lim;
|
||||
yaw_speed_controller.saturated = 1;
|
||||
}
|
||||
|
||||
if (pitch_control > pid_att_lim) {
|
||||
pitch_control = pid_att_lim;
|
||||
pitch_controller.saturated = 1;
|
||||
}
|
||||
|
||||
if (pitch_control < -pid_att_lim) {
|
||||
pitch_control = -pid_att_lim;
|
||||
pitch_controller.saturated = 1;
|
||||
}
|
||||
|
||||
|
||||
if (roll_control > pid_att_lim) {
|
||||
roll_control = pid_att_lim;
|
||||
roll_controller.saturated = 1;
|
||||
}
|
||||
|
||||
if (roll_control < -pid_att_lim) {
|
||||
roll_control = -pid_att_lim;
|
||||
roll_controller.saturated = 1;
|
||||
}
|
||||
|
||||
actuators->control[0] = roll_control;
|
||||
actuators->control[1] = pitch_control;
|
||||
actuators->control[2] = yaw_rate_control;
|
||||
actuators->control[3] = motor_thrust;
|
||||
}
|
||||
@@ -0,0 +1,61 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* @author Laurens Mackay <mackayl@student.ethz.ch>
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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 multirotor_attitude_control.h
|
||||
* Attitude control for multi rotors.
|
||||
*/
|
||||
|
||||
#ifndef MULTIROTOR_ATTITUDE_CONTROL_H_
|
||||
#define MULTIROTOR_ATTITUDE_CONTROL_H_
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/rc_channels.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/ardrone_control.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
|
||||
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
|
||||
const struct vehicle_status_s *status, struct actuator_controls_s *actuators, bool verbose);
|
||||
|
||||
void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose);
|
||||
|
||||
#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */
|
||||
Reference in New Issue
Block a user