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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.
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#
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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
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Makefile to build multirotor position control
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#
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APPNAME = multirotor_pos_control
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PRIORITY = SCHED_PRIORITY_MAX - 25
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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@@ -0,0 +1,136 @@
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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: Lorenz Meier <lm@inf.ethz.ch>
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*
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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.
|
||||
*
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||||
* 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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/*
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* @file Implementation of AR.Drone 1.0 / 2.0 control interface
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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 <termios.h>
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#include <time.h>
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#include <sys/prctl.h>
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#include <arch/board/up_hrt.h>
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#include "ardrone_control.h"
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#include "attitude_control.h"
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#include "rate_control.h"
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#include "ardrone_motor_control.h"
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#include "position_control.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/manual_control_setpoint.h>
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__EXPORT int multirotor_pos_control_main(int argc, char *argv[]);
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static bool thread_should_exit;
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static bool thread_running = false;
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static int mpc_task;
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static int
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mpc_thread_main(int argc, char *argv[])
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{
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/* welcome user */
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printf("[multirotor pos control] Control started, taking over position control\n");
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/* structures */
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struct vehicle_status_s state;
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struct vehicle_attitude_s att;
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//struct vehicle_global_position_setpoint_s global_pos_sp;
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struct vehicle_local_position_setpoint_s local_pos_sp;
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struct vehicle_local_position_s local_pos;
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struct manual_control_setpoint_s manual;
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struct vehicle_attitude_setpoint_s att_sp;
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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 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 local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
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//int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
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int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
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/* publish attitude setpoint */
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int att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
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while (1) {
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/* get a local copy of the vehicle state */
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orb_copy(ORB_ID(vehicle_status), state_sub, &state);
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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 local position */
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orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
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/* get a local copy of local position setpoint */
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orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp);
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if (state.state_machine == SYSTEM_STATE_AUTO) {
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position_control(&state, &manual, &att, &local_pos, &local_pos_sp, &att_sp);
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/* publish new attitude setpoint */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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} else if (state.state_machine == SYSTEM_STATE_STABILIZE) {
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/* set setpoint to current position */
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// XXX select pos reset channel on remote
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/* reset setpoint to current position (position hold) */
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// if (1 == 2) {
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// local_pos_sp.x = local_pos.x;
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// local_pos_sp.y = local_pos.y;
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// local_pos_sp.z = local_pos.z;
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// local_pos_sp.yaw = att.yaw;
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// }
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}
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/* run at approximately 50 Hz */
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usleep(20000);
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counter++;
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}
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/* close uarts */
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close(ardrone_write);
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ar_multiplexing_deinit(gpios);
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printf("[multirotor pos control] ending now...\r\n");
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fflush(stdout);
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return 0;
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}
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@@ -0,0 +1,275 @@
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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 Lorenz Meier <lm@inf.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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*
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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.
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*
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****************************************************************************/
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/**
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* @file multirotor_position_control.c
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* Implementation of the position control for a multirotor VTOL
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <math.h>
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#include <stdbool.h>
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#include <float.h>
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#include <systemlib/pid/pid.h>
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#include "multirotor_position_control.h"
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float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
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{
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double lat_now_rad = lat_now / 180.0 * M_PI;
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double lon_now_rad = lon_now / 180.0 * M_PI;
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double lat_next_rad = lat_next / 180.0 * M_PI;
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double lon_next_rad = lon_next / 180.0 * M_PI;
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double d_lat = lat_next_rad - lat_now_rad;
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double d_lon = lon_next_rad - lon_now_rad;
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double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(lat_now_rad) * cos(lat_next_rad);
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double c = 2 * atan2(sqrt(a), sqrt(1 - a));
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const double radius_earth = 6371000.0;
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return radius_earth * c;
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}
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float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
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{
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double lat_now_rad = lat_now / 180.0 * M_PI;
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double lon_now_rad = lon_now / 180.0 * M_PI;
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double lat_next_rad = lat_next / 180.0 * M_PI;
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double lon_next_rad = lon_next / 180.0 * M_PI;
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double d_lat = lat_next_rad - lat_now_rad;
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double d_lon = lon_next_rad - lon_now_rad;
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/* conscious mix of double and float trig function to maximize speed and efficiency */
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float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
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// XXX wrapping check is incomplete
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if (theta < 0.0f) {
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theta = theta + 2.0f * M_PI_F;
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}
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return theta;
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}
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void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
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const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
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const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp)
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{
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static PID_t distance_controller;
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static int read_ret;
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static global_data_position_t position_estimated;
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static uint16_t counter;
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static bool initialized;
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static uint16_t pm_counter;
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static float lat_next;
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static float lon_next;
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static float pitch_current;
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static float thrust_total;
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if (initialized == false) {
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pid_init(&distance_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
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PID_MODE_DERIVATIV_CALC, 150);//150
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// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
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// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
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thrust_total = 0.0f;
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/* Position initialization */
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/* Wait for new position estimate */
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do {
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read_ret = read_lock_position(&position_estimated);
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} while (read_ret != 0);
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lat_next = position_estimated.lat;
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lon_next = position_estimated.lon;
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/* attitude initialization */
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global_data_lock(&global_data_attitude->access_conf);
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pitch_current = global_data_attitude->pitch;
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global_data_unlock(&global_data_attitude->access_conf);
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initialized = true;
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}
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/* load new parameters with 10Hz */
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if (counter % 50 == 0) {
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if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
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/* check whether new parameters are available */
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if (global_data_parameter_storage->counter > pm_counter) {
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pid_set_parameters(&distance_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);
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//
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// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
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// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
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pm_counter = global_data_parameter_storage->counter;
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printf("Position controller changed pid parameters\n");
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}
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}
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global_data_unlock(&global_data_parameter_storage->access_conf);
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}
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/* Wait for new position estimate */
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do {
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read_ret = read_lock_position(&position_estimated);
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} while (read_ret != 0);
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/* Get next waypoint */ //TODO: add local copy
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if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
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lat_next = global_data_position_setpoint->x;
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lon_next = global_data_position_setpoint->y;
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global_data_unlock(&global_data_position_setpoint->access_conf);
|
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}
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/* Get distance to waypoint */
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float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
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// if(counter % 5 == 0)
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// printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
|
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|
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/* Get bearing to waypoint (direction on earth surface to next waypoint) */
|
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float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);
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|
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if (counter % 5 == 0)
|
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printf("bearing: %.4f\n", bearing);
|
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|
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/* Calculate speed in direction of bearing (needed for controller) */
|
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float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy);
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// if(counter % 5 == 0)
|
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// printf("speed_norm: %.4f\n", speed_norm);
|
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float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
|
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|
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/* Control Thrust in bearing direction */
|
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float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
|
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CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
|
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|
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// if(counter % 5 == 0)
|
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// printf("horizontal thrust: %.4f\n", horizontal_thrust);
|
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|
||||
/* Get total thrust (from remote for now) */
|
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if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
|
||||
thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum?
|
||||
global_data_unlock(&global_data_rc_channels->access_conf);
|
||||
}
|
||||
|
||||
const float max_gas = 500.0f;
|
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thrust_total *= max_gas / 20000.0f; //TODO: check this
|
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thrust_total += max_gas / 2.0f;
|
||||
|
||||
|
||||
if (horizontal_thrust > thrust_total) {
|
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horizontal_thrust = thrust_total;
|
||||
|
||||
} else if (horizontal_thrust < -thrust_total) {
|
||||
horizontal_thrust = -thrust_total;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//TODO: maybe we want to add a speed controller later...
|
||||
|
||||
/* Calclulate thrust in east and north direction */
|
||||
float thrust_north = cosf(bearing) * horizontal_thrust;
|
||||
float thrust_east = sinf(bearing) * horizontal_thrust;
|
||||
|
||||
if (counter % 10 == 0) {
|
||||
printf("thrust north: %.4f\n", thrust_north);
|
||||
printf("thrust east: %.4f\n", thrust_east);
|
||||
fflush(stdout);
|
||||
}
|
||||
|
||||
/* Get current attitude */
|
||||
if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
|
||||
pitch_current = global_data_attitude->pitch;
|
||||
global_data_unlock(&global_data_attitude->access_conf);
|
||||
}
|
||||
|
||||
/* Get desired pitch & roll */
|
||||
float pitch_desired = 0.0f;
|
||||
float roll_desired = 0.0f;
|
||||
|
||||
if (thrust_total != 0) {
|
||||
float pitch_fraction = -thrust_north / thrust_total;
|
||||
float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);
|
||||
|
||||
if (roll_fraction < -1) {
|
||||
roll_fraction = -1;
|
||||
|
||||
} else if (roll_fraction > 1) {
|
||||
roll_fraction = 1;
|
||||
}
|
||||
|
||||
// if(counter % 5 == 0)
|
||||
// {
|
||||
// printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
|
||||
// fflush(stdout);
|
||||
// }
|
||||
|
||||
pitch_desired = asinf(pitch_fraction);
|
||||
roll_desired = asinf(roll_fraction);
|
||||
}
|
||||
|
||||
att_sp.roll = roll_desired;
|
||||
att_sp.pitch = pitch_desired;
|
||||
|
||||
counter++;
|
||||
}
|
||||
@@ -0,0 +1,50 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Laurens Mackay <mackayl@student.ethz.ch>
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Martin Rutschmann <rutmarti@student.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_position_control.h
|
||||
* Definition of the position control for a multirotor VTOL
|
||||
*/
|
||||
|
||||
#ifndef POSITION_CONTROL_H_
|
||||
#define POSITION_CONTROL_H_
|
||||
|
||||
void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
|
||||
const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
|
||||
const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp);
|
||||
|
||||
#endif /* POSITION_CONTROL_H_ */
|
||||
Reference in New Issue
Block a user