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synced 2026-10-20 09:33:34 +08:00
Fixedwing controller code style
This commit is contained in:
Lorenz Meier
@@ -108,8 +108,8 @@ struct planned_path_segments_s {
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double end_lon;
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float radius; // Radius of arc
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float arc_start_bearing; // Bearing from center to start of arc
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float arc_sweep; // Angle (radians) swept out by arc around center.
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// Positive for clockwise, negative for counter-clockwise
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float arc_sweep; // Angle (radians) swept out by arc around center.
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// Positive for clockwise, negative for counter-clockwise
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};
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@@ -176,241 +176,241 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
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int fixedwing_pos_control_thread_main(int argc, char *argv[])
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{
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/* read arguments */
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bool verbose = false;
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bool verbose = false;
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for (int i = 1; i < argc; i++) {
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if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
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verbose = true;
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}
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for (int i = 1; i < argc; i++) {
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if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
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verbose = true;
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}
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}
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/* welcome user */
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printf("[fixedwing pos control] started\n");
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/* welcome user */
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printf("[fixedwing pos control] started\n");
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/* declare and safely initialize all structs */
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struct vehicle_global_position_s global_pos;
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memset(&global_pos, 0, sizeof(global_pos));
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struct vehicle_global_position_s start_pos; // Temporary variable, replace with
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memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available
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struct vehicle_global_position_setpoint_s global_setpoint;
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memset(&global_setpoint, 0, sizeof(global_setpoint));
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struct vehicle_attitude_s att;
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memset(&att, 0, sizeof(att));
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struct crosstrack_error_s xtrack_err;
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memset(&xtrack_err, 0, sizeof(xtrack_err));
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struct parameter_update_s param_update;
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memset(¶m_update, 0, sizeof(param_update));
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/* output structs */
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struct vehicle_attitude_setpoint_s attitude_setpoint;
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memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
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/* declare and safely initialize all structs */
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struct vehicle_global_position_s global_pos;
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memset(&global_pos, 0, sizeof(global_pos));
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struct vehicle_global_position_s start_pos; // Temporary variable, replace with
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memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available
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struct vehicle_global_position_setpoint_s global_setpoint;
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memset(&global_setpoint, 0, sizeof(global_setpoint));
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struct vehicle_attitude_s att;
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memset(&att, 0, sizeof(att));
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struct crosstrack_error_s xtrack_err;
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memset(&xtrack_err, 0, sizeof(xtrack_err));
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struct parameter_update_s param_update;
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memset(¶m_update, 0, sizeof(param_update));
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/* publish attitude setpoint */
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attitude_setpoint.roll_body = 0.0f;
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attitude_setpoint.pitch_body = 0.0f;
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attitude_setpoint.yaw_body = 0.0f;
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attitude_setpoint.thrust = 0.0f;
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orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
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/* output structs */
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struct vehicle_attitude_setpoint_s attitude_setpoint;
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memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
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/* subscribe */
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int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int param_sub = orb_subscribe(ORB_ID(parameter_update));
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/* publish attitude setpoint */
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attitude_setpoint.roll_body = 0.0f;
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attitude_setpoint.pitch_body = 0.0f;
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attitude_setpoint.yaw_body = 0.0f;
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attitude_setpoint.thrust = 0.0f;
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orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
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/* Setup of loop */
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struct pollfd fds[2] = {
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{ .fd = param_sub, .events = POLLIN },
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{ .fd = att_sub, .events = POLLIN }
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};
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bool global_sp_updated_set_once = false;
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/* subscribe */
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int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int param_sub = orb_subscribe(ORB_ID(parameter_update));
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float psi_track = 0.0f;
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/* Setup of loop */
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struct pollfd fds[2] = {
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{ .fd = param_sub, .events = POLLIN },
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{ .fd = att_sub, .events = POLLIN }
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};
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bool global_sp_updated_set_once = false;
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int counter = 0;
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float psi_track = 0.0f;
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struct fw_pos_control_params p;
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struct fw_pos_control_param_handles h;
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int counter = 0;
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PID_t heading_controller;
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PID_t heading_rate_controller;
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PID_t offtrack_controller;
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PID_t altitude_controller;
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struct fw_pos_control_params p;
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struct fw_pos_control_param_handles h;
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parameters_init(&h);
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parameters_update(&h, &p);
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pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
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pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
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pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
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pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f*M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
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PID_t heading_controller;
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PID_t heading_rate_controller;
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PID_t offtrack_controller;
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PID_t altitude_controller;
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/* error and performance monitoring */
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perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
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perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
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parameters_init(&h);
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parameters_update(&h, &p);
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pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
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pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
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pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
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pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
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while(!thread_should_exit)
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{
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/* wait for a sensor update, check for exit condition every 500 ms */
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int ret = poll(fds, 2, 500);
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/* error and performance monitoring */
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perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
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perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
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if (ret < 0) {
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/* poll error, count it in perf */
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perf_count(fw_err_perf);
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} else if (ret == 0) {
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/* no return value, ignore */
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} else {
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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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int ret = poll(fds, 2, 500);
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/* only update parameters if they changed */
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if (fds[0].revents & POLLIN) {
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/* read from param to clear updated flag */
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struct parameter_update_s update;
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orb_copy(ORB_ID(parameter_update), param_sub, &update);
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if (ret < 0) {
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/* poll error, count it in perf */
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perf_count(fw_err_perf);
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/* update parameters from storage */
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parameters_update(&h, &p);
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pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
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pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
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pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
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pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value
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} else if (ret == 0) {
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/* no return value, ignore */
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} else {
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/* only update parameters if they changed */
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if (fds[0].revents & POLLIN) {
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/* read from param to clear updated flag */
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struct parameter_update_s update;
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orb_copy(ORB_ID(parameter_update), param_sub, &update);
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/* update parameters from storage */
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parameters_update(&h, &p);
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pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
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pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
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pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
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pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value
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}
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/* only run controller if attitude changed */
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if (fds[1].revents & POLLIN) {
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static uint64_t last_run = 0;
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const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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/* check if there is a new position or setpoint */
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bool pos_updated;
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orb_check(global_pos_sub, &pos_updated);
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bool global_sp_updated;
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orb_check(global_setpoint_sub, &global_sp_updated);
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/* load local copies */
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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if (pos_updated) {
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orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
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}
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/* only run controller if attitude changed */
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if (fds[1].revents & POLLIN) {
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if (global_sp_updated) {
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orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
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start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
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global_sp_updated_set_once = true;
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psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
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(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
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printf("next wp direction: %0.4f\n", (double)psi_track);
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}
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static uint64_t last_run = 0;
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const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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/* Simple Horizontal Control */
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if (global_sp_updated_set_once) {
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// if (counter % 100 == 0)
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// printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
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/* check if there is a new position or setpoint */
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bool pos_updated;
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orb_check(global_pos_sub, &pos_updated);
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bool global_sp_updated;
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orb_check(global_setpoint_sub, &global_sp_updated);
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/* calculate crosstrack error */
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// Only the case of a straight line track following handled so far
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int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
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(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
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(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
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/* load local copies */
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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// XXX what is xtrack_err.past_end?
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if (distance_res == OK /*&& !xtrack_err.past_end*/) {
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if (pos_updated) {
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orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
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}
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float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
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if (global_sp_updated) {
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orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
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start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
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global_sp_updated_set_once = true;
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psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
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(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
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printf("next wp direction: %0.4f\n", (double)psi_track);
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}
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float psi_c = psi_track + delta_psi_c;
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float psi_e = psi_c - att.yaw;
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/* Simple Horizontal Control */
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if(global_sp_updated_set_once)
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{
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// if (counter % 100 == 0)
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// printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
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/* wrap difference back onto -pi..pi range */
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psi_e = _wrap_pi(psi_e);
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/* calculate crosstrack error */
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// Only the case of a straight line track following handled so far
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int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
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(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
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(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
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// XXX what is xtrack_err.past_end?
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if(distance_res == OK /*&& !xtrack_err.past_end*/) {
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float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
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float psi_c = psi_track + delta_psi_c;
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float psi_e = psi_c - att.yaw;
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/* wrap difference back onto -pi..pi range */
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psi_e = _wrap_pi(psi_e);
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if (verbose) {
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printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
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printf("delta_psi_c %.4f ", (double)delta_psi_c);
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printf("psi_c %.4f ", (double)psi_c);
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printf("att.yaw %.4f ", (double)att.yaw);
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printf("psi_e %.4f ", (double)psi_e);
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}
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/* calculate roll setpoint, do this artificially around zero */
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float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
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float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
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float psi_rate_c = delta_psi_rate_c + psi_rate_track;
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/* limit turn rate */
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if(psi_rate_c > p.headingr_lim) {
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psi_rate_c = p.headingr_lim;
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} else if(psi_rate_c < -p.headingr_lim) {
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psi_rate_c = -p.headingr_lim;
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}
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float psi_rate_e = psi_rate_c - att.yawspeed;
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// XXX sanity check: Assume 10 m/s stall speed and no stall condition
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float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
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if (ground_speed < 10.0f) {
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ground_speed = 10.0f;
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}
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float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
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attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
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if (verbose) {
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printf("psi_rate_c %.4f ", (double)psi_rate_c);
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printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
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printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
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}
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if (verbose && counter % 100 == 0)
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printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
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} else {
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if (verbose && counter % 100 == 0)
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printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
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if (verbose) {
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printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
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printf("delta_psi_c %.4f ", (double)delta_psi_c);
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printf("psi_c %.4f ", (double)psi_c);
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printf("att.yaw %.4f ", (double)att.yaw);
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printf("psi_e %.4f ", (double)psi_e);
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}
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/* Very simple Altitude Control */
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if(pos_updated)
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{
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/* calculate roll setpoint, do this artificially around zero */
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float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
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float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
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float psi_rate_c = delta_psi_rate_c + psi_rate_track;
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//TODO: take care of relative vs. ab. altitude
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attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
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/* limit turn rate */
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if (psi_rate_c > p.headingr_lim) {
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psi_rate_c = p.headingr_lim;
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||||
|
||||
} else if (psi_rate_c < -p.headingr_lim) {
|
||||
psi_rate_c = -p.headingr_lim;
|
||||
}
|
||||
|
||||
// XXX need speed control
|
||||
attitude_setpoint.thrust = 0.7f;
|
||||
float psi_rate_e = psi_rate_c - att.yawspeed;
|
||||
|
||||
/* publish the attitude setpoint */
|
||||
orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
|
||||
// XXX sanity check: Assume 10 m/s stall speed and no stall condition
|
||||
float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
|
||||
|
||||
/* measure in what intervals the controller runs */
|
||||
perf_count(fw_interval_perf);
|
||||
if (ground_speed < 10.0f) {
|
||||
ground_speed = 10.0f;
|
||||
}
|
||||
|
||||
counter++;
|
||||
float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
|
||||
|
||||
attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
|
||||
|
||||
if (verbose) {
|
||||
printf("psi_rate_c %.4f ", (double)psi_rate_c);
|
||||
printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
|
||||
printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
|
||||
}
|
||||
|
||||
if (verbose && counter % 100 == 0)
|
||||
printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c);
|
||||
|
||||
} else {
|
||||
// XXX no setpoint, decent default needed (loiter?)
|
||||
if (verbose && counter % 100 == 0)
|
||||
printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
|
||||
}
|
||||
|
||||
/* Very simple Altitude Control */
|
||||
if (pos_updated) {
|
||||
|
||||
//TODO: take care of relative vs. ab. altitude
|
||||
attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
|
||||
|
||||
}
|
||||
|
||||
// XXX need speed control
|
||||
attitude_setpoint.thrust = 0.7f;
|
||||
|
||||
/* publish the attitude setpoint */
|
||||
orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
|
||||
|
||||
/* measure in what intervals the controller runs */
|
||||
perf_count(fw_interval_perf);
|
||||
|
||||
counter++;
|
||||
|
||||
} else {
|
||||
// XXX no setpoint, decent default needed (loiter?)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
printf("[fixedwing_pos_control] exiting.\n");
|
||||
thread_running = false;
|
||||
printf("[fixedwing_pos_control] exiting.\n");
|
||||
thread_running = false;
|
||||
|
||||
|
||||
close(attitude_setpoint_pub);
|
||||
close(attitude_setpoint_pub);
|
||||
|
||||
fflush(stdout);
|
||||
exit(0);
|
||||
fflush(stdout);
|
||||
exit(0);
|
||||
|
||||
return 0;
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
@@ -421,6 +421,7 @@ usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
|
||||
exit(1);
|
||||
}
|
||||
@@ -465,9 +466,11 @@ int fixedwing_pos_control_main(int argc, char *argv[])
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
printf("\tfixedwing_pos_control is running\n");
|
||||
|
||||
} else {
|
||||
printf("\tfixedwing_pos_control not started\n");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user