Merge branch 'seatbelt_multirotor' into seatbelt_multirotor_new

WIP, TODO fixedwing

src/modules/multirotor_att_control/multirotor_att_control_main.c

@@ -58,13 +58,11 @@
 #include <uORB/uORB.h>
 #include <drivers/drv_gyro.h>
 #include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/offboard_control_setpoint.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_control_debug.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/parameter_update.h>
@@ -84,18 +82,12 @@ static bool thread_should_exit;
 static int mc_task;
 static bool motor_test_mode = false;
 
-static orb_advert_t actuator_pub;
-static orb_advert_t control_debug_pub;
-
-
 static int
 mc_thread_main(int argc, char *argv[])
 {
 	/* declare and safely initialize all structs */
 	struct vehicle_control_mode_s control_mode;
 	memset(&control_mode, 0, sizeof(control_mode));
-	struct actuator_armed_s armed;
-	memset(&armed, 0, sizeof(armed));
 	struct vehicle_attitude_s att;
 	memset(&att, 0, sizeof(att));
 	struct vehicle_attitude_setpoint_s att_sp;
@@ -112,16 +104,12 @@ mc_thread_main(int argc, char *argv[])
 	struct actuator_controls_s actuators;
 	memset(&actuators, 0, sizeof(actuators));
 
-	struct vehicle_control_debug_s control_debug;
-	memset(&control_debug, 0, sizeof(control_debug));
-
 	/* subscribe to attitude, motor setpoints and system state */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	int param_sub = orb_subscribe(ORB_ID(parameter_update));
 	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
 	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 
@@ -142,10 +130,8 @@ mc_thread_main(int argc, char *argv[])
 	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
 		actuators.control[i] = 0.0f;
 	}
-	
-	control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug);
 
-	actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
+	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
 	orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
 	orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
 	int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
@@ -161,20 +147,18 @@ mc_thread_main(int argc, char *argv[])
 	/* store last control mode to detect mode switches */
 	bool flag_control_manual_enabled = false;
 	bool flag_control_attitude_enabled = false;
-	bool flag_armed = false;
-	bool flag_control_position_enabled = false;
-	bool flag_control_velocity_enabled = false;
 
 	/* store if yaw position or yaw speed has been changed */
 	bool control_yaw_position = true;
 
 	/* store if we stopped a yaw movement */
-	bool first_time_after_yaw_speed_control = true;
+	bool reset_yaw_sp = true;
 
 	/* prepare the handle for the failsafe throttle */
 	param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR");
 	float failsafe_throttle = 0.0f;
 
+
 	while (!thread_should_exit) {
 
 		/* wait for a sensor update, check for exit condition every 500 ms */
@@ -187,6 +171,7 @@ mc_thread_main(int argc, char *argv[])
 		} else if (ret == 0) {
 			/* no return value, ignore */
 		} else {
+
 			/* only update parameters if they changed */
 			if (fds[1].revents & POLLIN) {
 				/* read from param to clear updated flag */
@@ -210,12 +195,6 @@ mc_thread_main(int argc, char *argv[])
 					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
 				}
 
-				orb_check(armed_sub, &updated);
-
-				if (updated) {
-					orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
-				}
-
 				/* get a local copy of manual setpoint */
 				orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
 				/* get a local copy of attitude */
@@ -232,6 +211,7 @@ mc_thread_main(int argc, char *argv[])
 				/* get a local copy of the current sensor values */
 				orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
 
+
 				/** STEP 1: Define which input is the dominating control input */
 				if (control_mode.flag_control_offboard_enabled) {
 					/* offboard inputs */
@@ -256,51 +236,91 @@ mc_thread_main(int argc, char *argv[])
 					}
 
 
-				} else if (control_mode.flag_control_manual_enabled) {			
+				} else if (control_mode.flag_control_manual_enabled) {
+					/* direct manual input */
 					if (control_mode.flag_control_attitude_enabled) {
+						/* control attitude, update attitude setpoint depending on mode */
 						/* initialize to current yaw if switching to manual or att control */
 						if (control_mode.flag_control_attitude_enabled != flag_control_attitude_enabled ||
-						    control_mode.flag_control_manual_enabled != flag_control_manual_enabled ||
-						    armed.armed != flag_armed) {
+								control_mode.flag_control_manual_enabled != flag_control_manual_enabled) {
 							att_sp.yaw_body = att.yaw;
 						}
 
 						static bool rc_loss_first_time = true;
 
 						/* if the RC signal is lost, try to stay level and go slowly back down to ground */
+						if (control_mode.failsave_highlevel) {
+							if (!control_mode.flag_control_position_enabled) {
+								/* Don't reset attitude setpoint in position control mode, it's handled by position controller. */
+								att_sp.roll_body = 0.0f;
+								att_sp.pitch_body = 0.0f;
 
-						rc_loss_first_time = true;
+								if (!control_mode.flag_control_altitude_enabled) {
+									/* Don't touch throttle in modes with altitude hold, it's handled by position controller.
+									 *
+									 * Only go to failsafe throttle if last known throttle was
+									 * high enough to create some lift to make hovering state likely.
+									 *
+									 * This is to prevent that someone landing, but not disarming his
+									 * multicopter (throttle = 0) does not make it jump up in the air
+									 * if shutting down his remote.
+									 */
+									if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
+										/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
+										param_get(failsafe_throttle_handle, &failsafe_throttle);
+										att_sp.thrust = failsafe_throttle;
 
-						att_sp.roll_body = manual.roll;
-						att_sp.pitch_body = manual.pitch;
-
-						/* set attitude if arming */
-						if (!flag_control_attitude_enabled && armed.armed) {
-							att_sp.yaw_body = att.yaw;
-						}
-
-						/* only move setpoint if manual input is != 0 */
-						if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.1f) {
-							rates_sp.yaw = manual.yaw;
-							control_yaw_position = false;
-							first_time_after_yaw_speed_control = true;
-
-						} else {
-							if (first_time_after_yaw_speed_control) {
-								att_sp.yaw_body = att.yaw;
-								first_time_after_yaw_speed_control = false;
+									} else {
+										att_sp.thrust = 0.0f;
+									}
+								}
 							}
 
-							control_yaw_position = true;
+							/* keep current yaw, do not attempt to go to north orientation,
+							 * since if the pilot regains RC control, he will be lost regarding
+							 * the current orientation.
+							 */
+							if (rc_loss_first_time)
+								att_sp.yaw_body = att.yaw;
+
+							rc_loss_first_time = false;
+
+						} else {
+							rc_loss_first_time = true;
+
+							/* control yaw in all manual / assisted modes */
+							/* set yaw if arming or switching to attitude stabilized mode */
+							if (!flag_control_attitude_enabled) {
+								reset_yaw_sp = true;
+							}
+
+							/* only move setpoint if manual input is != 0 */
+							if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {	// TODO use landed status instead of throttle
+								rates_sp.yaw = manual.yaw;
+								control_yaw_position = false;
+								reset_yaw_sp = true;
+
+							} else {
+								if (reset_yaw_sp) {
+									att_sp.yaw_body = att.yaw;
+									reset_yaw_sp = false;
+								}
+								control_yaw_position = true;
+							}
+
+							if (!control_mode.flag_control_position_enabled) {
+								/* don't update attitude setpoint in position control mode */
+								att_sp.roll_body = manual.roll;
+								att_sp.pitch_body = manual.pitch;
+								if (!control_mode.flag_control_position_enabled) {
+									/* don't set throttle in altitude hold modes */
+									att_sp.thrust = manual.throttle;
+								}
+							}
+
+							att_sp.timestamp = hrt_absolute_time();
 						}
 
-						att_sp.thrust = manual.throttle;
-						att_sp.timestamp = hrt_absolute_time();
-
-						/* STEP 2: publish the controller output */
-						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-
-
 						if (motor_test_mode) {
 							printf("testmode");
 							att_sp.roll_body = 0.0f;
@@ -308,31 +328,26 @@ mc_thread_main(int argc, char *argv[])
 							att_sp.yaw_body = 0.0f;
 							att_sp.thrust = 0.1f;
 							att_sp.timestamp = hrt_absolute_time();
-							/* STEP 2: publish the result to the vehicle actuators */
-							orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
 						}
 
+						/* STEP 2: publish the controller output */
+						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+
 					} else {
-
-						//XXX TODO add acro mode here
-
-						/* manual rate inputs, from RC control or joystick */
-//						if (state.flag_control_rates_enabled &&
-//						    state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
-//							rates_sp.roll = manual.roll;
-//
-//							rates_sp.pitch = manual.pitch;
-//							rates_sp.yaw = manual.yaw;
-//							rates_sp.thrust = manual.throttle;
-//							rates_sp.timestamp = hrt_absolute_time();
-//						}
+						/* manual rate inputs (ACRO), from RC control or joystick */
+						if (control_mode.flag_control_rates_enabled) {
+							rates_sp.roll = manual.roll;
+							rates_sp.pitch = manual.pitch;
+							rates_sp.yaw = manual.yaw;
+							rates_sp.thrust = manual.throttle;
+							rates_sp.timestamp = hrt_absolute_time();
+						}
 					}
-
 				}
 
 				/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
 				if (control_mode.flag_control_attitude_enabled) {
-					multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, &control_debug_pub, &control_debug);
+					multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position);
 
 					orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
 				}
@@ -340,8 +355,7 @@ mc_thread_main(int argc, char *argv[])
 				/* measure in what intervals the controller runs */
 				perf_count(mc_interval_perf);
 
-				float rates[3];
-				float rates_acc[3];
+				float gyro[3];
 
 				/* get current rate setpoint */
 				bool rates_sp_valid = false;
@@ -352,21 +366,16 @@ mc_thread_main(int argc, char *argv[])
 				}
 
 				/* apply controller */
-				rates[0] = att.rollspeed;
-				rates[1] = att.pitchspeed;
-				rates[2] = att.yawspeed;
+				gyro[0] = att.rollspeed;
+				gyro[1] = att.pitchspeed;
+				gyro[2] = att.yawspeed;
 
-				multirotor_control_rates(&rates_sp, rates, &actuators, &control_debug_pub, &control_debug);
+				multirotor_control_rates(&rates_sp, gyro, &actuators);
 				orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
-				orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
-
-				/* update control_mode */
+				/* update state */
 				flag_control_attitude_enabled = control_mode.flag_control_attitude_enabled;
 				flag_control_manual_enabled = control_mode.flag_control_manual_enabled;
-				flag_control_position_enabled = control_mode.flag_control_position_enabled;
-				flag_control_velocity_enabled = control_mode.flag_control_velocity_enabled;
-				flag_armed = armed.armed;
 
 				perf_end(mc_loop_perf);
 			} /* end of poll call for attitude updates */

src/modules/multirotor_att_control/multirotor_attitude_control.c

@@ -65,29 +65,50 @@
 PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
 PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
 PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
+//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
 
 PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f);
 PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
 PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f);
+//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
+//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);
+
+//PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);
 
 struct mc_att_control_params {
 	float yaw_p;
 	float yaw_i;
 	float yaw_d;
+	//float yaw_awu;
+	//float yaw_lim;
 
 	float att_p;
 	float att_i;
 	float att_d;
+	//float att_awu;
+	//float att_lim;
+
+	//float att_xoff;
+	//float att_yoff;
 };
 
 struct mc_att_control_param_handles {
 	param_t yaw_p;
 	param_t yaw_i;
 	param_t yaw_d;
+	//param_t yaw_awu;
+	//param_t yaw_lim;
 
 	param_t att_p;
 	param_t att_i;
 	param_t att_d;
+	//param_t att_awu;
+	//param_t att_lim;
+
+	//param_t att_xoff;
+	//param_t att_yoff;
 };
 
 /**
@@ -109,10 +130,17 @@ static int parameters_init(struct mc_att_control_param_handles *h)
 	h->yaw_p 	=	param_find("MC_YAWPOS_P");
 	h->yaw_i 	=	param_find("MC_YAWPOS_I");
 	h->yaw_d 	=	param_find("MC_YAWPOS_D");
+	//h->yaw_awu 	=	param_find("MC_YAWPOS_AWU");
+	//h->yaw_lim 	=	param_find("MC_YAWPOS_LIM");
 
 	h->att_p 	= 	param_find("MC_ATT_P");
 	h->att_i 	= 	param_find("MC_ATT_I");
 	h->att_d 	= 	param_find("MC_ATT_D");
+	//h->att_awu 	= 	param_find("MC_ATT_AWU");
+	//h->att_lim 	= 	param_find("MC_ATT_LIM");
+
+	//h->att_xoff 	= 	param_find("MC_ATT_XOFF");
+	//h->att_yoff 	= 	param_find("MC_ATT_YOFF");
 
 	return OK;
 }
@@ -122,17 +150,23 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
 	param_get(h->yaw_p, &(p->yaw_p));
 	param_get(h->yaw_i, &(p->yaw_i));
 	param_get(h->yaw_d, &(p->yaw_d));
+	//param_get(h->yaw_awu, &(p->yaw_awu));
+	//param_get(h->yaw_lim, &(p->yaw_lim));
 
 	param_get(h->att_p, &(p->att_p));
 	param_get(h->att_i, &(p->att_i));
 	param_get(h->att_d, &(p->att_d));
+	//param_get(h->att_awu, &(p->att_awu));
+	//param_get(h->att_lim, &(p->att_lim));
+
+	//param_get(h->att_xoff, &(p->att_xoff));
+	//param_get(h->att_yoff, &(p->att_yoff));
 
 	return OK;
 }
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-				 const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position,
-				 const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug)
+				 const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
 {
 	static uint64_t last_run = 0;
 	static uint64_t last_input = 0;
@@ -173,7 +207,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 		/* apply parameters */
 		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
-		pid_set_parameters(&roll_controller,  p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
+		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
 	}
 
 	/* reset integral if on ground */
@@ -187,13 +221,11 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 	/* control pitch (forward) output */
 	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
-					att->pitch, att->pitchspeed, deltaT, &control_debug->pitch_p, &control_debug->pitch_i, &control_debug->pitch_d);
+					att->pitch, att->pitchspeed, deltaT);
 
 	/* control roll (left/right) output */
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
-				       att->roll, att->rollspeed, deltaT, NULL, NULL, NULL);
-	
-	// printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT);
+				       att->roll, att->rollspeed, deltaT);
 
 	if (control_yaw_position) {
 		/* control yaw rate */

src/modules/multirotor_att_control/multirotor_attitude_control.h

@@ -58,11 +58,8 @@
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_control_debug.h>
-
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-				 const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position,
-				 const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug);
+				 const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position);
 
 #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */

src/modules/multirotor_att_control/multirotor_rate_control.c

@@ -58,9 +58,6 @@
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-
-
 
 PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
@@ -155,8 +152,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
 }
 
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-			      const float rates[], struct actuator_controls_s *actuators,
-			      const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug)
+			      const float rates[], struct actuator_controls_s *actuators)
 {
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
@@ -176,13 +172,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	static struct mc_rate_control_params p;
 	static struct mc_rate_control_param_handles h;
 
-	float pitch_control_last = 0.0f;
-	float roll_control_last = 0.0f;
-
 	static bool initialized = false;
 
-	float diff_filter_factor = 1.0f;
-
 	/* initialize the pid controllers when the function is called for the first time */
 	if (initialized == false) {
 		parameters_init(&h);
@@ -210,13 +201,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* control pitch (forward) output */
 	float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
-					    rates[1], 0.0f, deltaT,
-					    &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d);
+					    rates[1], 0.0f, deltaT);
 
 	/* control roll (left/right) output */
 	float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
-					   rates[0], 0.0f, deltaT,
-					   &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d);
+					   rates[0], 0.0f, deltaT);
 
 	/* control yaw rate */ //XXX use library here
 	float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);

src/modules/multirotor_att_control/multirotor_rate_control.h

@@ -57,10 +57,8 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_control_debug.h>
 
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-			      const float rates[], struct actuator_controls_s *actuators,
-			      const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug);
+			      const float rates[], struct actuator_controls_s *actuators);
 
 #endif /* MULTIROTOR_RATE_CONTROL_H_ */