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mode switching for all platforms, additional fixed wing modes

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This commit is contained in:
Lorenz Meier
2012-11-25 13:55:28 +01:00
parent dc72d467d4
commit faa672f8bb
5 changed files with 215 additions and 132 deletions
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apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+136 -110
View File
@@ -57,9 +57,11 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
#include <systemlib/geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
/*
@@ -162,16 +164,16 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
int fixedwing_pos_control_thread_main(int argc, char *argv[])
{
/* read arguments */
bool verbose = false;
// bool verbose = false;
for (int i = 1; i < argc; i++) {
if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
verbose = true;
}
}
// for (int i = 1; i < argc; i++) {
// if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
// verbose = true;
// }
// }
/* welcome user */
printf("[fixedwing att_control] started\n");
printf("[fixedwing pos control] started\n");
/* declare and safely initialize all structs */
struct vehicle_global_position_s global_pos;
@@ -184,6 +186,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
memset(&att, 0, sizeof(att));
struct crosstrack_error_s xtrack_err;
memset(&xtrack_err, 0, sizeof(xtrack_err));
struct parameter_update_s param_update;
memset(&param_update, 0, sizeof(param_update));
/* output structs */
struct vehicle_attitude_setpoint_s attitude_setpoint;
@@ -193,129 +197,151 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
attitude_setpoint.roll_body = 0.0f;
attitude_setpoint.pitch_body = 0.0f;
attitude_setpoint.yaw_body = 0.0f;
attitude_setpoint.thrust = 0.0f;
orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
/* subscribe */
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int param_sub = orb_subscribe(ORB_ID(parameter_update));
/* Setup of loop */
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
struct pollfd fds[2] = {
{ .fd = param_sub, .events = POLLIN },
{ .fd = att_sub, .events = POLLIN }
};
bool global_sp_updated_set_once = false;
float psi_track = 0.0f;
int counter = 0;
struct fw_pos_control_params p;
struct fw_pos_control_param_handles h;
PID_t heading_controller;
PID_t altitude_controller;
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE);
pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f,p.pitch_lim,PID_MODE_DERIVATIV_NONE);
/* error and performance monitoring */
perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
while(!thread_should_exit)
{
/* wait for a sensor update, check for exit condition every 500 ms */
poll(&fds, 1, 500);
int ret = poll(fds, 2, 500);
static int counter = 0;
static bool initialized = false;
if (ret < 0) {
/* poll error, count it in perf */
perf_count(fw_err_perf);
} else if (ret == 0) {
/* no return value, ignore */
} else {
static struct fw_pos_control_params p;
static struct fw_pos_control_param_handles h;
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), param_sub, &update);
PID_t heading_controller;
PID_t altitude_controller;
if(!initialized)
{
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE);
pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f,p.pitch_lim,PID_MODE_DERIVATIV_NONE);
initialized = true;
}
/* load new parameters with lower rate */
if (counter % 100 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim);
pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
}
/* Check if there is a new position or setpoint */
bool pos_updated;
orb_check(global_pos_sub, &pos_updated);
bool global_sp_updated;
orb_check(global_setpoint_sub, &global_sp_updated);
/* Load local copies */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
if(pos_updated)
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
if (global_sp_updated)
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
if(global_sp_updated) {
start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
global_sp_updated_set_once = true;
psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
printf("psi_track: %0.4f\n", (double)psi_track);
}
/* Control */
/* Simple Horizontal Control */
if(global_sp_updated_set_once)
{
// if (counter % 100 == 0)
// printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
/* calculate crosstrack error */
// Only the case of a straight line track following handled so far
int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
if(!(distance_res != OK || xtrack_err.past_end)) {
float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
if(delta_psi_c > 60.0f*M_DEG_TO_RAD_F)
delta_psi_c = 60.0f*M_DEG_TO_RAD_F;
if(delta_psi_c < -60.0f*M_DEG_TO_RAD_F)
delta_psi_c = -60.0f*M_DEG_TO_RAD_F;
float psi_c = psi_track + delta_psi_c;
float psi_e = psi_c - att.yaw;
/* shift error to prevent wrapping issues */
psi_e = _wrap_pi(psi_e);
/* calculate roll setpoint, do this artificially around zero */
attitude_setpoint.roll_body = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
// if (counter % 100 == 0)
// printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
}
else {
if (counter % 100 == 0)
printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim);
pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
/* check if there is a new position or setpoint */
bool pos_updated;
orb_check(global_pos_sub, &pos_updated);
bool global_sp_updated;
orb_check(global_setpoint_sub, &global_sp_updated);
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
if (pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
}
if (global_sp_updated) {
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
global_sp_updated_set_once = true;
psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
printf("psi_track: %0.4f\n", (double)psi_track);
}
/* simple horizontal control, execute if line between wps is known */
if(global_sp_updated_set_once)
{
// if (counter % 100 == 0)
// printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
/* calculate crosstrack error */
// Only the case of a straight line track following handled so far
int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
if(!(distance_res != OK || xtrack_err.past_end)) {
float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
if(delta_psi_c > 60.0f*M_DEG_TO_RAD_F)
delta_psi_c = 60.0f*M_DEG_TO_RAD_F;
if(delta_psi_c < -60.0f*M_DEG_TO_RAD_F)
delta_psi_c = -60.0f*M_DEG_TO_RAD_F;
float psi_c = psi_track + delta_psi_c;
float psi_e = psi_c - att.yaw;
/* shift error to prevent wrapping issues */
psi_e = _wrap_pi(psi_e);
/* calculate roll setpoint, do this artificially around zero */
attitude_setpoint.roll_body = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
// if (counter % 100 == 0)
// printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
}
else {
if (counter % 100 == 0)
printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
}
// XXX SIMPLE ALTITUDE, BUT NO SPEED 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);
} else {
// XXX no setpoint, decent default needed (loiter?)
}
}
}
/* Very simple Altitude Control */
if(global_sp_updated_set_once && 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);
}
/*Publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
counter++;
}
printf("[fixedwing_pos_control] exiting.\n");
@@ -367,7 +393,7 @@ int fixedwing_pos_control_main(int argc, char *argv[])
deamon_task = task_spawn("fixedwing_pos_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
4096,
2048,
fixedwing_pos_control_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;