/**************************************************************************** * * Copyright (c) 2013-2020 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ #include "MulticopterPositionControl.hpp" #include #include #include #include #include "PositionControl/ControlMath.hpp" using namespace matrix; MulticopterPositionControl::MulticopterPositionControl(bool vtol) : SuperBlock(nullptr, "MPC"), ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), _vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)), _vel_x_deriv(this, "VELD"), _vel_y_deriv(this, "VELD"), _vel_z_deriv(this, "VELD") { parameters_update(true); _tilt_limit_slew_rate.setSlewRate(.2f); reset_setpoint_to_nan(_setpoint); _takeoff_status_pub.advertise(); } MulticopterPositionControl::~MulticopterPositionControl() { perf_free(_cycle_perf); } bool MulticopterPositionControl::init() { if (!_local_pos_sub.registerCallback()) { PX4_ERR("callback registration failed"); return false; } _time_stamp_last_loop = hrt_absolute_time(); ScheduleNow(); return true; } void MulticopterPositionControl::parameters_update(bool force) { // check for parameter updates if (_parameter_update_sub.updated() || force) { // clear update parameter_update_s pupdate; _parameter_update_sub.copy(&pupdate); // update parameters from storage ModuleParams::updateParams(); SuperBlock::updateParams(); int num_changed = 0; if (_param_sys_vehicle_resp.get() >= 0.f) { // make it less sensitive at the lower end float responsiveness = _param_sys_vehicle_resp.get() * _param_sys_vehicle_resp.get(); num_changed += _param_mpc_acc_hor.commit_no_notification(math::lerp(1.f, 15.f, responsiveness)); num_changed += _param_mpc_acc_hor_max.commit_no_notification(math::lerp(2.f, 15.f, responsiveness)); num_changed += _param_mpc_man_y_max.commit_no_notification(math::lerp(80.f, 450.f, responsiveness)); if (responsiveness > 0.6f) { num_changed += _param_mpc_man_y_tau.commit_no_notification(0.f); } else { num_changed += _param_mpc_man_y_tau.commit_no_notification(math::lerp(0.5f, 0.f, responsiveness / 0.6f)); } if (responsiveness < 0.5f) { num_changed += _param_mpc_tiltmax_air.commit_no_notification(45.f); } else { num_changed += _param_mpc_tiltmax_air.commit_no_notification(math::min(MAX_SAFE_TILT_DEG, math::lerp(45.f, 70.f, (responsiveness - 0.5f) * 2.f))); } num_changed += _param_mpc_acc_down_max.commit_no_notification(math::lerp(0.8f, 15.f, responsiveness)); num_changed += _param_mpc_acc_up_max.commit_no_notification(math::lerp(1.f, 15.f, responsiveness)); num_changed += _param_mpc_jerk_max.commit_no_notification(math::lerp(2.f, 50.f, responsiveness)); num_changed += _param_mpc_jerk_auto.commit_no_notification(math::lerp(1.f, 25.f, responsiveness)); } if (_param_mpc_xy_vel_all.get() >= 0.f) { float xy_vel = _param_mpc_xy_vel_all.get(); num_changed += _param_mpc_vel_manual.commit_no_notification(xy_vel); num_changed += _param_mpc_xy_cruise.commit_no_notification(xy_vel); num_changed += _param_mpc_xy_vel_max.commit_no_notification(xy_vel); } if (_param_mpc_z_vel_all.get() >= 0.f) { float z_vel = _param_mpc_z_vel_all.get(); num_changed += _param_mpc_z_v_auto_up.commit_no_notification(z_vel); num_changed += _param_mpc_z_vel_max_up.commit_no_notification(z_vel); num_changed += _param_mpc_z_v_auto_dn.commit_no_notification(z_vel * 0.75f); num_changed += _param_mpc_z_vel_max_dn.commit_no_notification(z_vel * 0.75f); num_changed += _param_mpc_tko_speed.commit_no_notification(z_vel * 0.6f); num_changed += _param_mpc_land_speed.commit_no_notification(z_vel * 0.5f); } if (num_changed > 0) { param_notify_changes(); } if (_param_mpc_tiltmax_air.get() > MAX_SAFE_TILT_DEG) { _param_mpc_tiltmax_air.set(MAX_SAFE_TILT_DEG); _param_mpc_tiltmax_air.commit(); mavlink_log_critical(&_mavlink_log_pub, "Tilt constrained to safe value\t"); /* EVENT * @description MPC_TILTMAX_AIR is set to {1:.0}. */ events::send(events::ID("mc_pos_ctrl_tilt_set"), events::Log::Warning, "Maximum tilt limit has been constrained to a safe value", MAX_SAFE_TILT_DEG); } if (_param_mpc_tiltmax_lnd.get() > _param_mpc_tiltmax_air.get()) { _param_mpc_tiltmax_lnd.set(_param_mpc_tiltmax_air.get()); _param_mpc_tiltmax_lnd.commit(); mavlink_log_critical(&_mavlink_log_pub, "Land tilt has been constrained by max tilt\t"); /* EVENT * @description MPC_TILTMAX_LND is set to {1:.0}. */ events::send(events::ID("mc_pos_ctrl_land_tilt_set"), events::Log::Warning, "Land tilt limit has been constrained by maximum tilt", _param_mpc_tiltmax_air.get()); } _control.setPositionGains(Vector3f(_param_mpc_xy_p.get(), _param_mpc_xy_p.get(), _param_mpc_z_p.get())); _control.setVelocityGains( Vector3f(_param_mpc_xy_vel_p_acc.get(), _param_mpc_xy_vel_p_acc.get(), _param_mpc_z_vel_p_acc.get()), Vector3f(_param_mpc_xy_vel_i_acc.get(), _param_mpc_xy_vel_i_acc.get(), _param_mpc_z_vel_i_acc.get()), Vector3f(_param_mpc_xy_vel_d_acc.get(), _param_mpc_xy_vel_d_acc.get(), _param_mpc_z_vel_d_acc.get())); _control.setHorizontalThrustMargin(_param_mpc_thr_xy_marg.get()); // Check that the design parameters are inside the absolute maximum constraints if (_param_mpc_xy_cruise.get() > _param_mpc_xy_vel_max.get()) { _param_mpc_xy_cruise.set(_param_mpc_xy_vel_max.get()); _param_mpc_xy_cruise.commit(); mavlink_log_critical(&_mavlink_log_pub, "Cruise speed has been constrained by max speed\t"); /* EVENT * @description MPC_XY_CRUISE is set to {1:.0}. */ events::send(events::ID("mc_pos_ctrl_cruise_set"), events::Log::Warning, "Cruise speed has been constrained by maximum speed", _param_mpc_xy_vel_max.get()); } if (_param_mpc_vel_manual.get() > _param_mpc_xy_vel_max.get()) { _param_mpc_vel_manual.set(_param_mpc_xy_vel_max.get()); _param_mpc_vel_manual.commit(); mavlink_log_critical(&_mavlink_log_pub, "Manual speed has been constrained by max speed\t"); /* EVENT * @description MPC_VEL_MANUAL is set to {1:.0}. */ events::send(events::ID("mc_pos_ctrl_man_vel_set"), events::Log::Warning, "Manual speed has been constrained by maximum speed", _param_mpc_xy_vel_max.get()); } if (_param_mpc_z_v_auto_up.get() > _param_mpc_z_vel_max_up.get()) { _param_mpc_z_v_auto_up.set(_param_mpc_z_vel_max_up.get()); _param_mpc_z_v_auto_up.commit(); mavlink_log_critical(&_mavlink_log_pub, "Ascent speed has been constrained by max speed\t"); /* EVENT * @description MPC_Z_V_AUTO_UP is set to {1:.0}. */ events::send(events::ID("mc_pos_ctrl_up_vel_set"), events::Log::Warning, "Ascent speed has been constrained by max speed", _param_mpc_z_vel_max_up.get()); } if (_param_mpc_z_v_auto_dn.get() > _param_mpc_z_vel_max_dn.get()) { _param_mpc_z_v_auto_dn.set(_param_mpc_z_vel_max_dn.get()); _param_mpc_z_v_auto_dn.commit(); mavlink_log_critical(&_mavlink_log_pub, "Descent speed has been constrained by max speed\t"); /* EVENT * @description MPC_Z_V_AUTO_DN is set to {1:.0}. */ events::send(events::ID("mc_pos_ctrl_down_vel_set"), events::Log::Warning, "Descent speed has been constrained by max speed", _param_mpc_z_vel_max_dn.get()); } if (_param_mpc_thr_hover.get() > _param_mpc_thr_max.get() || _param_mpc_thr_hover.get() < _param_mpc_thr_min.get()) { _param_mpc_thr_hover.set(math::constrain(_param_mpc_thr_hover.get(), _param_mpc_thr_min.get(), _param_mpc_thr_max.get())); _param_mpc_thr_hover.commit(); mavlink_log_critical(&_mavlink_log_pub, "Hover thrust has been constrained by min/max\t"); /* EVENT * @description MPC_THR_HOVER is set to {1:.0}. */ events::send(events::ID("mc_pos_ctrl_hover_thrust_set"), events::Log::Warning, "Hover thrust has been constrained by min/max thrust", _param_mpc_thr_hover.get()); } if (!_param_mpc_use_hte.get() || !_hover_thrust_initialized) { _control.setHoverThrust(_param_mpc_thr_hover.get()); _hover_thrust_initialized = true; } // initialize vectors from params and enforce constraints _param_mpc_tko_speed.set(math::min(_param_mpc_tko_speed.get(), _param_mpc_z_vel_max_up.get())); _param_mpc_land_speed.set(math::min(_param_mpc_land_speed.get(), _param_mpc_z_vel_max_dn.get())); _takeoff.setSpoolupTime(_param_mpc_spoolup_time.get()); _takeoff.setTakeoffRampTime(_param_mpc_tko_ramp_t.get()); _takeoff.generateInitialRampValue(_param_mpc_z_vel_p_acc.get()); } } PositionControlStates MulticopterPositionControl::set_vehicle_states(const vehicle_local_position_s &vehicle_local_position) { PositionControlStates states; // only set position states if valid and finite if (PX4_ISFINITE(vehicle_local_position.x) && PX4_ISFINITE(vehicle_local_position.y) && vehicle_local_position.xy_valid) { states.position(0) = vehicle_local_position.x; states.position(1) = vehicle_local_position.y; } else { states.position(0) = NAN; states.position(1) = NAN; } if (PX4_ISFINITE(vehicle_local_position.z) && vehicle_local_position.z_valid) { states.position(2) = vehicle_local_position.z; } else { states.position(2) = NAN; } if (PX4_ISFINITE(vehicle_local_position.vx) && PX4_ISFINITE(vehicle_local_position.vy) && vehicle_local_position.v_xy_valid) { states.velocity(0) = vehicle_local_position.vx; states.velocity(1) = vehicle_local_position.vy; states.acceleration(0) = _vel_x_deriv.update(vehicle_local_position.vx); states.acceleration(1) = _vel_y_deriv.update(vehicle_local_position.vy); } else { states.velocity(0) = NAN; states.velocity(1) = NAN; states.acceleration(0) = NAN; states.acceleration(1) = NAN; // reset derivatives to prevent acceleration spikes when regaining velocity _vel_x_deriv.reset(); _vel_y_deriv.reset(); } if (PX4_ISFINITE(vehicle_local_position.vz) && vehicle_local_position.v_z_valid) { states.velocity(2) = vehicle_local_position.vz; states.acceleration(2) = _vel_z_deriv.update(states.velocity(2)); } else { states.velocity(2) = NAN; states.acceleration(2) = NAN; // reset derivative to prevent acceleration spikes when regaining velocity _vel_z_deriv.reset(); } states.yaw = vehicle_local_position.heading; return states; } void MulticopterPositionControl::Run() { if (should_exit()) { _local_pos_sub.unregisterCallback(); exit_and_cleanup(); return; } // reschedule backup ScheduleDelayed(100_ms); parameters_update(false); perf_begin(_cycle_perf); vehicle_local_position_s vehicle_local_position; if (_local_pos_sub.update(&vehicle_local_position)) { const float dt = math::constrain(((vehicle_local_position.timestamp_sample - _time_stamp_last_loop) * 1e-6f), 0.002f, 0.04f); _time_stamp_last_loop = vehicle_local_position.timestamp_sample; // set _dt in controllib Block for BlockDerivative setDt(dt); if (_vehicle_control_mode_sub.updated()) { const bool previous_position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled; if (_vehicle_control_mode_sub.update(&_vehicle_control_mode)) { if (!previous_position_control_enabled && _vehicle_control_mode.flag_multicopter_position_control_enabled) { _time_position_control_enabled = _vehicle_control_mode.timestamp; } else if (previous_position_control_enabled && !_vehicle_control_mode.flag_multicopter_position_control_enabled) { // clear existing setpoint when controller is no longer active reset_setpoint_to_nan(_setpoint); } } } _vehicle_land_detected_sub.update(&_vehicle_land_detected); if (_param_mpc_use_hte.get()) { hover_thrust_estimate_s hte; if (_hover_thrust_estimate_sub.update(&hte)) { if (hte.valid) { _control.updateHoverThrust(hte.hover_thrust); } } } _trajectory_setpoint_sub.update(&_setpoint); // adjust existing (or older) setpoint with any EKF reset deltas if ((_setpoint.timestamp != 0) && (_setpoint.timestamp < vehicle_local_position.timestamp)) { if (vehicle_local_position.vxy_reset_counter != _vxy_reset_counter) { _setpoint.vx += vehicle_local_position.delta_vxy[0]; _setpoint.vy += vehicle_local_position.delta_vxy[1]; } if (vehicle_local_position.vz_reset_counter != _vz_reset_counter) { _setpoint.vz += vehicle_local_position.delta_vz; } if (vehicle_local_position.xy_reset_counter != _xy_reset_counter) { _setpoint.x += vehicle_local_position.delta_xy[0]; _setpoint.y += vehicle_local_position.delta_xy[1]; } if (vehicle_local_position.z_reset_counter != _z_reset_counter) { _setpoint.z += vehicle_local_position.delta_z; } if (vehicle_local_position.heading_reset_counter != _heading_reset_counter) { _setpoint.yaw = wrap_pi(_setpoint.yaw + vehicle_local_position.delta_heading); } } if (vehicle_local_position.vxy_reset_counter != _vxy_reset_counter) { _vel_x_deriv.reset(); _vel_y_deriv.reset(); } if (vehicle_local_position.vz_reset_counter != _vz_reset_counter) { _vel_z_deriv.reset(); } // save latest reset counters _vxy_reset_counter = vehicle_local_position.vxy_reset_counter; _vz_reset_counter = vehicle_local_position.vz_reset_counter; _xy_reset_counter = vehicle_local_position.xy_reset_counter; _z_reset_counter = vehicle_local_position.z_reset_counter; _heading_reset_counter = vehicle_local_position.heading_reset_counter; PositionControlStates states{set_vehicle_states(vehicle_local_position)}; if (_vehicle_control_mode.flag_multicopter_position_control_enabled) { // set failsafe setpoint if there hasn't been a new // trajectory setpoint since position control started if ((_setpoint.timestamp < _time_position_control_enabled) && (vehicle_local_position.timestamp_sample > _time_position_control_enabled)) { _setpoint = generateFailsafeSetpoint(vehicle_local_position.timestamp_sample, states); } } if (_vehicle_control_mode.flag_multicopter_position_control_enabled && (_setpoint.timestamp >= _time_position_control_enabled)) { // update vehicle constraints and handle smooth takeoff _vehicle_constraints_sub.update(&_vehicle_constraints); // fix to prevent the takeoff ramp to ramp to a too high value or get stuck because of NAN // TODO: this should get obsolete once the takeoff limiting moves into the flight tasks if (!PX4_ISFINITE(_vehicle_constraints.speed_up) || (_vehicle_constraints.speed_up > _param_mpc_z_vel_max_up.get())) { _vehicle_constraints.speed_up = _param_mpc_z_vel_max_up.get(); } if (_vehicle_control_mode.flag_control_offboard_enabled) { bool want_takeoff = _vehicle_control_mode.flag_armed && _vehicle_land_detected.landed && (vehicle_local_position.timestamp_sample < _setpoint.timestamp + 1_s); if (want_takeoff && PX4_ISFINITE(_setpoint.z) && (_setpoint.z < states.position(2))) { _vehicle_constraints.want_takeoff = true; } else if (want_takeoff && PX4_ISFINITE(_setpoint.vz) && (_setpoint.vz < 0.f)) { _vehicle_constraints.want_takeoff = true; } else if (want_takeoff && PX4_ISFINITE(_setpoint.acceleration[2]) && (_setpoint.acceleration[2] < 0.f)) { _vehicle_constraints.want_takeoff = true; } else { _vehicle_constraints.want_takeoff = false; } // override with defaults _vehicle_constraints.speed_up = _param_mpc_z_vel_max_up.get(); _vehicle_constraints.speed_down = _param_mpc_z_vel_max_dn.get(); } // handle smooth takeoff _takeoff.updateTakeoffState(_vehicle_control_mode.flag_armed, _vehicle_land_detected.landed, _vehicle_constraints.want_takeoff, _vehicle_constraints.speed_up, false, vehicle_local_position.timestamp_sample); const bool not_taken_off = (_takeoff.getTakeoffState() < TakeoffState::rampup); const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight); const bool flying_but_ground_contact = (flying && _vehicle_land_detected.ground_contact); // make sure takeoff ramp is not amended by acceleration feed-forward if (!flying) { _setpoint.acceleration[2] = NAN; // hover_thrust maybe reset on takeoff _control.setHoverThrust(_param_mpc_thr_hover.get()); } if (not_taken_off || flying_but_ground_contact) { // we are not flying yet and need to avoid any corrections reset_setpoint_to_nan(_setpoint); _setpoint.timestamp = vehicle_local_position.timestamp_sample; Vector3f(0.f, 0.f, 100.f).copyTo(_setpoint.acceleration); // High downwards acceleration to make sure there's no thrust // prevent any integrator windup _control.resetIntegral(); } // limit tilt during takeoff ramupup const float tilt_limit_deg = (_takeoff.getTakeoffState() < TakeoffState::flight) ? _param_mpc_tiltmax_lnd.get() : _param_mpc_tiltmax_air.get(); _control.setTiltLimit(_tilt_limit_slew_rate.update(math::radians(tilt_limit_deg), dt)); const float speed_up = _takeoff.updateRamp(dt, PX4_ISFINITE(_vehicle_constraints.speed_up) ? _vehicle_constraints.speed_up : _param_mpc_z_vel_max_up.get()); const float speed_down = PX4_ISFINITE(_vehicle_constraints.speed_down) ? _vehicle_constraints.speed_down : _param_mpc_z_vel_max_dn.get(); // Allow ramping from zero thrust on takeoff const float minimum_thrust = flying ? _param_mpc_thr_min.get() : 0.f; _control.setThrustLimits(minimum_thrust, _param_mpc_thr_max.get()); _control.setVelocityLimits( _param_mpc_xy_vel_max.get(), math::min(speed_up, _param_mpc_z_vel_max_up.get()), // takeoff ramp starts with negative velocity limit math::max(speed_down, 0.f)); _control.setInputSetpoint(_setpoint); // update states if (!PX4_ISFINITE(_setpoint.z) && PX4_ISFINITE(_setpoint.vz) && (fabsf(_setpoint.vz) > FLT_EPSILON) && PX4_ISFINITE(vehicle_local_position.z_deriv) && vehicle_local_position.z_valid && vehicle_local_position.v_z_valid) { // A change in velocity is demanded and the altitude is not controlled. // Set velocity to the derivative of position // because it has less bias but blend it in across the landing speed range // < MPC_LAND_SPEED: ramp up using altitude derivative without a step // >= MPC_LAND_SPEED: use altitude derivative float weighting = fminf(fabsf(_setpoint.vz) / _param_mpc_land_speed.get(), 1.f); states.velocity(2) = vehicle_local_position.z_deriv * weighting + vehicle_local_position.vz * (1.f - weighting); } _control.setState(states); // Run position control if (!_control.update(dt)) { // Failsafe _vehicle_constraints = {0, NAN, NAN, false, {}}; // reset constraints _control.setInputSetpoint(generateFailsafeSetpoint(vehicle_local_position.timestamp_sample, states)); _control.setVelocityLimits(_param_mpc_xy_vel_max.get(), _param_mpc_z_vel_max_up.get(), _param_mpc_z_vel_max_dn.get()); _control.update(dt); } // Publish internal position control setpoints // on top of the input/feed-forward setpoints these containt the PID corrections // This message is used by other modules (such as Landdetector) to determine vehicle intention. vehicle_local_position_setpoint_s local_pos_sp{}; _control.getLocalPositionSetpoint(local_pos_sp); local_pos_sp.timestamp = hrt_absolute_time(); _local_pos_sp_pub.publish(local_pos_sp); // Publish attitude setpoint output vehicle_attitude_setpoint_s attitude_setpoint{}; _control.getAttitudeSetpoint(attitude_setpoint); attitude_setpoint.timestamp = hrt_absolute_time(); _vehicle_attitude_setpoint_pub.publish(attitude_setpoint); } else { // an update is necessary here because otherwise the takeoff state doesn't get skiped with non-altitude-controlled modes _takeoff.updateTakeoffState(_vehicle_control_mode.flag_armed, _vehicle_land_detected.landed, false, 10.f, true, vehicle_local_position.timestamp_sample); } // Publish takeoff status const uint8_t takeoff_state = static_cast(_takeoff.getTakeoffState()); if (takeoff_state != _takeoff_status_pub.get().takeoff_state || !isEqualF(_tilt_limit_slew_rate.getState(), _takeoff_status_pub.get().tilt_limit)) { _takeoff_status_pub.get().takeoff_state = takeoff_state; _takeoff_status_pub.get().tilt_limit = _tilt_limit_slew_rate.getState(); _takeoff_status_pub.get().timestamp = hrt_absolute_time(); _takeoff_status_pub.update(); } } perf_end(_cycle_perf); } vehicle_local_position_setpoint_s MulticopterPositionControl::generateFailsafeSetpoint(const hrt_abstime &now, const PositionControlStates &states) { // do not warn while we are disarmed, as we might not have valid setpoints yet bool warn = _vehicle_control_mode.flag_armed && ((now - _last_warn) > 2_s); if (warn) { PX4_WARN("invalid setpoints"); _last_warn = now; } vehicle_local_position_setpoint_s failsafe_setpoint{}; reset_setpoint_to_nan(failsafe_setpoint); failsafe_setpoint.timestamp = now; if (PX4_ISFINITE(states.velocity(0)) && PX4_ISFINITE(states.velocity(1))) { // don't move along xy failsafe_setpoint.vx = failsafe_setpoint.vy = 0.f; if (warn) { PX4_WARN("Failsafe: stop and wait"); } } else { // descend with land speed since we can't stop failsafe_setpoint.acceleration[0] = failsafe_setpoint.acceleration[1] = 0.f; failsafe_setpoint.vz = _param_mpc_land_speed.get(); if (warn) { PX4_WARN("Failsafe: blind land"); } } if (PX4_ISFINITE(states.velocity(2))) { // don't move along z if we can stop in all dimensions if (!PX4_ISFINITE(failsafe_setpoint.vz)) { failsafe_setpoint.vz = 0.f; } } else { // emergency descend with a bit below hover thrust failsafe_setpoint.vz = NAN; failsafe_setpoint.acceleration[2] = .3f; if (warn) { PX4_WARN("Failsafe: blind descent"); } } return failsafe_setpoint; } void MulticopterPositionControl::reset_setpoint_to_nan(vehicle_local_position_setpoint_s &setpoint) { setpoint.timestamp = 0; setpoint.x = setpoint.y = setpoint.z = NAN; setpoint.yaw = setpoint.yawspeed = NAN; setpoint.vx = setpoint.vy = setpoint.vz = NAN; setpoint.acceleration[0] = setpoint.acceleration[1] = setpoint.acceleration[2] = NAN; setpoint.jerk[0] = setpoint.jerk[1] = setpoint.jerk[2] = NAN; setpoint.thrust[0] = setpoint.thrust[1] = setpoint.thrust[2] = NAN; } int MulticopterPositionControl::task_spawn(int argc, char *argv[]) { bool vtol = false; if (argc > 1) { if (strcmp(argv[1], "vtol") == 0) { vtol = true; } } MulticopterPositionControl *instance = new MulticopterPositionControl(vtol); if (instance) { _object.store(instance); _task_id = task_id_is_work_queue; if (instance->init()) { return PX4_OK; } } else { PX4_ERR("alloc failed"); } delete instance; _object.store(nullptr); _task_id = -1; return PX4_ERROR; } int MulticopterPositionControl::custom_command(int argc, char *argv[]) { return print_usage("unknown command"); } int MulticopterPositionControl::print_usage(const char *reason) { if (reason) { PX4_WARN("%s\n", reason); } PRINT_MODULE_DESCRIPTION( R"DESCR_STR( ### Description The controller has two loops: a P loop for position error and a PID loop for velocity error. Output of the velocity controller is thrust vector that is split to thrust direction (i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself). The controller doesn't use Euler angles for its work, they are generated only for more human-friendly control and logging. )DESCR_STR"); PRINT_MODULE_USAGE_NAME("mc_pos_control", "controller"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_ARG("vtol", "VTOL mode", true); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); return 0; } extern "C" __EXPORT int mc_pos_control_main(int argc, char *argv[]) { return MulticopterPositionControl::main(argc, argv); }