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157 lines
6.3 KiB
C++
157 lines
6.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* 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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*
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* This module is a modification of the rover attitide control module and is designed for the
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* TUHH hippocampus.
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*
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* All the acknowledgments and credits for the fw wing app are reported in those files.
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*
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* @author Daniel Duecker <daniel.duecker@tuhh.de>
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* @author Philipp Hastedt <philipp.hastedt@tuhh.de>
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* @author Tim Hansen <t.hansen@tuhh.de>
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*/
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#include <float.h>
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#include <drivers/drv_hrt.h>
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#include <lib/geo/geo.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/perf/perf_counter.h>
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#include <matrix/math.hpp>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_thrust_setpoint.h>
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#include <uORB/topics/vehicle_torque_setpoint.h>
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#include <uORB/uORB.h>
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using matrix::Eulerf;
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using matrix::Quatf;
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using matrix::Matrix3f;
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using matrix::Vector3f;
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using matrix::Dcmf;
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using uORB::SubscriptionData;
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using namespace time_literals;
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class UUVAttitudeControl: public ModuleBase<UUVAttitudeControl>, public ModuleParams, public px4::WorkItem
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{
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public:
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UUVAttitudeControl();
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~UUVAttitudeControl();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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private:
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void publishTorqueSetpoint(const hrt_abstime ×tamp_sample);
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void publishThrustSetpoint(const hrt_abstime ×tamp_sample);
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uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
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uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint */
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uORB::Subscription _vehicle_rates_setpoint_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle bodyrates setpoint subscriber */
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uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; /**< vehicle angular velocity subscription */
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
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uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle status subscription */
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uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};
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vehicle_thrust_setpoint_s _vehicle_thrust_setpoint{};
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vehicle_torque_setpoint_s _vehicle_torque_setpoint{};
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manual_control_setpoint_s _manual_control_setpoint{};
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vehicle_attitude_setpoint_s _attitude_setpoint{};
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vehicle_rates_setpoint_s _rates_setpoint{};
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vehicle_control_mode_s _vcontrol_mode{};
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perf_counter_t _loop_perf;
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::UUV_ROLL_P>) _param_roll_p,
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(ParamFloat<px4::params::UUV_ROLL_D>) _param_roll_d,
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(ParamFloat<px4::params::UUV_PITCH_P>) _param_pitch_p,
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(ParamFloat<px4::params::UUV_PITCH_D>) _param_pitch_d,
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(ParamFloat<px4::params::UUV_YAW_P>) _param_yaw_p,
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(ParamFloat<px4::params::UUV_YAW_D>) _param_yaw_d,
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// control/input modes
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(ParamInt<px4::params::UUV_INPUT_MODE>) _param_input_mode,
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(ParamInt<px4::params::UUV_SKIP_CTRL>) _param_skip_ctrl,
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// direct access to inputs
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(ParamFloat<px4::params::UUV_DIRCT_ROLL>) _param_direct_roll,
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(ParamFloat<px4::params::UUV_DIRCT_PITCH>) _param_direct_pitch,
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(ParamFloat<px4::params::UUV_DIRCT_YAW>) _param_direct_yaw,
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(ParamFloat<px4::params::UUV_DIRCT_THRUST>) _param_direct_thrust
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)
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void Run() override;
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/**
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* Update our local parameter cache.
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*/
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void parameters_update(bool force = false);
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/**
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* Control Attitude
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*/
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void control_attitude_geo(const vehicle_attitude_s &attitude, const vehicle_attitude_setpoint_s &attitude_setpoint,
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const vehicle_angular_velocity_s &angular_velocity, const vehicle_rates_setpoint_s &rates_setpoint);
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void constrain_actuator_commands(float roll_u, float pitch_u, float yaw_u,
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float thrust_x, float thrust_y, float thrust_z);
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};
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