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d47f9f155a
CA: fix saturation computation Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix MCRateControl: use control_allocator_status to get saturation info
186 lines
8.0 KiB
C++
186 lines
8.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2019 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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#pragma once
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#include <RateControl.hpp>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/defines.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/posix.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/systemlib/mavlink_log.h>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_controls_status.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/control_allocator_status.h>
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#include <uORB/topics/landing_gear.h>
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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/rate_ctrl_status.h>
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#include <uORB/topics/vehicle_angular_acceleration.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_land_detected.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_status.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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using namespace time_literals;
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class MulticopterRateControl : public ModuleBase<MulticopterRateControl>, public ModuleParams, public px4::WorkItem
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{
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public:
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MulticopterRateControl(bool vtol = false);
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~MulticopterRateControl() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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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 Run() override;
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/**
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* initialize some vectors/matrices from parameters
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*/
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void parameters_updated();
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void updateActuatorControlsStatus(const actuator_controls_s &actuators, float dt);
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void publishTorqueSetpoint(const matrix::Vector3f &torque_sp, const hrt_abstime ×tamp_sample);
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void publishThrustSetpoint(const hrt_abstime ×tamp_sample);
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RateControl _rate_control; ///< class for rate control calculations
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uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
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uORB::Subscription _landing_gear_sub{ORB_ID(landing_gear)};
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)};
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uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};
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uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
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uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};
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uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
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uORB::Publication<actuator_controls_s> _actuators_0_pub;
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uORB::Publication<actuator_controls_status_s> _actuator_controls_status_0_pub{ORB_ID(actuator_controls_status_0)};
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uORB::PublicationMulti<rate_ctrl_status_s> _controller_status_pub{ORB_ID(rate_ctrl_status)};
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uORB::Publication<vehicle_rates_setpoint_s> _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};
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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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orb_advert_t _mavlink_log_pub{nullptr};
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vehicle_control_mode_s _v_control_mode{};
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vehicle_status_s _vehicle_status{};
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bool _actuators_0_circuit_breaker_enabled{false}; /**< circuit breaker to suppress output */
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bool _landed{true};
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bool _maybe_landed{true};
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float _battery_status_scale{0.0f};
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perf_counter_t _loop_perf; /**< loop duration performance counter */
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matrix::Vector3f _rates_sp; /**< angular rates setpoint */
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float _thrust_sp{0.0f}; /**< thrust setpoint */
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hrt_abstime _last_run{0};
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int8_t _landing_gear{landing_gear_s::GEAR_DOWN};
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float _energy_integration_time{0.0f};
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float _control_energy[4] {};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::MC_ROLLRATE_P>) _param_mc_rollrate_p,
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(ParamFloat<px4::params::MC_ROLLRATE_I>) _param_mc_rollrate_i,
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(ParamFloat<px4::params::MC_RR_INT_LIM>) _param_mc_rr_int_lim,
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(ParamFloat<px4::params::MC_ROLLRATE_D>) _param_mc_rollrate_d,
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(ParamFloat<px4::params::MC_ROLLRATE_FF>) _param_mc_rollrate_ff,
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(ParamFloat<px4::params::MC_ROLLRATE_K>) _param_mc_rollrate_k,
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(ParamFloat<px4::params::MC_PITCHRATE_P>) _param_mc_pitchrate_p,
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(ParamFloat<px4::params::MC_PITCHRATE_I>) _param_mc_pitchrate_i,
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(ParamFloat<px4::params::MC_PR_INT_LIM>) _param_mc_pr_int_lim,
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(ParamFloat<px4::params::MC_PITCHRATE_D>) _param_mc_pitchrate_d,
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(ParamFloat<px4::params::MC_PITCHRATE_FF>) _param_mc_pitchrate_ff,
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(ParamFloat<px4::params::MC_PITCHRATE_K>) _param_mc_pitchrate_k,
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(ParamFloat<px4::params::MC_YAWRATE_P>) _param_mc_yawrate_p,
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(ParamFloat<px4::params::MC_YAWRATE_I>) _param_mc_yawrate_i,
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(ParamFloat<px4::params::MC_YR_INT_LIM>) _param_mc_yr_int_lim,
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(ParamFloat<px4::params::MC_YAWRATE_D>) _param_mc_yawrate_d,
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(ParamFloat<px4::params::MC_YAWRATE_FF>) _param_mc_yawrate_ff,
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(ParamFloat<px4::params::MC_YAWRATE_K>) _param_mc_yawrate_k,
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(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max, /**< scaling factor from stick to yaw rate */
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(ParamFloat<px4::params::MC_ACRO_R_MAX>) _param_mc_acro_r_max,
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(ParamFloat<px4::params::MC_ACRO_P_MAX>) _param_mc_acro_p_max,
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(ParamFloat<px4::params::MC_ACRO_Y_MAX>) _param_mc_acro_y_max,
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(ParamFloat<px4::params::MC_ACRO_EXPO>) _param_mc_acro_expo, /**< expo stick curve shape (roll & pitch) */
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(ParamFloat<px4::params::MC_ACRO_EXPO_Y>) _param_mc_acro_expo_y, /**< expo stick curve shape (yaw) */
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(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo, /**< superexpo stick curve shape (roll & pitch) */
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(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */
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(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,
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(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl
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)
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matrix::Vector3f _acro_rate_max; /**< max attitude rates in acro mode */
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};
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