fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-30 13:30:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
Files
1c56cad3b136db96da2abab3dfdb8fc7ed5986e8
PX4-Autopilot/src/modules/fw_att_control/fw_att_control_main.cpp
T
CAI Dongcai 0dfd8cd039 Update fw_att_control_main.cpp 
Make the declarations of the  variables "roll_sp, pitch_sp, yaw_sp, throttle_sp," in the main loop more readable.
2017-06-04 18:17:29 +08:00

1359 lines
44 KiB
C++
Raw Blame History

/****************************************************************************
*
* Copyright (c) 2013-2017 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.
*
****************************************************************************/
/**
* @file fw_att_control_main.c
* Implementation of a generic attitude controller based on classic orthogonal PIDs.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <drivers/drv_hrt.h>
#include <ecl/attitude_fw/ecl_pitch_controller.h>
#include <ecl/attitude_fw/ecl_roll_controller.h>
#include <ecl/attitude_fw/ecl_wheel_controller.h>
#include <ecl/attitude_fw/ecl_yaw_controller.h>
#include <geo/geo.h>
#include <mathlib/mathlib.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/uORB.h>
#include <vtol_att_control/vtol_type.h>
using matrix::Eulerf;
using matrix::Quatf;
/**
* Fixedwing attitude control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]);
class FixedwingAttitudeControl
{
public:
/**
* Constructor
*/
FixedwingAttitudeControl();
/**
* Destructor, also kills the main task.
*/
~FixedwingAttitudeControl();
/**
* Start the main task.
*
* @return PX4_OK on success.
*/
int start();
/**
* Task status
*
* @return true if the mainloop is running
*/
bool task_running() { return _task_running; }
private:
bool _task_should_exit; /**< if true, attitude control task should exit */
bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _battery_status_sub; /**< battery status subscription */
int _ctrl_state_sub; /**< control state subscription */
int _global_pos_sub; /**< global position subscription */
int _manual_sub; /**< notification of manual control updates */
int _params_sub; /**< notification of parameter updates */
int _vcontrol_mode_sub; /**< vehicle status subscription */
int _vehicle_land_detected_sub; /**< vehicle land detected subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
orb_advert_t _actuators_2_pub; /**< actuator control group 1 setpoint (Airframe) */
orb_id_t _rates_sp_id; // pointer to correct rates setpoint uORB metadata structure
orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure
orb_id_t _attitude_setpoint_id;
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct battery_status_s _battery_status; /**< battery status */
struct control_state_s _ctrl_state; /**< control state */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct vehicle_global_position_s _global_pos; /**< global position */
struct vehicle_land_detected_s _vehicle_land_detected; /**< vehicle land detected */
struct vehicle_rates_setpoint_s _rates_sp; /* attitude rates setpoint */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
bool _debug; /**< if set to true, print debug output */
float _flaps_applied;
float _flaperons_applied;
struct {
float p_tc;
float p_p;
float p_i;
float p_ff;
float p_rmax_pos;
float p_rmax_neg;
float p_integrator_max;
float r_tc;
float r_p;
float r_i;
float r_ff;
float r_integrator_max;
float r_rmax;
float y_p;
float y_i;
float y_ff;
float y_integrator_max;
float y_coordinated_min_speed;
float roll_to_yaw_ff;
int32_t y_coordinated_method;
float y_rmax;
bool w_en;
float w_p;
float w_i;
float w_ff;
float w_integrator_max;
float w_rmax;
float airspeed_min;
float airspeed_trim;
float airspeed_max;
float trim_roll;
float trim_pitch;
float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
float man_roll_scale; /**< scale factor applied to roll actuator control in pure manual mode */
float man_pitch_scale; /**< scale factor applied to pitch actuator control in pure manual mode */
float man_yaw_scale; /**< scale factor applied to yaw actuator control in pure manual mode */
float acro_max_x_rate_rad;
float acro_max_y_rate_rad;
float acro_max_z_rate_rad;
float flaps_scale; /**< Scale factor for flaps */
float flaperon_scale; /**< Scale factor for flaperons */
float rattitude_thres;
int32_t vtol_type; /**< VTOL type: 0 = tailsitter, 1 = tiltrotor */
int32_t bat_scale_en; /**< Battery scaling enabled */
} _parameters{}; /**< local copies of interesting parameters */
struct {
param_t p_tc;
param_t p_p;
param_t p_i;
param_t p_ff;
param_t p_rmax_pos;
param_t p_rmax_neg;
param_t p_integrator_max;
param_t r_tc;
param_t r_p;
param_t r_i;
param_t r_ff;
param_t r_integrator_max;
param_t r_rmax;
param_t y_p;
param_t y_i;
param_t y_ff;
param_t y_integrator_max;
param_t y_coordinated_min_speed;
param_t roll_to_yaw_ff;
param_t y_coordinated_method;
param_t y_rmax;
param_t w_en;
param_t w_p;
param_t w_i;
param_t w_ff;
param_t w_integrator_max;
param_t w_rmax;
param_t airspeed_min;
param_t airspeed_trim;
param_t airspeed_max;
param_t trim_roll;
param_t trim_pitch;
param_t trim_yaw;
param_t rollsp_offset_deg;
param_t pitchsp_offset_deg;
param_t man_roll_max;
param_t man_pitch_max;
param_t man_roll_scale;
param_t man_pitch_scale;
param_t man_yaw_scale;
param_t acro_max_x_rate;
param_t acro_max_y_rate;
param_t acro_max_z_rate;
param_t flaps_scale;
param_t flaperon_scale;
param_t rattitude_thres;
param_t vtol_type;
param_t bat_scale_en;
} _parameter_handles{}; /**< handles for interesting parameters */
// Rotation matrix and euler angles to extract from control state
math::Matrix<3, 3> _R;
float _roll;
float _pitch;
float _yaw;
ECL_RollController _roll_ctrl;
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
ECL_WheelController _wheel_ctrl;
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Update control outputs
*
*/
void control_update();
/**
* Check for changes in vehicle control mode.
*/
void vehicle_control_mode_poll();
/**
* Check for changes in manual inputs.
*/
void vehicle_manual_poll();
/**
* Check for set triplet updates.
*/
void vehicle_setpoint_poll();
/**
* Check for global position updates.
*/
void global_pos_poll();
/**
* Check for vehicle status updates.
*/
void vehicle_status_poll();
/**
* Check for vehicle land detected updates.
*/
void vehicle_land_detected_poll();
/**
* Check for battery status updates.
*/
void battery_status_poll();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main attitude controller collection task.
*/
void task_main();
};
namespace att_control
{
FixedwingAttitudeControl *g_control = nullptr;
}
FixedwingAttitudeControl::FixedwingAttitudeControl() :
_task_should_exit(false),
_task_running(false),
_control_task(-1),
/* subscriptions */
_att_sp_sub(-1),
_battery_status_sub(-1),
_ctrl_state_sub(-1),
_global_pos_sub(-1),
_manual_sub(-1),
_params_sub(-1),
_vcontrol_mode_sub(-1),
_vehicle_land_detected_sub(-1),
_vehicle_status_sub(-1),
/* publications */
_rate_sp_pub(nullptr),
_attitude_sp_pub(nullptr),
_actuators_0_pub(nullptr),
_actuators_2_pub(nullptr),
_rates_sp_id(nullptr),
_actuators_id(nullptr),
_attitude_setpoint_id(nullptr),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fwa_dt")),
#if 0
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fwa_nani")),
_nonfinite_output_perf(perf_alloc(PC_COUNT, "fwa_nano")),
#else
_nonfinite_input_perf(nullptr),
_nonfinite_output_perf(nullptr),
#endif
/* states */
_setpoint_valid(false),
_debug(false),
_flaps_applied(0),
_flaperons_applied(0),
_roll(0.0f),
_pitch(0.0f),
_yaw(0.0f)
{
/* safely initialize structs */
_actuators = {};
_actuators_airframe = {};
_att_sp = {};
_battery_status = {};
_ctrl_state = {};
_global_pos = {};
_manual = {};
_rates_sp = {};
_vcontrol_mode = {};
_vehicle_land_detected = {};
_vehicle_status = {};
_parameter_handles.p_tc = param_find("FW_P_TC");
_parameter_handles.p_p = param_find("FW_PR_P");
_parameter_handles.p_i = param_find("FW_PR_I");
_parameter_handles.p_ff = param_find("FW_PR_FF");
_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
_parameter_handles.p_integrator_max = param_find("FW_PR_IMAX");
_parameter_handles.r_tc = param_find("FW_R_TC");
_parameter_handles.r_p = param_find("FW_RR_P");
_parameter_handles.r_i = param_find("FW_RR_I");
_parameter_handles.r_ff = param_find("FW_RR_FF");
_parameter_handles.r_integrator_max = param_find("FW_RR_IMAX");
_parameter_handles.r_rmax = param_find("FW_R_RMAX");
_parameter_handles.y_p = param_find("FW_YR_P");
_parameter_handles.y_i = param_find("FW_YR_I");
_parameter_handles.y_ff = param_find("FW_YR_FF");
_parameter_handles.y_integrator_max = param_find("FW_YR_IMAX");
_parameter_handles.y_rmax = param_find("FW_Y_RMAX");
_parameter_handles.roll_to_yaw_ff = param_find("FW_RLL_TO_YAW_FF");
_parameter_handles.w_en = param_find("FW_W_EN");
_parameter_handles.w_p = param_find("FW_WR_P");
_parameter_handles.w_i = param_find("FW_WR_I");
_parameter_handles.w_ff = param_find("FW_WR_FF");
_parameter_handles.w_integrator_max = param_find("FW_WR_IMAX");
_parameter_handles.w_rmax = param_find("FW_W_RMAX");
_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
_parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN");
_parameter_handles.y_coordinated_method = param_find("FW_YCO_METHOD");
_parameter_handles.trim_roll = param_find("TRIM_ROLL");
_parameter_handles.trim_pitch = param_find("TRIM_PITCH");
_parameter_handles.trim_yaw = param_find("TRIM_YAW");
_parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF");
_parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF");
_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
_parameter_handles.man_roll_scale = param_find("FW_MAN_R_SC");
_parameter_handles.man_pitch_scale = param_find("FW_MAN_P_SC");
_parameter_handles.man_yaw_scale = param_find("FW_MAN_Y_SC");
_parameter_handles.acro_max_x_rate = param_find("FW_ACRO_X_MAX");
_parameter_handles.acro_max_y_rate = param_find("FW_ACRO_Y_MAX");
_parameter_handles.acro_max_z_rate = param_find("FW_ACRO_Z_MAX");
_parameter_handles.flaps_scale = param_find("FW_FLAPS_SCL");
_parameter_handles.flaperon_scale = param_find("FW_FLAPERON_SCL");
_parameter_handles.rattitude_thres = param_find("FW_RATT_TH");
_parameter_handles.vtol_type = param_find("VT_TYPE");
_parameter_handles.bat_scale_en = param_find("FW_BAT_SCALE_EN");
/* fetch initial parameter values */
parameters_update();
}
FixedwingAttitudeControl::~FixedwingAttitudeControl()
{
if (_control_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
px4_task_delete(_control_task);
break;
}
} while (_control_task != -1);
}
perf_free(_loop_perf);
perf_free(_nonfinite_input_perf);
perf_free(_nonfinite_output_perf);
att_control::g_control = nullptr;
}
int
FixedwingAttitudeControl::parameters_update()
{
param_get(_parameter_handles.p_tc, &(_parameters.p_tc));
param_get(_parameter_handles.p_p, &(_parameters.p_p));
param_get(_parameter_handles.p_i, &(_parameters.p_i));
param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
param_get(_parameter_handles.r_tc, &(_parameters.r_tc));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));
param_get(_parameter_handles.y_p, &(_parameters.y_p));
param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
param_get(_parameter_handles.y_coordinated_method, &(_parameters.y_coordinated_method));
param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
param_get(_parameter_handles.roll_to_yaw_ff, &(_parameters.roll_to_yaw_ff));
int32_t wheel_enabled = 0;
param_get(_parameter_handles.w_en, &wheel_enabled);
_parameters.w_en = (wheel_enabled == 1);
param_get(_parameter_handles.w_p, &(_parameters.w_p));
param_get(_parameter_handles.w_i, &(_parameters.w_i));
param_get(_parameter_handles.w_ff, &(_parameters.w_ff));
param_get(_parameter_handles.w_integrator_max, &(_parameters.w_integrator_max));
param_get(_parameter_handles.w_rmax, &(_parameters.w_rmax));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
param_get(_parameter_handles.man_roll_scale, &(_parameters.man_roll_scale));
param_get(_parameter_handles.man_pitch_scale, &(_parameters.man_pitch_scale));
param_get(_parameter_handles.man_yaw_scale, &(_parameters.man_yaw_scale));
param_get(_parameter_handles.acro_max_x_rate, &(_parameters.acro_max_x_rate_rad));
param_get(_parameter_handles.acro_max_y_rate, &(_parameters.acro_max_y_rate_rad));
param_get(_parameter_handles.acro_max_z_rate, &(_parameters.acro_max_z_rate_rad));
_parameters.acro_max_x_rate_rad = math::radians(_parameters.acro_max_x_rate_rad);
_parameters.acro_max_y_rate_rad = math::radians(_parameters.acro_max_y_rate_rad);
_parameters.acro_max_z_rate_rad = math::radians(_parameters.acro_max_z_rate_rad);
param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);
param_get(_parameter_handles.rattitude_thres, &_parameters.rattitude_thres);
param_get(_parameter_handles.vtol_type, &_parameters.vtol_type);
param_get(_parameter_handles.bat_scale_en, &_parameters.bat_scale_en);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.p_tc);
_pitch_ctrl.set_k_p(_parameters.p_p);
_pitch_ctrl.set_k_i(_parameters.p_i);
_pitch_ctrl.set_k_ff(_parameters.p_ff);
_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
/* roll control parameters */
_roll_ctrl.set_time_constant(_parameters.r_tc);
_roll_ctrl.set_k_p(_parameters.r_p);
_roll_ctrl.set_k_i(_parameters.r_i);
_roll_ctrl.set_k_ff(_parameters.r_ff);
_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
/* yaw control parameters */
_yaw_ctrl.set_k_p(_parameters.y_p);
_yaw_ctrl.set_k_i(_parameters.y_i);
_yaw_ctrl.set_k_ff(_parameters.y_ff);
_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
/* wheel control parameters */
_wheel_ctrl.set_k_p(_parameters.w_p);
_wheel_ctrl.set_k_i(_parameters.w_i);
_wheel_ctrl.set_k_ff(_parameters.w_ff);
_wheel_ctrl.set_integrator_max(_parameters.w_integrator_max);
_wheel_ctrl.set_max_rate(math::radians(_parameters.w_rmax));
return PX4_OK;
}
void
FixedwingAttitudeControl::vehicle_control_mode_poll()
{
bool vcontrol_mode_updated;
/* Check if vehicle control mode has changed */
orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
if (vcontrol_mode_updated) {
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
}
}
void
FixedwingAttitudeControl::vehicle_manual_poll()
{
bool manual_updated;
/* get pilots inputs */
orb_check(_manual_sub, &manual_updated);
if (manual_updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
}
}
void
FixedwingAttitudeControl::vehicle_setpoint_poll()
{
/* check if there is a new setpoint */
bool att_sp_updated;
orb_check(_att_sp_sub, &att_sp_updated);
if (att_sp_updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
_setpoint_valid = true;
}
}
void
FixedwingAttitudeControl::global_pos_poll()
{
/* check if there is a new global position */
bool global_pos_updated;
orb_check(_global_pos_sub, &global_pos_updated);
if (global_pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
}
}
void
FixedwingAttitudeControl::vehicle_status_poll()
{
/* check if there is new status information */
bool vehicle_status_updated;
orb_check(_vehicle_status_sub, &vehicle_status_updated);
if (vehicle_status_updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
/* set correct uORB ID, depending on if vehicle is VTOL or not */
if (!_rates_sp_id) {
if (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
_attitude_setpoint_id = ORB_ID(fw_virtual_attitude_setpoint);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
_attitude_setpoint_id = ORB_ID(vehicle_attitude_setpoint);
}
}
}
}
void
FixedwingAttitudeControl::vehicle_land_detected_poll()
{
/* check if there is new status information */
bool vehicle_land_detected_updated;
orb_check(_vehicle_land_detected_sub, &vehicle_land_detected_updated);
if (vehicle_land_detected_updated) {
orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &_vehicle_land_detected);
}
}
void
FixedwingAttitudeControl::battery_status_poll()
{
/* check if there is a new message */
bool updated;
orb_check(_battery_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(battery_status), _battery_status_sub, &_battery_status);
}
}
void
FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[])
{
att_control::g_control->task_main();
}
void
FixedwingAttitudeControl::task_main()
{
/*
* do subscriptions
*/
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
parameters_update();
/* get an initial update for all sensor and status data */
vehicle_setpoint_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
vehicle_status_poll();
vehicle_land_detected_poll();
battery_status_poll();
/* wakeup source */
px4_pollfd_struct_t fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _ctrl_state_sub;
fds[1].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* 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), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f) {
deltaT = 0.01f;
}
/* load local copies */
orb_copy(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);
/* get current rotation matrix and euler angles from control state quaternions */
math::Quaternion q_att(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
_R = q_att.to_dcm();
math::Vector<3> euler_angles;
euler_angles = _R.to_euler();
_roll = euler_angles(0);
_pitch = euler_angles(1);
_yaw = euler_angles(2);
if (_vehicle_status.is_vtol && _parameters.vtol_type == vtol_type::TAILSITTER) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.
* Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
* the pitch axis compared to the neutral position of the vehicle in multicopter mode
* we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix.
* Additionally, in order to get the correct sign of the pitch, we need to multiply
* the new x axis of the rotation matrix with -1
*
* original: modified:
*
* Rxx Ryx Rzx -Rzx Ryx Rxx
* Rxy Ryy Rzy -Rzy Ryy Rxy
* Rxz Ryz Rzz -Rzz Ryz Rxz
* */
math::Matrix<3, 3> R_adapted = _R; //modified rotation matrix
/* move z to x */
R_adapted(0, 0) = _R(0, 2);
R_adapted(1, 0) = _R(1, 2);
R_adapted(2, 0) = _R(2, 2);
/* move x to z */
R_adapted(0, 2) = _R(0, 0);
R_adapted(1, 2) = _R(1, 0);
R_adapted(2, 2) = _R(2, 0);
/* change direction of pitch (convert to right handed system) */
R_adapted(0, 0) = -R_adapted(0, 0);
R_adapted(1, 0) = -R_adapted(1, 0);
R_adapted(2, 0) = -R_adapted(2, 0);
euler_angles = R_adapted.to_euler(); //adapted euler angles for fixed wing operation
/* fill in new attitude data */
_R = R_adapted;
_roll = euler_angles(0);
_pitch = euler_angles(1);
_yaw = euler_angles(2);
/* lastly, roll- and yawspeed have to be swaped */
float helper = _ctrl_state.roll_rate;
_ctrl_state.roll_rate = -_ctrl_state.yaw_rate;
_ctrl_state.yaw_rate = helper;
}
vehicle_setpoint_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
global_pos_poll();
vehicle_status_poll();
vehicle_land_detected_poll();
battery_status_poll();
// the position controller will not emit attitude setpoints in some modes
// we need to make sure that this flag is reset
_att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled;
/* lock integrator until control is started */
bool lock_integrator = !(_vcontrol_mode.flag_control_rates_enabled && !_vehicle_status.is_rotary_wing);
/* Simple handling of failsafe: deploy parachute if failsafe is on */
if (_vcontrol_mode.flag_control_termination_enabled) {
_actuators_airframe.control[7] = 1.0f;
//warnx("_actuators_airframe.control[1] = 1.0f;");
} else {
_actuators_airframe.control[7] = 0.0f;
//warnx("_actuators_airframe.control[1] = -1.0f;");
}
/* if we are in rotary wing mode, do nothing */
if (_vehicle_status.is_rotary_wing && !_vehicle_status.is_vtol) {
continue;
}
/* default flaps to center */
float flap_control = 0.0f;
/* map flaps by default to manual if valid */
if (PX4_ISFINITE(_manual.flaps) && _vcontrol_mode.flag_control_manual_enabled
&& fabsf(_parameters.flaps_scale) > 0.01f) {
flap_control = 0.5f * (_manual.flaps + 1.0f) * _parameters.flaps_scale;
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaps_scale) > 0.01f) {
flap_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaps_scale : 0.0f;
}
// move the actual control value continuous with time, full flap travel in 1sec
if (fabsf(_flaps_applied - flap_control) > 0.01f) {
_flaps_applied += (_flaps_applied - flap_control) < 0 ? deltaT : -deltaT;
} else {
_flaps_applied = flap_control;
}
/* default flaperon to center */
float flaperon_control = 0.0f;
/* map flaperons by default to manual if valid */
if (PX4_ISFINITE(_manual.aux2) && _vcontrol_mode.flag_control_manual_enabled
&& fabsf(_parameters.flaperon_scale) > 0.01f) {
flaperon_control = 0.5f * (_manual.aux2 + 1.0f) * _parameters.flaperon_scale;
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaperon_scale) > 0.01f) {
flaperon_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaperon_scale : 0.0f;
}
// move the actual control value continuous with time, full flap travel in 1sec
if (fabsf(_flaperons_applied - flaperon_control) > 0.01f) {
_flaperons_applied += (_flaperons_applied - flaperon_control) < 0 ? deltaT : -deltaT;
} else {
_flaperons_applied = flaperon_control;
}
// Check if we are in rattitude mode and the pilot is above the threshold on pitch
if (_vcontrol_mode.flag_control_rattitude_enabled) {
if (fabsf(_manual.y) > _parameters.rattitude_thres ||
fabsf(_manual.x) > _parameters.rattitude_thres) {
_vcontrol_mode.flag_control_attitude_enabled = false;
}
}
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_rates_enabled) {
/* scale around tuning airspeed */
float airspeed;
bool nonfinite = !PX4_ISFINITE(_ctrl_state.airspeed);
/* if airspeed is non-finite or not valid or if we are asked not to control it, we assume the normal average speed */
if (nonfinite || !_ctrl_state.airspeed_valid) {
airspeed = _parameters.airspeed_trim;
if (nonfinite) {
perf_count(_nonfinite_input_perf);
}
} else {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _ctrl_state.airspeed);
}
/*
* For scaling our actuators using anything less than the min (close to stall)
* speed doesn't make any sense - its the strongest reasonable deflection we
* want to do in flight and its the baseline a human pilot would choose.
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min :
airspeed);
/* Use min airspeed to calculate ground speed scaling region.
* Don't scale below gspd_scaling_trim
*/
float groundspeed = sqrtf(_global_pos.vel_n * _global_pos.vel_n +
_global_pos.vel_e * _global_pos.vel_e);
float gspd_scaling_trim = (_parameters.airspeed_min * 0.6f);
float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed);
// in STABILIZED mode we need to generate the attitude setpoint
// from manual user inputs
if (!_vcontrol_mode.flag_control_climb_rate_enabled && !_vcontrol_mode.flag_control_offboard_enabled) {
_att_sp.roll_body = _manual.y * _parameters.man_roll_max + _parameters.rollsp_offset_rad;
_att_sp.roll_body = math::constrain(_att_sp.roll_body, -_parameters.man_roll_max, _parameters.man_roll_max);
_att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max + _parameters.pitchsp_offset_rad;
_att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max, _parameters.man_pitch_max);
_att_sp.yaw_body = 0.0f;
_att_sp.thrust = _manual.z;
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
q.copyTo(_att_sp.q_d);
_att_sp.q_d_valid = true;
int instance;
orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT);
}
float roll_sp = _att_sp.roll_body;
float pitch_sp = _att_sp.pitch_body;
float yaw_sp = _att_sp.yaw_body;
float throttle_sp = _att_sp.thrust;
float yaw_manual = 0.0f;
/* allow manual yaw in manual modes */
if (_vcontrol_mode.flag_control_manual_enabled) {
yaw_manual = _manual.r;
}
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
}
if (_att_sp.pitch_reset_integral) {
_pitch_ctrl.reset_integrator();
}
if (_att_sp.yaw_reset_integral) {
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
/* Reset integrators if the aircraft is on ground
* or a multicopter (but not transitioning VTOL)
*/
if (_vehicle_land_detected.landed
|| (_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode)) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
/* Prepare data for attitude controllers */
struct ECL_ControlData control_input = {};
control_input.roll = _roll;
control_input.pitch = _pitch;
control_input.yaw = _yaw;
control_input.body_x_rate = _ctrl_state.roll_rate;
control_input.body_y_rate = _ctrl_state.pitch_rate;
control_input.body_z_rate = _ctrl_state.yaw_rate;
control_input.roll_setpoint = roll_sp;
control_input.pitch_setpoint = pitch_sp;
control_input.yaw_setpoint = yaw_sp;
control_input.airspeed_min = _parameters.airspeed_min;
control_input.airspeed_max = _parameters.airspeed_max;
control_input.airspeed = airspeed;
control_input.scaler = airspeed_scaling;
control_input.lock_integrator = lock_integrator;
control_input.groundspeed = groundspeed;
control_input.groundspeed_scaler = groundspeed_scaler;
_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
/* Run attitude controllers */
if (_vcontrol_mode.flag_control_attitude_enabled) {
if (PX4_ISFINITE(roll_sp) && PX4_ISFINITE(pitch_sp)) {
_roll_ctrl.control_attitude(control_input);
_pitch_ctrl.control_attitude(control_input);
_yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude
_wheel_ctrl.control_attitude(control_input);
/* Update input data for rate controllers */
control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate();
control_input.pitch_rate_setpoint = _pitch_ctrl.get_desired_rate();
control_input.yaw_rate_setpoint = _yaw_ctrl.get_desired_rate();
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
float roll_u = _roll_ctrl.control_euler_rate(control_input);
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll :
_parameters.trim_roll;
if (!PX4_ISFINITE(roll_u)) {
_roll_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("roll_u %.4f", (double)roll_u);
}
}
float pitch_u = _pitch_ctrl.control_euler_rate(control_input);
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch :
_parameters.trim_pitch;
if (!PX4_ISFINITE(pitch_u)) {
_pitch_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
(double)airspeed, (double)airspeed_scaling,
(double)roll_sp, (double)pitch_sp,
(double)_roll_ctrl.get_desired_rate(),
(double)_pitch_ctrl.get_desired_rate(),
(double)_att_sp.roll_body);
}
}
float yaw_u = 0.0f;
if (_parameters.w_en && _att_sp.fw_control_yaw) {
yaw_u = _wheel_ctrl.control_bodyrate(control_input);
} else {
yaw_u = _yaw_ctrl.control_euler_rate(control_input);
}
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
/* add in manual rudder control */
_actuators.control[actuator_controls_s::INDEX_YAW] += yaw_manual;
if (!PX4_ISFINITE(yaw_u)) {
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through if it is finite and if no engine failure was detected */
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) &&
!(_vehicle_status.engine_failure ||
_vehicle_status.engine_failure_cmd)) ?
throttle_sp : 0.0f;
/* scale effort by battery status */
if (_parameters.bat_scale_en && _battery_status.scale > 0.0f &&
_actuators.control[actuator_controls_s::INDEX_THROTTLE] > 0.1f) {
_actuators.control[actuator_controls_s::INDEX_THROTTLE] *= _battery_status.scale;
}
if (!PX4_ISFINITE(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);
}
}
} else {
perf_count(_nonfinite_input_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
}
} else {
// pure rate control
_roll_ctrl.set_bodyrate_setpoint(_manual.y * _parameters.acro_max_x_rate_rad);
_pitch_ctrl.set_bodyrate_setpoint(-_manual.x * _parameters.acro_max_y_rate_rad);
_yaw_ctrl.set_bodyrate_setpoint(_manual.r * _parameters.acro_max_z_rate_rad);
float roll_u = _roll_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll :
_parameters.trim_roll;
float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch :
_parameters.trim_pitch;
float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) &&
//!(_vehicle_status.engine_failure ||
!_vehicle_status.engine_failure_cmd) ?
throttle_sp : 0.0f;
}
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
*/
_rates_sp.roll = _roll_ctrl.get_desired_bodyrate();
_rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate();
_rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate();
_rates_sp.timestamp = hrt_absolute_time();
if (_rate_sp_pub != nullptr) {
/* publish the attitude rates setpoint */
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
} else if (_rates_sp_id) {
/* advertise the attitude rates setpoint */
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
}
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _parameters.man_roll_scale + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _parameters.man_pitch_scale +
_parameters.trim_pitch;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r * _parameters.man_yaw_scale + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
// Add feed-forward from roll control output to yaw control output
// This can be used to counteract the adverse yaw effect when rolling the plane
_actuators.control[actuator_controls_s::INDEX_YAW] += _parameters.roll_to_yaw_ff * math::constrain(
_actuators.control[actuator_controls_s::INDEX_ROLL], -1.0f, 1.0f);
_actuators.control[actuator_controls_s::INDEX_FLAPS] = _flaps_applied;
_actuators.control[5] = _manual.aux1;
_actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = _flaperons_applied;
// FIXME: this should use _vcontrol_mode.landing_gear_pos in the future
_actuators.control[7] = _manual.aux3;
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _ctrl_state.timestamp;
_actuators_airframe.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp_sample = _ctrl_state.timestamp;
/* Only publish if any of the proper modes are enabled */
if (_vcontrol_mode.flag_control_rates_enabled ||
_vcontrol_mode.flag_control_attitude_enabled ||
_vcontrol_mode.flag_control_manual_enabled) {
/* publish the actuator controls */
if (_actuators_0_pub != nullptr) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else if (_actuators_id) {
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
}
if (_actuators_2_pub != nullptr) {
/* publish the actuator controls*/
orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);
} else {
/* advertise and publish */
_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
}
}
}
loop_counter++;
perf_end(_loop_perf);
}
warnx("exiting.\n");
_control_task = -1;
_task_running = false;
}
int
FixedwingAttitudeControl::start()
{
ASSERT(_control_task == -1);
/* start the task */
_control_task = px4_task_spawn_cmd("fw_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1500,
(px4_main_t)&FixedwingAttitudeControl::task_main_trampoline,
nullptr);
if (_control_task < 0) {
warn("task start failed");
return -errno;
}
return PX4_OK;
}
int fw_att_control_main(int argc, char *argv[])
{
if (argc < 2) {
warnx("usage: fw_att_control {start|stop|status}");
return 1;
}
if (!strcmp(argv[1], "start")) {
if (att_control::g_control != nullptr) {
warnx("already running");
return 1;
}
att_control::g_control = new FixedwingAttitudeControl;
if (att_control::g_control == nullptr) {
warnx("alloc failed");
return 1;
}
if (PX4_OK != att_control::g_control->start()) {
delete att_control::g_control;
att_control::g_control = nullptr;
warn("start failed");
return 1;
}
/* check if the waiting is necessary at all */
if (att_control::g_control == nullptr || !att_control::g_control->task_running()) {
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (att_control::g_control == nullptr || !att_control::g_control->task_running()) {
usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
}
return 0;
}
if (!strcmp(argv[1], "stop")) {
if (att_control::g_control == nullptr) {
warnx("not running");
return 1;
}
delete att_control::g_control;
att_control::g_control = nullptr;
return 0;
}
if (!strcmp(argv[1], "status")) {
if (att_control::g_control) {
warnx("running");
return 0;
} else {
warnx("not running");
return 1;
}
}
warnx("unrecognized command");
return 1;
}
Reference in New Issue View Git Blame Copy Permalink