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252 lines
11 KiB
C++
252 lines
11 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2018 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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#include <lib/mathlib/mathlib.h>
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#include <lib/mixer/mixer.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <systemlib/perf_counter.h>
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_module.h>
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#include <px4_module_params.h>
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#include <px4_posix.h>
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#include <px4_tasks.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/multirotor_motor_limits.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/sensor_bias.h>
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#include <uORB/topics/sensor_correction.h>
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#include <uORB/topics/sensor_gyro.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_control_mode.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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/**
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* Multicopter attitude control app start / stop handling function
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*/
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extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
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#define MAX_GYRO_COUNT 3
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class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>, public ModuleParams
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{
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public:
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MulticopterAttitudeControl();
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virtual ~MulticopterAttitudeControl() = default;
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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 MulticopterAttitudeControl *instantiate(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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/** @see ModuleBase::run() */
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void run() override;
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private:
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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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/**
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* Check for parameter update and handle it.
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*/
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void battery_status_poll();
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void parameter_update_poll();
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void sensor_bias_poll();
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void sensor_correction_poll();
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void vehicle_attitude_poll();
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void vehicle_attitude_setpoint_poll();
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void vehicle_control_mode_poll();
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void vehicle_manual_poll();
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void vehicle_motor_limits_poll();
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void vehicle_rates_setpoint_poll();
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void vehicle_status_poll();
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/**
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* Attitude controller.
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*/
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void control_attitude(float dt);
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/**
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* Attitude rates controller.
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*/
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void control_attitude_rates(float dt);
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/**
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* Throttle PID attenuation.
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*/
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math::Vector<3> pid_attenuations(float tpa_breakpoint, float tpa_rate);
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int _v_att_sub{-1}; /**< vehicle attitude subscription */
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int _v_att_sp_sub{-1}; /**< vehicle attitude setpoint subscription */
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int _v_rates_sp_sub{-1}; /**< vehicle rates setpoint subscription */
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int _v_control_mode_sub{-1}; /**< vehicle control mode subscription */
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int _params_sub{-1}; /**< parameter updates subscription */
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int _manual_control_sp_sub{-1}; /**< manual control setpoint subscription */
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int _vehicle_status_sub{-1}; /**< vehicle status subscription */
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int _motor_limits_sub{-1}; /**< motor limits subscription */
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int _battery_status_sub{-1}; /**< battery status subscription */
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int _sensor_gyro_sub[MAX_GYRO_COUNT]; /**< gyro data subscription */
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int _sensor_correction_sub{-1}; /**< sensor thermal correction subscription */
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int _sensor_bias_sub{-1}; /**< sensor in-run bias correction subscription */
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unsigned _gyro_count{1};
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int _selected_gyro{0};
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orb_advert_t _v_rates_sp_pub{nullptr}; /**< rate setpoint publication */
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orb_advert_t _actuators_0_pub{nullptr}; /**< attitude actuator controls publication */
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orb_advert_t _controller_status_pub{nullptr}; /**< controller status publication */
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orb_id_t _rates_sp_id{nullptr}; /**< pointer to correct rates setpoint uORB metadata structure */
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orb_id_t _actuators_id{nullptr}; /**< pointer to correct actuator controls0 uORB metadata structure */
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bool _actuators_0_circuit_breaker_enabled{false}; /**< circuit breaker to suppress output */
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struct vehicle_attitude_s _v_att {}; /**< vehicle attitude */
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struct vehicle_attitude_setpoint_s _v_att_sp {}; /**< vehicle attitude setpoint */
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struct vehicle_rates_setpoint_s _v_rates_sp {}; /**< vehicle rates setpoint */
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struct manual_control_setpoint_s _manual_control_sp {}; /**< manual control setpoint */
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struct vehicle_control_mode_s _v_control_mode {}; /**< vehicle control mode */
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struct actuator_controls_s _actuators {}; /**< actuator controls */
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struct vehicle_status_s _vehicle_status {}; /**< vehicle status */
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struct battery_status_s _battery_status {}; /**< battery status */
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struct sensor_gyro_s _sensor_gyro {}; /**< gyro data before thermal correctons and ekf bias estimates are applied */
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struct sensor_correction_s _sensor_correction {}; /**< sensor thermal corrections */
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struct sensor_bias_s _sensor_bias {}; /**< sensor in-run bias corrections */
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MultirotorMixer::saturation_status _saturation_status{};
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perf_counter_t _loop_perf; /**< loop performance counter */
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perf_counter_t _controller_latency_perf;
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math::LowPassFilter2p _lp_filters_d[3]; /**< low-pass filters for D-term (roll, pitch & yaw) */
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static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
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float _loop_update_rate_hz{initial_update_rate_hz}; /**< current rate-controller loop update rate in [Hz] */
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math::Vector<3> _rates_prev; /**< angular rates on previous step */
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math::Vector<3> _rates_prev_filtered; /**< angular rates on previous step (low-pass filtered) */
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math::Vector<3> _rates_sp; /**< angular rates setpoint */
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math::Vector<3> _rates_int; /**< angular rates integral error */
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float _thrust_sp; /**< thrust setpoint */
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math::Vector<3> _att_control; /**< attitude control vector */
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math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::MC_ROLL_P>) _roll_p,
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(ParamFloat<px4::params::MC_ROLLRATE_P>) _roll_rate_p,
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(ParamFloat<px4::params::MC_ROLLRATE_I>) _roll_rate_i,
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(ParamFloat<px4::params::MC_RR_INT_LIM>) _roll_rate_integ_lim,
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(ParamFloat<px4::params::MC_ROLLRATE_D>) _roll_rate_d,
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(ParamFloat<px4::params::MC_ROLLRATE_FF>) _roll_rate_ff,
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(ParamFloat<px4::params::MC_PITCH_P>) _pitch_p,
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(ParamFloat<px4::params::MC_PITCHRATE_P>) _pitch_rate_p,
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(ParamFloat<px4::params::MC_PITCHRATE_I>) _pitch_rate_i,
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(ParamFloat<px4::params::MC_PR_INT_LIM>) _pitch_rate_integ_lim,
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(ParamFloat<px4::params::MC_PITCHRATE_D>) _pitch_rate_d,
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(ParamFloat<px4::params::MC_PITCHRATE_FF>) _pitch_rate_ff,
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(ParamFloat<px4::params::MC_YAW_P>) _yaw_p,
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(ParamFloat<px4::params::MC_YAWRATE_P>) _yaw_rate_p,
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(ParamFloat<px4::params::MC_YAWRATE_I>) _yaw_rate_i,
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(ParamFloat<px4::params::MC_YR_INT_LIM>) _yaw_rate_integ_lim,
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(ParamFloat<px4::params::MC_YAWRATE_D>) _yaw_rate_d,
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(ParamFloat<px4::params::MC_YAWRATE_FF>) _yaw_rate_ff,
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(ParamFloat<px4::params::MC_YAW_FF>) _yaw_ff, /**< yaw control feed-forward */
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(ParamFloat<px4::params::MC_DTERM_CUTOFF>) _d_term_cutoff_freq, /**< Cutoff frequency for the D-term filter */
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(ParamFloat<px4::params::MC_TPA_BREAK_P>) _tpa_breakpoint_p, /**< Throttle PID Attenuation breakpoint */
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(ParamFloat<px4::params::MC_TPA_BREAK_I>) _tpa_breakpoint_i, /**< Throttle PID Attenuation breakpoint */
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(ParamFloat<px4::params::MC_TPA_BREAK_D>) _tpa_breakpoint_d, /**< Throttle PID Attenuation breakpoint */
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(ParamFloat<px4::params::MC_TPA_RATE_P>) _tpa_rate_p, /**< Throttle PID Attenuation slope */
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(ParamFloat<px4::params::MC_TPA_RATE_I>) _tpa_rate_i, /**< Throttle PID Attenuation slope */
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(ParamFloat<px4::params::MC_TPA_RATE_D>) _tpa_rate_d, /**< Throttle PID Attenuation slope */
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(ParamFloat<px4::params::MC_ROLLRATE_MAX>) _roll_rate_max,
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(ParamFloat<px4::params::MC_PITCHRATE_MAX>) _pitch_rate_max,
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(ParamFloat<px4::params::MC_YAWRATE_MAX>) _yaw_rate_max,
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(ParamFloat<px4::params::MC_YAWRAUTO_MAX>) _yaw_auto_max,
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(ParamFloat<px4::params::MC_ACRO_R_MAX>) _acro_roll_max,
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(ParamFloat<px4::params::MC_ACRO_P_MAX>) _acro_pitch_max,
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(ParamFloat<px4::params::MC_ACRO_Y_MAX>) _acro_yaw_max,
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(ParamFloat<px4::params::MC_ACRO_EXPO>) _acro_expo, /**< function parameter for expo stick curve shape */
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(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _acro_superexpo, /**< function parameter for superexpo stick curve shape */
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(ParamFloat<px4::params::MC_RATT_TH>) _rattitude_thres,
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(ParamBool<px4::params::MC_BAT_SCALE_EN>) _bat_scale_en,
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(ParamInt<px4::params::SENS_BOARD_ROT>) _board_rotation_param,
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(ParamFloat<px4::params::SENS_BOARD_X_OFF>) _board_offset_x,
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(ParamFloat<px4::params::SENS_BOARD_Y_OFF>) _board_offset_y,
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(ParamFloat<px4::params::SENS_BOARD_Z_OFF>) _board_offset_z,
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(ParamFloat<px4::params::VT_WV_YAWR_SCL>) _vtol_wv_yaw_rate_scale /**< Scale value [0, 1] for yaw rate setpoint */
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)
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matrix::Vector3f _attitude_p; /**< P gain for attitude control */
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math::Vector<3> _rate_p; /**< P gain for angular rate error */
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math::Vector<3> _rate_i; /**< I gain for angular rate error */
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math::Vector<3> _rate_int_lim; /**< integrator state limit for rate loop */
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math::Vector<3> _rate_d; /**< D gain for angular rate error */
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math::Vector<3> _rate_ff; /**< Feedforward gain for desired rates */
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math::Vector<3> _mc_rate_max; /**< attitude rate limits in stabilized modes */
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math::Vector<3> _auto_rate_max; /**< attitude rate limits in auto modes */
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matrix::Vector3f _acro_rate_max; /**< max attitude rates in acro mode */
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};
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