mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
1e56d9c219
- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES] - use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint and spoilers_setpoint) to pass into control allocation - remove flaps/spoiler related fields from attitude_setpoint topic - CA: add possibility to map flaps/spoilers to any control surface - move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER) - move manual flaps/spoiler handling from rate to attitude controller FW Position controller: change how negative switch readings are intepreted for flaps/spoilers (considered negative as 0). VTOL: Rework spoiler publishing in hover - pushlish spoiler_setpoint.msg in the VTOL module if in hover - also set spoilers to land configuration if in Descend mode Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller (which then only is applied in Auto flight), do it consistently over all flight modes, so also for manual modes. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
219 lines
8.9 KiB
C++
219 lines
8.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2023 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 <lib/rate_control/rate_control.hpp>
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#include <drivers/drv_hrt.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/parameters/param.h>
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#include <lib/perf/perf_counter.h>
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#include <lib/slew_rate/SlewRate.hpp>
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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/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/tasks.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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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/SubscriptionMultiArray.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/airspeed_validated.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/manual_control_setpoint.h>
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#include <uORB/topics/normalized_unsigned_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_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 matrix::Eulerf;
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using matrix::Quatf;
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using uORB::SubscriptionData;
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using namespace time_literals;
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class FixedwingRateControl final : public ModuleBase<FixedwingRateControl>, public ModuleParams,
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public px4::ScheduledWorkItem
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{
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public:
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FixedwingRateControl(bool vtol = false);
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~FixedwingRateControl() 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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void publishTorqueSetpoint(const hrt_abstime ×tamp_sample);
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void publishThrustSetpoint(const hrt_abstime ×tamp_sample);
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uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
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uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
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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::Subscription _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::SubscriptionMultiArray<control_allocator_status_s, 2> _control_allocator_status_subs{ORB_ID::control_allocator_status};
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uORB::SubscriptionData<airspeed_validated_s> _airspeed_validated_sub{ORB_ID(airspeed_validated)};
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uORB::Publication<actuator_controls_s> _actuator_controls_0_pub;
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uORB::Publication<actuator_controls_status_s> _actuator_controls_status_pub;
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uORB::Publication<vehicle_rates_setpoint_s> _rate_sp_pub{ORB_ID(vehicle_rates_setpoint)};
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uORB::PublicationMulti<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
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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::Publication<normalized_unsigned_setpoint_s> _flaps_setpoint_pub{ORB_ID(flaps_setpoint)};
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uORB::Publication<normalized_unsigned_setpoint_s> _spoilers_setpoint_pub{ORB_ID(spoilers_setpoint)};
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actuator_controls_s _actuator_controls{};
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manual_control_setpoint_s _manual_control_setpoint{};
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vehicle_control_mode_s _vcontrol_mode{};
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vehicle_rates_setpoint_s _rates_sp{};
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vehicle_status_s _vehicle_status{};
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perf_counter_t _loop_perf;
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hrt_abstime _last_run{0};
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float _airspeed_scaling{1.0f};
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bool _landed{true};
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float _battery_scale{1.0f};
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float _energy_integration_time{0.0f};
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float _control_energy[4] {};
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float _control_prev[3] {};
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bool _in_fw_or_transition_wo_tailsitter_transition{false}; // only run the FW attitude controller in these states
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max,
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(ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max,
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(ParamFloat<px4::params::FW_ACRO_Z_MAX>) _param_fw_acro_z_max,
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(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
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(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
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(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
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(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
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(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
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(ParamInt<px4::params::FW_ARSP_SCALE_EN>) _param_fw_arsp_scale_en,
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(ParamBool<px4::params::FW_BAT_SCALE_EN>) _param_fw_bat_scale_en,
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(ParamFloat<px4::params::FW_DTRIM_P_VMAX>) _param_fw_dtrim_p_vmax,
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(ParamFloat<px4::params::FW_DTRIM_P_VMIN>) _param_fw_dtrim_p_vmin,
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(ParamFloat<px4::params::FW_DTRIM_R_VMAX>) _param_fw_dtrim_r_vmax,
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(ParamFloat<px4::params::FW_DTRIM_R_VMIN>) _param_fw_dtrim_r_vmin,
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(ParamFloat<px4::params::FW_DTRIM_Y_VMAX>) _param_fw_dtrim_y_vmax,
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(ParamFloat<px4::params::FW_DTRIM_Y_VMIN>) _param_fw_dtrim_y_vmin,
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(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
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(ParamFloat<px4::params::FW_MAN_P_SC>) _param_fw_man_p_sc,
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(ParamFloat<px4::params::FW_MAN_R_MAX>) _param_fw_man_r_max,
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(ParamFloat<px4::params::FW_MAN_R_SC>) _param_fw_man_r_sc,
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(ParamFloat<px4::params::FW_MAN_Y_SC>) _param_fw_man_y_sc,
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(ParamFloat<px4::params::FW_PR_FF>) _param_fw_pr_ff,
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(ParamFloat<px4::params::FW_PR_I>) _param_fw_pr_i,
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(ParamFloat<px4::params::FW_PR_IMAX>) _param_fw_pr_imax,
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(ParamFloat<px4::params::FW_PR_P>) _param_fw_pr_p,
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(ParamFloat<px4::params::FW_PR_D>) _param_fw_pr_d,
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(ParamFloat<px4::params::FW_RLL_TO_YAW_FF>) _param_fw_rll_to_yaw_ff,
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(ParamFloat<px4::params::FW_RR_FF>) _param_fw_rr_ff,
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(ParamFloat<px4::params::FW_RR_I>) _param_fw_rr_i,
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(ParamFloat<px4::params::FW_RR_IMAX>) _param_fw_rr_imax,
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(ParamFloat<px4::params::FW_RR_P>) _param_fw_rr_p,
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(ParamFloat<px4::params::FW_RR_D>) _param_fw_rr_d,
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(ParamFloat<px4::params::FW_YR_FF>) _param_fw_yr_ff,
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(ParamFloat<px4::params::FW_YR_I>) _param_fw_yr_i,
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(ParamFloat<px4::params::FW_YR_IMAX>) _param_fw_yr_imax,
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(ParamFloat<px4::params::FW_YR_P>) _param_fw_yr_p,
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(ParamFloat<px4::params::FW_YR_D>) _param_fw_yr_d,
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(ParamFloat<px4::params::TRIM_PITCH>) _param_trim_pitch,
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(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
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(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
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(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man
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)
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RateControl _rate_control; ///< class for rate control calculations
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void updateActuatorControlsStatus(float dt);
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/**
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* Update our local parameter cache.
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*/
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int parameters_update();
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void vehicle_manual_poll();
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void vehicle_land_detected_poll();
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float get_airspeed_and_update_scaling();
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};
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