mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-18 11:47:35 +08:00
Daniel Agar
1a9452e411
- ecl/attitude_fw was never maintained as a standalone library - moving ecl/attitude_fw library into the fw_att_control module to ease further development
234 lines
10 KiB
C++
234 lines
10 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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#include <drivers/drv_hrt.h>
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#include "ecl_pitch_controller.h"
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#include "ecl_roll_controller.h"
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#include "ecl_wheel_controller.h"
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#include "ecl_yaw_controller.h"
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#include <lib/ecl/geo/geo.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 <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/WorkItem.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/SubscriptionCallback.hpp>
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#include <uORB/topics/actuator_controls.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/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_velocity.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_local_position.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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using matrix::Eulerf;
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using matrix::Quatf;
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using uORB::SubscriptionData;
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class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public ModuleParams,
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public px4::WorkItem
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{
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public:
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FixedwingAttitudeControl(bool vtol = false);
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~FixedwingAttitudeControl() 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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uORB::SubscriptionCallbackWorkItem _att_sub{this, ORB_ID(vehicle_attitude)}; /**< vehicle attitude */
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uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint */
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uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; /**< battery status subscription */
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uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; /**< local position subscription */
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uORB::Subscription _manual_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
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uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint */
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uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle status subscription */
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uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
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uORB::Subscription _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
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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> _actuators_0_pub;
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uORB::Publication<actuator_controls_s> _actuators_2_pub{ORB_ID(actuator_controls_2)}; /**< actuator control group 1 setpoint (Airframe) */
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uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_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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actuator_controls_s _actuators {}; /**< actuator control inputs */
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actuator_controls_s _actuators_airframe {}; /**< actuator control inputs */
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manual_control_setpoint_s _manual {}; /**< r/c channel data */
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vehicle_attitude_s _att {}; /**< vehicle attitude setpoint */
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vehicle_attitude_setpoint_s _att_sp {}; /**< vehicle attitude setpoint */
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vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */
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vehicle_local_position_s _local_pos {}; /**< local position */
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vehicle_rates_setpoint_s _rates_sp {}; /* attitude rates setpoint */
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vehicle_status_s _vehicle_status {}; /**< vehicle status */
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perf_counter_t _loop_perf; /**< loop performance counter */
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float _flaps_applied{0.0f};
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float _flaperons_applied{0.0f};
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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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bool _flag_control_attitude_enabled_last{false};
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bool _is_tailsitter{false};
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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_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_FLPS>) _param_fw_dtrim_p_flps,
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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_FLPS>) _param_fw_dtrim_r_flps,
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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_FLAPERON_SCL>) _param_fw_flaperon_scl,
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(ParamFloat<px4::params::FW_FLAPS_LND_SCL>) _param_fw_flaps_lnd_scl,
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(ParamFloat<px4::params::FW_FLAPS_SCL>) _param_fw_flaps_scl,
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(ParamFloat<px4::params::FW_FLAPS_TO_SCL>) _param_fw_flaps_to_scl,
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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_P_RMAX_NEG>) _param_fw_p_rmax_neg,
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(ParamFloat<px4::params::FW_P_RMAX_POS>) _param_fw_p_rmax_pos,
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(ParamFloat<px4::params::FW_P_TC>) _param_fw_p_tc,
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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_PSP_OFF>) _param_fw_psp_off,
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(ParamFloat<px4::params::FW_RATT_TH>) _param_fw_ratt_th,
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(ParamFloat<px4::params::FW_R_RMAX>) _param_fw_r_rmax,
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(ParamFloat<px4::params::FW_R_TC>) _param_fw_r_tc,
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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_RSP_OFF>) _param_fw_rsp_off,
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(ParamBool<px4::params::FW_W_EN>) _param_fw_w_en,
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(ParamFloat<px4::params::FW_W_RMAX>) _param_fw_w_rmax,
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(ParamFloat<px4::params::FW_WR_FF>) _param_fw_wr_ff,
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(ParamFloat<px4::params::FW_WR_I>) _param_fw_wr_i,
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(ParamFloat<px4::params::FW_WR_IMAX>) _param_fw_wr_imax,
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(ParamFloat<px4::params::FW_WR_P>) _param_fw_wr_p,
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(ParamFloat<px4::params::FW_Y_RMAX>) _param_fw_y_rmax,
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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::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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)
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ECL_RollController _roll_ctrl;
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ECL_PitchController _pitch_ctrl;
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ECL_YawController _yaw_ctrl;
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ECL_WheelController _wheel_ctrl;
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void control_flaps(const 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_control_mode_poll();
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void vehicle_manual_poll();
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void vehicle_attitude_setpoint_poll();
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void vehicle_rates_setpoint_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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