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160 lines
6.9 KiB
C++
160 lines
6.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <lib/mixer/MixerBase/Mixer.hpp> // Airmode
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#include <matrix/matrix/math.hpp>
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#include <perf/perf_counter.h>
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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/px4_work_queue/WorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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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/autotune_attitude_control_status.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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#include <uORB/topics/vehicle_land_detected.h>
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#include <lib/mathlib/math/filter/AlphaFilter.hpp>
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#include <AttitudeControl.hpp>
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using namespace time_literals;
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class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>, public ModuleParams,
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public px4::WorkItem
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{
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public:
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MulticopterAttitudeControl(bool vtol = false);
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~MulticopterAttitudeControl() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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private:
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void Run() override;
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/**
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* initialize some vectors/matrices from parameters
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*/
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void parameters_updated();
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float throttle_curve(float throttle_stick_input);
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/**
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* Generate & publish an attitude setpoint from stick inputs
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*/
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void generate_attitude_setpoint(const matrix::Quatf &q, float dt, bool reset_yaw_sp);
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AttitudeControl _attitude_control; /**< class for attitude control calculations */
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _autotune_attitude_control_status_sub{ORB_ID(autotune_attitude_control_status)};
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
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uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint subscription */
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uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< 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::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};
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uORB::Publication<vehicle_rates_setpoint_s> _vehicle_rates_setpoint_pub{ORB_ID(vehicle_rates_setpoint)}; /**< rate setpoint publication */
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uORB::Publication<vehicle_attitude_setpoint_s> _vehicle_attitude_setpoint_pub;
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manual_control_setpoint_s _manual_control_setpoint {}; /**< manual control setpoint */
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vehicle_control_mode_s _vehicle_control_mode {}; /**< vehicle control mode */
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perf_counter_t _loop_perf; /**< loop duration performance counter */
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matrix::Vector3f _thrust_setpoint_body; /**< body frame 3D thrust vector */
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float _man_yaw_sp{0.f}; /**< current yaw setpoint in manual mode */
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float _man_tilt_max; /**< maximum tilt allowed for manual flight [rad] */
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AlphaFilter<float> _man_x_input_filter;
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AlphaFilter<float> _man_y_input_filter;
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hrt_abstime _last_run{0};
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hrt_abstime _last_attitude_setpoint{0};
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bool _landed{true};
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bool _reset_yaw_sp{true};
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bool _vehicle_type_rotary_wing{true};
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bool _vtol{false};
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bool _vtol_tailsitter{false};
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bool _vtol_in_transition_mode{false};
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uint8_t _quat_reset_counter{0};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,
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(ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau,
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(ParamFloat<px4::params::MC_ROLL_P>) _param_mc_roll_p,
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(ParamFloat<px4::params::MC_PITCH_P>) _param_mc_pitch_p,
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(ParamFloat<px4::params::MC_YAW_P>) _param_mc_yaw_p,
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(ParamFloat<px4::params::MC_YAW_WEIGHT>) _param_mc_yaw_weight,
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(ParamFloat<px4::params::MC_ROLLRATE_MAX>) _param_mc_rollrate_max,
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(ParamFloat<px4::params::MC_PITCHRATE_MAX>) _param_mc_pitchrate_max,
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(ParamFloat<px4::params::MC_YAWRATE_MAX>) _param_mc_yawrate_max,
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/* Stabilized mode params */
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(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max, /**< maximum tilt allowed for manual flight */
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(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max, /**< scaling factor from stick to yaw rate */
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(ParamFloat<px4::params::MPC_MANTHR_MIN>) _param_mpc_manthr_min, /**< minimum throttle for stabilized */
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(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max, /**< maximum throttle for stabilized */
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(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover, /**< throttle at stationary hover */
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(ParamInt<px4::params::MPC_THR_CURVE>) _param_mpc_thr_curve /**< throttle curve behavior */
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)
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};
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