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2ad12d7977
* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
982 lines
37 KiB
C++
982 lines
37 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 "FixedwingAttitudeControl.hpp"
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#include <vtol_att_control/vtol_type.h>
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using namespace time_literals;
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/**
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* Fixedwing attitude control app start / stop handling function
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*
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* @ingroup apps
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*/
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extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]);
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FixedwingAttitudeControl::FixedwingAttitudeControl() :
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "fwa_dt")),
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_nonfinite_input_perf(perf_alloc(PC_COUNT, "fwa_nani")),
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_nonfinite_output_perf(perf_alloc(PC_COUNT, "fwa_nano"))
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{
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// check if VTOL first
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vehicle_status_poll();
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_parameter_handles.p_tc = param_find("FW_P_TC");
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_parameter_handles.p_p = param_find("FW_PR_P");
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_parameter_handles.p_i = param_find("FW_PR_I");
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_parameter_handles.p_ff = param_find("FW_PR_FF");
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_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
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_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
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_parameter_handles.p_integrator_max = param_find("FW_PR_IMAX");
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_parameter_handles.r_tc = param_find("FW_R_TC");
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_parameter_handles.r_p = param_find("FW_RR_P");
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_parameter_handles.r_i = param_find("FW_RR_I");
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_parameter_handles.r_ff = param_find("FW_RR_FF");
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_parameter_handles.r_integrator_max = param_find("FW_RR_IMAX");
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_parameter_handles.r_rmax = param_find("FW_R_RMAX");
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_parameter_handles.y_p = param_find("FW_YR_P");
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_parameter_handles.y_i = param_find("FW_YR_I");
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_parameter_handles.y_ff = param_find("FW_YR_FF");
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_parameter_handles.y_integrator_max = param_find("FW_YR_IMAX");
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_parameter_handles.y_rmax = param_find("FW_Y_RMAX");
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_parameter_handles.roll_to_yaw_ff = param_find("FW_RLL_TO_YAW_FF");
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_parameter_handles.w_en = param_find("FW_W_EN");
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_parameter_handles.w_p = param_find("FW_WR_P");
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_parameter_handles.w_i = param_find("FW_WR_I");
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_parameter_handles.w_ff = param_find("FW_WR_FF");
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_parameter_handles.w_integrator_max = param_find("FW_WR_IMAX");
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_parameter_handles.w_rmax = param_find("FW_W_RMAX");
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_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
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_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
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_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
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_parameter_handles.trim_roll = param_find("TRIM_ROLL");
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_parameter_handles.trim_pitch = param_find("TRIM_PITCH");
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_parameter_handles.trim_yaw = param_find("TRIM_YAW");
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_parameter_handles.dtrim_roll_vmin = param_find("FW_DTRIM_R_VMIN");
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_parameter_handles.dtrim_pitch_vmin = param_find("FW_DTRIM_P_VMIN");
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_parameter_handles.dtrim_yaw_vmin = param_find("FW_DTRIM_Y_VMIN");
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_parameter_handles.dtrim_roll_vmax = param_find("FW_DTRIM_R_VMAX");
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_parameter_handles.dtrim_pitch_vmax = param_find("FW_DTRIM_P_VMAX");
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_parameter_handles.dtrim_yaw_vmax = param_find("FW_DTRIM_Y_VMAX");
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_parameter_handles.dtrim_roll_flaps = param_find("FW_DTRIM_R_FLPS");
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_parameter_handles.dtrim_pitch_flaps = param_find("FW_DTRIM_P_FLPS");
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_parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF");
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_parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF");
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_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
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_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
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_parameter_handles.man_roll_scale = param_find("FW_MAN_R_SC");
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_parameter_handles.man_pitch_scale = param_find("FW_MAN_P_SC");
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_parameter_handles.man_yaw_scale = param_find("FW_MAN_Y_SC");
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_parameter_handles.acro_max_x_rate = param_find("FW_ACRO_X_MAX");
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_parameter_handles.acro_max_y_rate = param_find("FW_ACRO_Y_MAX");
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_parameter_handles.acro_max_z_rate = param_find("FW_ACRO_Z_MAX");
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_parameter_handles.flaps_scale = param_find("FW_FLAPS_SCL");
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_parameter_handles.flaps_takeoff_scale = param_find("FW_FLAPS_TO_SCL");
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_parameter_handles.flaps_land_scale = param_find("FW_FLAPS_LND_SCL");
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_parameter_handles.flaperon_scale = param_find("FW_FLAPERON_SCL");
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_parameter_handles.rattitude_thres = param_find("FW_RATT_TH");
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_parameter_handles.bat_scale_en = param_find("FW_BAT_SCALE_EN");
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_parameter_handles.airspeed_mode = param_find("FW_ARSP_MODE");
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/* fetch initial parameter values */
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parameters_update();
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// set initial maximum body rate setpoints
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_roll_ctrl.set_max_rate(_parameters.acro_max_x_rate_rad);
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_pitch_ctrl.set_max_rate_pos(_parameters.acro_max_y_rate_rad);
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_pitch_ctrl.set_max_rate_neg(_parameters.acro_max_y_rate_rad);
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_yaw_ctrl.set_max_rate(_parameters.acro_max_z_rate_rad);
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// subscriptions
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_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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}
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FixedwingAttitudeControl::~FixedwingAttitudeControl()
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{
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orb_unsubscribe(_att_sub);
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perf_free(_loop_perf);
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perf_free(_nonfinite_input_perf);
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perf_free(_nonfinite_output_perf);
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}
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int
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FixedwingAttitudeControl::parameters_update()
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{
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int32_t tmp = 0;
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param_get(_parameter_handles.p_tc, &(_parameters.p_tc));
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param_get(_parameter_handles.p_p, &(_parameters.p_p));
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param_get(_parameter_handles.p_i, &(_parameters.p_i));
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param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
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param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
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param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
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param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
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param_get(_parameter_handles.r_tc, &(_parameters.r_tc));
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param_get(_parameter_handles.r_p, &(_parameters.r_p));
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param_get(_parameter_handles.r_i, &(_parameters.r_i));
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param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
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param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
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param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));
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param_get(_parameter_handles.y_p, &(_parameters.y_p));
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param_get(_parameter_handles.y_i, &(_parameters.y_i));
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param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
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param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
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param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
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param_get(_parameter_handles.roll_to_yaw_ff, &(_parameters.roll_to_yaw_ff));
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param_get(_parameter_handles.w_en, &tmp);
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_parameters.w_en = (tmp == 1);
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param_get(_parameter_handles.w_p, &(_parameters.w_p));
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param_get(_parameter_handles.w_i, &(_parameters.w_i));
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param_get(_parameter_handles.w_ff, &(_parameters.w_ff));
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param_get(_parameter_handles.w_integrator_max, &(_parameters.w_integrator_max));
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param_get(_parameter_handles.w_rmax, &(_parameters.w_rmax));
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param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
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param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
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param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
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param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
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param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
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param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
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param_get(_parameter_handles.dtrim_roll_vmin, &(_parameters.dtrim_roll_vmin));
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param_get(_parameter_handles.dtrim_roll_vmax, &(_parameters.dtrim_roll_vmax));
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param_get(_parameter_handles.dtrim_pitch_vmin, &(_parameters.dtrim_pitch_vmin));
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param_get(_parameter_handles.dtrim_pitch_vmax, &(_parameters.dtrim_pitch_vmax));
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param_get(_parameter_handles.dtrim_yaw_vmin, &(_parameters.dtrim_yaw_vmin));
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param_get(_parameter_handles.dtrim_yaw_vmax, &(_parameters.dtrim_yaw_vmax));
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param_get(_parameter_handles.dtrim_roll_flaps, &(_parameters.dtrim_roll_flaps));
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param_get(_parameter_handles.dtrim_pitch_flaps, &(_parameters.dtrim_pitch_flaps));
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param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
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param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
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_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
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_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
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param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
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param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
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_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
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_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
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param_get(_parameter_handles.man_roll_scale, &(_parameters.man_roll_scale));
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param_get(_parameter_handles.man_pitch_scale, &(_parameters.man_pitch_scale));
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param_get(_parameter_handles.man_yaw_scale, &(_parameters.man_yaw_scale));
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param_get(_parameter_handles.acro_max_x_rate, &(_parameters.acro_max_x_rate_rad));
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param_get(_parameter_handles.acro_max_y_rate, &(_parameters.acro_max_y_rate_rad));
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param_get(_parameter_handles.acro_max_z_rate, &(_parameters.acro_max_z_rate_rad));
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_parameters.acro_max_x_rate_rad = math::radians(_parameters.acro_max_x_rate_rad);
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_parameters.acro_max_y_rate_rad = math::radians(_parameters.acro_max_y_rate_rad);
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_parameters.acro_max_z_rate_rad = math::radians(_parameters.acro_max_z_rate_rad);
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param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
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param_get(_parameter_handles.flaps_takeoff_scale, &_parameters.flaps_takeoff_scale);
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param_get(_parameter_handles.flaps_land_scale, &_parameters.flaps_land_scale);
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param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);
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param_get(_parameter_handles.rattitude_thres, &_parameters.rattitude_thres);
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param_get(_parameter_handles.bat_scale_en, &_parameters.bat_scale_en);
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param_get(_parameter_handles.airspeed_mode, &tmp);
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_parameters.airspeed_disabled = (tmp == 1);
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/* pitch control parameters */
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_pitch_ctrl.set_time_constant(_parameters.p_tc);
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_pitch_ctrl.set_k_p(_parameters.p_p);
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_pitch_ctrl.set_k_i(_parameters.p_i);
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_pitch_ctrl.set_k_ff(_parameters.p_ff);
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_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
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/* roll control parameters */
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_roll_ctrl.set_time_constant(_parameters.r_tc);
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_roll_ctrl.set_k_p(_parameters.r_p);
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_roll_ctrl.set_k_i(_parameters.r_i);
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_roll_ctrl.set_k_ff(_parameters.r_ff);
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_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
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/* yaw control parameters */
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_yaw_ctrl.set_k_p(_parameters.y_p);
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_yaw_ctrl.set_k_i(_parameters.y_i);
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_yaw_ctrl.set_k_ff(_parameters.y_ff);
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_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
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/* wheel control parameters */
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_wheel_ctrl.set_k_p(_parameters.w_p);
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_wheel_ctrl.set_k_i(_parameters.w_i);
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_wheel_ctrl.set_k_ff(_parameters.w_ff);
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_wheel_ctrl.set_integrator_max(_parameters.w_integrator_max);
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_wheel_ctrl.set_max_rate(math::radians(_parameters.w_rmax));
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return PX4_OK;
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}
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void
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FixedwingAttitudeControl::vehicle_control_mode_poll()
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{
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_vcontrol_mode_sub.update(&_vcontrol_mode);
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if (_vehicle_status.is_vtol) {
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const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
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&& !_vehicle_status.in_transition_mode;
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const bool is_tailsitter_transition = _vehicle_status.in_transition_mode && _is_tailsitter;
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if (is_hovering || is_tailsitter_transition) {
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_vcontrol_mode.flag_control_attitude_enabled = false;
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_vcontrol_mode.flag_control_manual_enabled = false;
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}
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}
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}
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void
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FixedwingAttitudeControl::vehicle_manual_poll()
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{
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const bool is_tailsitter_transition = _is_tailsitter && _vehicle_status.in_transition_mode;
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const bool is_fixed_wing = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
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if (_vcontrol_mode.flag_control_manual_enabled && (!is_tailsitter_transition || is_fixed_wing)) {
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// Always copy the new manual setpoint, even if it wasn't updated, to fill the _actuators with valid values
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if (_manual_sub.copy(&_manual)) {
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// Check if we are in rattitude mode and the pilot is above the threshold on pitch
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if (_vcontrol_mode.flag_control_rattitude_enabled) {
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if (fabsf(_manual.y) > _parameters.rattitude_thres || fabsf(_manual.x) > _parameters.rattitude_thres) {
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_vcontrol_mode.flag_control_attitude_enabled = false;
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}
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}
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if (!_vcontrol_mode.flag_control_climb_rate_enabled &&
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!_vcontrol_mode.flag_control_offboard_enabled) {
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if (_vcontrol_mode.flag_control_attitude_enabled) {
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// STABILIZED mode generate the attitude setpoint from manual user inputs
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_att_sp.timestamp = hrt_absolute_time();
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_att_sp.roll_body = _manual.y * _parameters.man_roll_max + _parameters.rollsp_offset_rad;
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_att_sp.roll_body = math::constrain(_att_sp.roll_body, -_parameters.man_roll_max, _parameters.man_roll_max);
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_att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max + _parameters.pitchsp_offset_rad;
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_att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max, _parameters.man_pitch_max);
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_att_sp.yaw_body = 0.0f;
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_att_sp.thrust_body[0] = _manual.z;
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Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
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q.copyTo(_att_sp.q_d);
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_att_sp.q_d_valid = true;
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if (_attitude_sp_pub != nullptr) {
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/* publish the attitude rates setpoint */
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orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &_att_sp);
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} else if (_attitude_setpoint_id) {
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/* advertise the attitude rates setpoint */
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_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
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}
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} else if (_vcontrol_mode.flag_control_rates_enabled &&
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!_vcontrol_mode.flag_control_attitude_enabled) {
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// RATE mode we need to generate the rate setpoint from manual user inputs
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_rates_sp.timestamp = hrt_absolute_time();
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_rates_sp.roll = _manual.y * _parameters.acro_max_x_rate_rad;
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_rates_sp.pitch = -_manual.x * _parameters.acro_max_y_rate_rad;
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_rates_sp.yaw = _manual.r * _parameters.acro_max_z_rate_rad;
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_rates_sp.thrust_body[0] = _manual.z;
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if (_rate_sp_pub != nullptr) {
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/* publish the attitude rates setpoint */
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orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &_rates_sp);
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} else {
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/* advertise the attitude rates setpoint */
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_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp);
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}
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} else {
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/* manual/direct control */
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_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _parameters.man_roll_scale + _parameters.trim_roll;
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_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _parameters.man_pitch_scale +
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_parameters.trim_pitch;
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_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r * _parameters.man_yaw_scale + _parameters.trim_yaw;
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_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
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}
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}
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}
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}
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}
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void
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FixedwingAttitudeControl::vehicle_attitude_setpoint_poll()
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{
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if (_att_sp_sub.update(&_att_sp)) {
|
|
_rates_sp.thrust_body[0] = _att_sp.thrust_body[0];
|
|
_rates_sp.thrust_body[1] = _att_sp.thrust_body[1];
|
|
_rates_sp.thrust_body[2] = _att_sp.thrust_body[2];
|
|
}
|
|
}
|
|
|
|
void
|
|
FixedwingAttitudeControl::vehicle_rates_setpoint_poll()
|
|
{
|
|
if (_rates_sp_sub.update(&_rates_sp)) {
|
|
if (_is_tailsitter) {
|
|
float tmp = _rates_sp.roll;
|
|
_rates_sp.roll = -_rates_sp.yaw;
|
|
_rates_sp.yaw = tmp;
|
|
}
|
|
}
|
|
}
|
|
|
|
void
|
|
FixedwingAttitudeControl::vehicle_status_poll()
|
|
{
|
|
if (_vehicle_status_sub.update(&_vehicle_status)) {
|
|
/* set correct uORB ID, depending on if vehicle is VTOL or not */
|
|
if (!_actuators_id) {
|
|
if (_vehicle_status.is_vtol) {
|
|
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
|
|
_attitude_setpoint_id = ORB_ID(fw_virtual_attitude_setpoint);
|
|
|
|
int32_t vt_type = -1;
|
|
|
|
if (param_get(param_find("VT_TYPE"), &vt_type) == PX4_OK) {
|
|
_is_tailsitter = (static_cast<vtol_type>(vt_type) == vtol_type::TAILSITTER);
|
|
}
|
|
|
|
} else {
|
|
_actuators_id = ORB_ID(actuator_controls_0);
|
|
_attitude_setpoint_id = ORB_ID(vehicle_attitude_setpoint);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void
|
|
FixedwingAttitudeControl::vehicle_land_detected_poll()
|
|
{
|
|
if (_vehicle_land_detected_sub.updated()) {
|
|
vehicle_land_detected_s vehicle_land_detected {};
|
|
|
|
if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
|
|
_landed = vehicle_land_detected.landed;
|
|
}
|
|
}
|
|
}
|
|
|
|
float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
|
|
{
|
|
_airspeed_sub.update();
|
|
const bool airspeed_valid = PX4_ISFINITE(_airspeed_sub.get().indicated_airspeed_m_s)
|
|
&& (hrt_elapsed_time(&_airspeed_sub.get().timestamp) < 1_s)
|
|
&& !_vehicle_status.aspd_use_inhibit;
|
|
|
|
if (!airspeed_valid) {
|
|
perf_count(_nonfinite_input_perf);
|
|
}
|
|
|
|
// if no airspeed measurement is available out best guess is to use the trim airspeed
|
|
float airspeed = _parameters.airspeed_trim;
|
|
|
|
if (!_parameters.airspeed_disabled && airspeed_valid) {
|
|
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
|
|
airspeed = math::max(0.5f, _airspeed_sub.get().indicated_airspeed_m_s);
|
|
|
|
} else {
|
|
// VTOL: if we have no airspeed available and we are in hover mode then assume the lowest airspeed possible
|
|
// this assumption is good as long as the vehicle is not hovering in a headwind which is much larger
|
|
// than the minimum airspeed
|
|
if (_vehicle_status.is_vtol && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
|
|
&& !_vehicle_status.in_transition_mode) {
|
|
airspeed = _parameters.airspeed_min;
|
|
}
|
|
}
|
|
|
|
/*
|
|
* 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.
|
|
*/
|
|
const float airspeed_constrained = math::constrain(airspeed, _parameters.airspeed_min, _parameters.airspeed_max);
|
|
_airspeed_scaling = _parameters.airspeed_trim / airspeed_constrained;
|
|
|
|
|
|
return airspeed;
|
|
}
|
|
|
|
void FixedwingAttitudeControl::run()
|
|
{
|
|
/* wakeup source */
|
|
px4_pollfd_struct_t fds[1];
|
|
|
|
/* Setup of loop */
|
|
fds[0].fd = _att_sub;
|
|
fds[0].events = POLLIN;
|
|
|
|
while (!should_exit()) {
|
|
|
|
/* only update parameters if they changed */
|
|
bool params_updated = _params_sub.updated();
|
|
|
|
if (params_updated) {
|
|
/* read from param to clear updated flag */
|
|
parameter_update_s update;
|
|
_params_sub.copy(&update);
|
|
|
|
/* update parameters from storage */
|
|
parameters_update();
|
|
}
|
|
|
|
/* 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) {
|
|
PX4_WARN("poll error %d, %d", pret, errno);
|
|
continue;
|
|
}
|
|
|
|
perf_begin(_loop_perf);
|
|
|
|
/* only run controller if attitude changed */
|
|
if (fds[0].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(vehicle_attitude), _att_sub, &_att);
|
|
|
|
/* get current rotation matrix and euler angles from control state quaternions */
|
|
matrix::Dcmf R = matrix::Quatf(_att.q);
|
|
|
|
vehicle_angular_velocity_s angular_velocity{};
|
|
_vehicle_rates_sub.copy(&angular_velocity);
|
|
float rollspeed = angular_velocity.xyz[0];
|
|
float pitchspeed = angular_velocity.xyz[1];
|
|
float yawspeed = angular_velocity.xyz[2];
|
|
|
|
if (_is_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
|
|
* */
|
|
matrix::Dcmf 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);
|
|
|
|
/* fill in new attitude data */
|
|
R = R_adapted;
|
|
|
|
/* lastly, roll- and yawspeed have to be swaped */
|
|
float helper = rollspeed;
|
|
rollspeed = -yawspeed;
|
|
yawspeed = helper;
|
|
}
|
|
|
|
const matrix::Eulerf euler_angles(R);
|
|
|
|
vehicle_attitude_setpoint_poll();
|
|
vehicle_control_mode_poll();
|
|
vehicle_manual_poll();
|
|
_global_pos_sub.update(&_global_pos);
|
|
vehicle_status_poll();
|
|
vehicle_land_detected_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.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && ! _vehicle_status.in_transition_mode);
|
|
|
|
/* Simple handling of failsafe: deploy parachute if failsafe is on */
|
|
if (_vcontrol_mode.flag_control_termination_enabled) {
|
|
_actuators_airframe.control[7] = 1.0f;
|
|
|
|
} else {
|
|
_actuators_airframe.control[7] = 0.0f;
|
|
}
|
|
|
|
/* if we are in rotary wing mode, do nothing */
|
|
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.is_vtol) {
|
|
continue;
|
|
}
|
|
|
|
control_flaps(deltaT);
|
|
|
|
/* decide if in stabilized or full manual control */
|
|
if (_vcontrol_mode.flag_control_rates_enabled) {
|
|
|
|
const float airspeed = get_airspeed_and_update_scaling();
|
|
|
|
/* 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);
|
|
|
|
/* 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 (_landed
|
|
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_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 = euler_angles.phi();
|
|
control_input.pitch = euler_angles.theta();
|
|
control_input.yaw = euler_angles.psi();
|
|
control_input.body_x_rate = rollspeed;
|
|
control_input.body_y_rate = pitchspeed;
|
|
control_input.body_z_rate = yawspeed;
|
|
control_input.roll_setpoint = _att_sp.roll_body;
|
|
control_input.pitch_setpoint = _att_sp.pitch_body;
|
|
control_input.yaw_setpoint = _att_sp.yaw_body;
|
|
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;
|
|
|
|
/* reset body angular rate limits on mode change */
|
|
if ((_vcontrol_mode.flag_control_attitude_enabled != _flag_control_attitude_enabled_last) || params_updated) {
|
|
if (_vcontrol_mode.flag_control_attitude_enabled
|
|
|| _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
|
|
_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
|
|
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
|
|
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
|
|
_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
|
|
|
|
} else {
|
|
_roll_ctrl.set_max_rate(_parameters.acro_max_x_rate_rad);
|
|
_pitch_ctrl.set_max_rate_pos(_parameters.acro_max_y_rate_rad);
|
|
_pitch_ctrl.set_max_rate_neg(_parameters.acro_max_y_rate_rad);
|
|
_yaw_ctrl.set_max_rate(_parameters.acro_max_z_rate_rad);
|
|
}
|
|
}
|
|
|
|
_flag_control_attitude_enabled_last = _vcontrol_mode.flag_control_attitude_enabled;
|
|
|
|
/* bi-linear interpolation over airspeed for actuator trim scheduling */
|
|
float trim_roll = _parameters.trim_roll;
|
|
float trim_pitch = _parameters.trim_pitch;
|
|
float trim_yaw = _parameters.trim_yaw;
|
|
|
|
if (airspeed < _parameters.airspeed_trim) {
|
|
trim_roll += math::gradual(airspeed, _parameters.airspeed_min, _parameters.airspeed_trim, _parameters.dtrim_roll_vmin,
|
|
0.0f);
|
|
trim_pitch += math::gradual(airspeed, _parameters.airspeed_min, _parameters.airspeed_trim, _parameters.dtrim_pitch_vmin,
|
|
0.0f);
|
|
trim_yaw += math::gradual(airspeed, _parameters.airspeed_min, _parameters.airspeed_trim, _parameters.dtrim_yaw_vmin,
|
|
0.0f);
|
|
|
|
} else {
|
|
trim_roll += math::gradual(airspeed, _parameters.airspeed_trim, _parameters.airspeed_max, 0.0f,
|
|
_parameters.dtrim_roll_vmax);
|
|
trim_pitch += math::gradual(airspeed, _parameters.airspeed_trim, _parameters.airspeed_max, 0.0f,
|
|
_parameters.dtrim_pitch_vmax);
|
|
trim_yaw += math::gradual(airspeed, _parameters.airspeed_trim, _parameters.airspeed_max, 0.0f,
|
|
_parameters.dtrim_yaw_vmax);
|
|
}
|
|
|
|
/* add trim increment if flaps are deployed */
|
|
trim_roll += _flaps_applied * _parameters.dtrim_roll_flaps;
|
|
trim_pitch += _flaps_applied * _parameters.dtrim_pitch_flaps;
|
|
|
|
/* Run attitude controllers */
|
|
if (_vcontrol_mode.flag_control_attitude_enabled) {
|
|
if (PX4_ISFINITE(_att_sp.roll_body) && PX4_ISFINITE(_att_sp.pitch_body)) {
|
|
_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 + trim_roll : trim_roll;
|
|
|
|
if (!PX4_ISFINITE(roll_u)) {
|
|
_roll_ctrl.reset_integrator();
|
|
perf_count(_nonfinite_output_perf);
|
|
}
|
|
|
|
float pitch_u = _pitch_ctrl.control_euler_rate(control_input);
|
|
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + trim_pitch : trim_pitch;
|
|
|
|
if (!PX4_ISFINITE(pitch_u)) {
|
|
_pitch_ctrl.reset_integrator();
|
|
perf_count(_nonfinite_output_perf);
|
|
}
|
|
|
|
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 + trim_yaw : trim_yaw;
|
|
|
|
/* add in manual rudder control in manual modes */
|
|
if (_vcontrol_mode.flag_control_manual_enabled) {
|
|
_actuators.control[actuator_controls_s::INDEX_YAW] += _manual.r;
|
|
}
|
|
|
|
if (!PX4_ISFINITE(yaw_u)) {
|
|
_yaw_ctrl.reset_integrator();
|
|
_wheel_ctrl.reset_integrator();
|
|
perf_count(_nonfinite_output_perf);
|
|
}
|
|
|
|
/* throttle passed through if it is finite and if no engine failure was detected */
|
|
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(_att_sp.thrust_body[0])
|
|
&& !_vehicle_status.engine_failure) ? _att_sp.thrust_body[0] : 0.0f;
|
|
|
|
/* scale effort by battery status */
|
|
if (_parameters.bat_scale_en &&
|
|
_actuators.control[actuator_controls_s::INDEX_THROTTLE] > 0.1f) {
|
|
|
|
if (_battery_status_sub.updated()) {
|
|
battery_status_s battery_status{};
|
|
|
|
if (_battery_status_sub.copy(&battery_status)) {
|
|
if (battery_status.scale > 0.0f) {
|
|
_battery_scale = battery_status.scale;
|
|
}
|
|
}
|
|
}
|
|
|
|
_actuators.control[actuator_controls_s::INDEX_THROTTLE] *= _battery_scale;
|
|
}
|
|
|
|
} else {
|
|
perf_count(_nonfinite_input_perf);
|
|
}
|
|
|
|
/*
|
|
* 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(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &_rates_sp);
|
|
|
|
} else {
|
|
/* advertise the attitude rates setpoint */
|
|
_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp);
|
|
}
|
|
|
|
} else {
|
|
vehicle_rates_setpoint_poll();
|
|
|
|
_roll_ctrl.set_bodyrate_setpoint(_rates_sp.roll);
|
|
_yaw_ctrl.set_bodyrate_setpoint(_rates_sp.yaw);
|
|
_pitch_ctrl.set_bodyrate_setpoint(_rates_sp.pitch);
|
|
|
|
float roll_u = _roll_ctrl.control_bodyrate(control_input);
|
|
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + trim_roll : trim_roll;
|
|
|
|
float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
|
|
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + trim_pitch : trim_pitch;
|
|
|
|
float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
|
|
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + trim_yaw : trim_yaw;
|
|
|
|
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(_rates_sp.thrust_body[0]) ?
|
|
_rates_sp.thrust_body[0] : 0.0f;
|
|
}
|
|
|
|
rate_ctrl_status_s rate_ctrl_status;
|
|
rate_ctrl_status.timestamp = hrt_absolute_time();
|
|
rate_ctrl_status.rollspeed_integ = _roll_ctrl.get_integrator();
|
|
rate_ctrl_status.pitchspeed_integ = _pitch_ctrl.get_integrator();
|
|
rate_ctrl_status.yawspeed_integ = _yaw_ctrl.get_integrator();
|
|
rate_ctrl_status.additional_integ1 = _wheel_ctrl.get_integrator();
|
|
|
|
int instance;
|
|
orb_publish_auto(ORB_ID(rate_ctrl_status), &_rate_ctrl_status_pub, &rate_ctrl_status, &instance, ORB_PRIO_DEFAULT);
|
|
}
|
|
|
|
// 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 = _att.timestamp;
|
|
_actuators_airframe.timestamp = hrt_absolute_time();
|
|
_actuators_airframe.timestamp_sample = _att.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);
|
|
}
|
|
}
|
|
}
|
|
|
|
perf_end(_loop_perf);
|
|
}
|
|
}
|
|
|
|
void FixedwingAttitudeControl::control_flaps(const float dt)
|
|
{
|
|
/* 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) {
|
|
switch (_att_sp.apply_flaps) {
|
|
case vehicle_attitude_setpoint_s::FLAPS_OFF : flap_control = 0.0f; // no flaps
|
|
break;
|
|
|
|
case vehicle_attitude_setpoint_s::FLAPS_LAND : flap_control = 1.0f * _parameters.flaps_scale *
|
|
_parameters.flaps_land_scale; // landing flaps
|
|
break;
|
|
|
|
case vehicle_attitude_setpoint_s::FLAPS_TAKEOFF : flap_control = 1.0f * _parameters.flaps_scale *
|
|
_parameters.flaps_takeoff_scale; // take-off flaps
|
|
break;
|
|
}
|
|
}
|
|
|
|
// 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 ? dt : -dt;
|
|
|
|
} 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 == vehicle_attitude_setpoint_s::FLAPS_LAND) ? 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 ? dt : -dt;
|
|
|
|
} else {
|
|
_flaperons_applied = flaperon_control;
|
|
}
|
|
}
|
|
|
|
FixedwingAttitudeControl *FixedwingAttitudeControl::instantiate(int argc, char *argv[])
|
|
{
|
|
return new FixedwingAttitudeControl();
|
|
}
|
|
|
|
int FixedwingAttitudeControl::task_spawn(int argc, char *argv[])
|
|
{
|
|
_task_id = px4_task_spawn_cmd("fw_att_controol",
|
|
SCHED_DEFAULT,
|
|
SCHED_PRIORITY_ATTITUDE_CONTROL,
|
|
1500,
|
|
(px4_main_t)&run_trampoline,
|
|
(char *const *)argv);
|
|
|
|
if (_task_id < 0) {
|
|
_task_id = -1;
|
|
return -errno;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int FixedwingAttitudeControl::custom_command(int argc, char *argv[])
|
|
{
|
|
return print_usage("unknown command");
|
|
}
|
|
|
|
int FixedwingAttitudeControl::print_usage(const char *reason)
|
|
{
|
|
if (reason) {
|
|
PX4_WARN("%s\n", reason);
|
|
}
|
|
|
|
PRINT_MODULE_DESCRIPTION(
|
|
R"DESCR_STR(
|
|
### Description
|
|
fw_att_control is the fixed wing attitude controller.
|
|
|
|
)DESCR_STR");
|
|
|
|
PRINT_MODULE_USAGE_COMMAND("start");
|
|
|
|
PRINT_MODULE_USAGE_NAME("fw_att_control", "controller");
|
|
|
|
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
|
|
|
return 0;
|
|
}
|
|
|
|
int FixedwingAttitudeControl::print_status()
|
|
{
|
|
PX4_INFO("Running");
|
|
|
|
// perf?
|
|
|
|
return 0;
|
|
}
|
|
|
|
int fw_att_control_main(int argc, char *argv[])
|
|
{
|
|
return FixedwingAttitudeControl::main(argc, argv);
|
|
}
|