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PX4-Autopilot/src/modules/fw_att_control/fw_att_control_main.cpp
Ban Siesta 38412993d6 fw_att_control: don't brag about being running
2015-05-25 19:09:28 +01:00

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/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file fw_att_control_main.c
* Implementation of a generic attitude controller based on classic orthogonal PIDs.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
#include <px4_config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_virtual_fw.h>
#include <uORB/topics/actuator_controls_virtual_mc.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/pid/pid.h>
#include <geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
#include <ecl/attitude_fw/ecl_pitch_controller.h>
#include <ecl/attitude_fw/ecl_roll_controller.h>
#include <ecl/attitude_fw/ecl_yaw_controller.h>
#include <platforms/px4_defines.h>
/**
* Fixedwing attitude control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]);
class FixedwingAttitudeControl
{
public:
/**
* Constructor
*/
FixedwingAttitudeControl();
/**
* Destructor, also kills the main task.
*/
~FixedwingAttitudeControl();
/**
* Start the main task.
*
* @return OK on success.
*/
int start();
/**
* Task status
*
* @return true if the mainloop is running
*/
bool task_running() { return _task_running; }
private:
bool _task_should_exit; /**< if true, attitude control task should exit */
bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle */
int _att_sub; /**< vehicle attitude subscription */
int _accel_sub; /**< accelerometer subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _vcontrol_mode_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_sub; /**< notification of manual control updates */
int _global_pos_sub; /**< global position subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
orb_advert_t _actuators_2_pub; /**< actuator control group 1 setpoint (Airframe) */
orb_id_t _rates_sp_id; // pointer to correct rates setpoint uORB metadata structure
orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct accel_report _accel; /**< body frame accelerations */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct vehicle_rates_setpoint_s _rates_sp; /* attitude rates setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct vehicle_global_position_s _global_pos; /**< global position */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
bool _debug; /**< if set to true, print debug output */
struct {
float tconst;
float p_p;
float p_d;
float p_i;
float p_ff;
float p_rmax_pos;
float p_rmax_neg;
float p_integrator_max;
float p_roll_feedforward;
float r_p;
float r_d;
float r_i;
float r_ff;
float r_integrator_max;
float r_rmax;
float y_p;
float y_i;
float y_d;
float y_ff;
float y_roll_feedforward;
float y_integrator_max;
float y_coordinated_min_speed;
int32_t y_coordinated_method;
float y_rmax;
float airspeed_min;
float airspeed_trim;
float airspeed_max;
float trim_roll;
float trim_pitch;
float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
} _parameters; /**< local copies of interesting parameters */
struct {
param_t tconst;
param_t p_p;
param_t p_d;
param_t p_i;
param_t p_ff;
param_t p_rmax_pos;
param_t p_rmax_neg;
param_t p_integrator_max;
param_t p_roll_feedforward;
param_t r_p;
param_t r_d;
param_t r_i;
param_t r_ff;
param_t r_integrator_max;
param_t r_rmax;
param_t y_p;
param_t y_i;
param_t y_d;
param_t y_ff;
param_t y_roll_feedforward;
param_t y_integrator_max;
param_t y_coordinated_min_speed;
param_t y_coordinated_method;
param_t y_rmax;
param_t airspeed_min;
param_t airspeed_trim;
param_t airspeed_max;
param_t trim_roll;
param_t trim_pitch;
param_t trim_yaw;
param_t rollsp_offset_deg;
param_t pitchsp_offset_deg;
param_t man_roll_max;
param_t man_pitch_max;
} _parameter_handles; /**< handles for interesting parameters */
ECL_RollController _roll_ctrl;
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Update control outputs
*
*/
void control_update();
/**
* Check for changes in vehicle control mode.
*/
void vehicle_control_mode_poll();
/**
* Check for changes in manual inputs.
*/
void vehicle_manual_poll();
/**
* Check for airspeed updates.
*/
void vehicle_airspeed_poll();
/**
* Check for accel updates.
*/
void vehicle_accel_poll();
/**
* Check for set triplet updates.
*/
void vehicle_setpoint_poll();
/**
* Check for global position updates.
*/
void global_pos_poll();
/**
* Check for vehicle status updates.
*/
void vehicle_status_poll();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main attitude controller collection task.
*/
void task_main();
};
namespace att_control
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
FixedwingAttitudeControl *g_control = nullptr;
}
FixedwingAttitudeControl::FixedwingAttitudeControl() :
_task_should_exit(false),
_task_running(false),
_control_task(-1),
/* subscriptions */
_att_sub(-1),
_accel_sub(-1),
_airspeed_sub(-1),
_vcontrol_mode_sub(-1),
_params_sub(-1),
_manual_sub(-1),
_global_pos_sub(-1),
_vehicle_status_sub(-1),
/* publications */
_rate_sp_pub(-1),
_attitude_sp_pub(-1),
_actuators_0_pub(-1),
_actuators_2_pub(-1),
_rates_sp_id(0),
_actuators_id(0),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
_nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")),
/* states */
_setpoint_valid(false),
_debug(false)
{
/* safely initialize structs */
_att = {};
_accel = {};
_att_sp = {};
_rates_sp = {};
_manual = {};
_airspeed = {};
_vcontrol_mode = {};
_actuators = {};
_actuators_airframe = {};
_global_pos = {};
_vehicle_status = {};
_parameter_handles.tconst = param_find("FW_ATT_TC");
_parameter_handles.p_p = param_find("FW_PR_P");
_parameter_handles.p_i = param_find("FW_PR_I");
_parameter_handles.p_ff = param_find("FW_PR_FF");
_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
_parameter_handles.p_integrator_max = param_find("FW_PR_IMAX");
_parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF");
_parameter_handles.r_p = param_find("FW_RR_P");
_parameter_handles.r_i = param_find("FW_RR_I");
_parameter_handles.r_ff = param_find("FW_RR_FF");
_parameter_handles.r_integrator_max = param_find("FW_RR_IMAX");
_parameter_handles.r_rmax = param_find("FW_R_RMAX");
_parameter_handles.y_p = param_find("FW_YR_P");
_parameter_handles.y_i = param_find("FW_YR_I");
_parameter_handles.y_ff = param_find("FW_YR_FF");
_parameter_handles.y_integrator_max = param_find("FW_YR_IMAX");
_parameter_handles.y_rmax = param_find("FW_Y_RMAX");
_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
_parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN");
_parameter_handles.y_coordinated_method = param_find("FW_YCO_METHOD");
_parameter_handles.trim_roll = param_find("TRIM_ROLL");
_parameter_handles.trim_pitch = param_find("TRIM_PITCH");
_parameter_handles.trim_yaw = param_find("TRIM_YAW");
_parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF");
_parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF");
_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
/* fetch initial parameter values */
parameters_update();
}
FixedwingAttitudeControl::~FixedwingAttitudeControl()
{
if (_control_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_control_task);
break;
}
} while (_control_task != -1);
}
perf_free(_loop_perf);
perf_free(_nonfinite_input_perf);
perf_free(_nonfinite_output_perf);
att_control::g_control = nullptr;
}
int
FixedwingAttitudeControl::parameters_update()
{
param_get(_parameter_handles.tconst, &(_parameters.tconst));
param_get(_parameter_handles.p_p, &(_parameters.p_p));
param_get(_parameter_handles.p_i, &(_parameters.p_i));
param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
param_get(_parameter_handles.p_roll_feedforward, &(_parameters.p_roll_feedforward));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));
param_get(_parameter_handles.y_p, &(_parameters.y_p));
param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
param_get(_parameter_handles.y_coordinated_method, &(_parameters.y_coordinated_method));
param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_k_p(_parameters.p_p);
_pitch_ctrl.set_k_i(_parameters.p_i);
_pitch_ctrl.set_k_ff(_parameters.p_ff);
_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
_pitch_ctrl.set_roll_ff(_parameters.p_roll_feedforward);
/* roll control parameters */
_roll_ctrl.set_time_constant(_parameters.tconst);
_roll_ctrl.set_k_p(_parameters.r_p);
_roll_ctrl.set_k_i(_parameters.r_i);
_roll_ctrl.set_k_ff(_parameters.r_ff);
_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
/* yaw control parameters */
_yaw_ctrl.set_k_p(_parameters.y_p);
_yaw_ctrl.set_k_i(_parameters.y_i);
_yaw_ctrl.set_k_ff(_parameters.y_ff);
_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
return OK;
}
void
FixedwingAttitudeControl::vehicle_control_mode_poll()
{
bool vcontrol_mode_updated;
/* Check if vehicle control mode has changed */
orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
if (vcontrol_mode_updated) {
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
}
}
void
FixedwingAttitudeControl::vehicle_manual_poll()
{
bool manual_updated;
/* get pilots inputs */
orb_check(_manual_sub, &manual_updated);
if (manual_updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
}
}
void
FixedwingAttitudeControl::vehicle_airspeed_poll()
{
/* check if there is a new position */
bool airspeed_updated;
orb_check(_airspeed_sub, &airspeed_updated);
if (airspeed_updated) {
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
}
}
void
FixedwingAttitudeControl::vehicle_accel_poll()
{
/* check if there is a new position */
bool accel_updated;
orb_check(_accel_sub, &accel_updated);
if (accel_updated) {
orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
}
}
void
FixedwingAttitudeControl::vehicle_setpoint_poll()
{
/* check if there is a new setpoint */
bool att_sp_updated;
orb_check(_att_sp_sub, &att_sp_updated);
if (att_sp_updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
_setpoint_valid = true;
}
}
void
FixedwingAttitudeControl::global_pos_poll()
{
/* check if there is a new global position */
bool global_pos_updated;
orb_check(_global_pos_sub, &global_pos_updated);
if (global_pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
}
}
void
FixedwingAttitudeControl::vehicle_status_poll()
{
/* check if there is new status information */
bool vehicle_status_updated;
orb_check(_vehicle_status_sub, &vehicle_status_updated);
if (vehicle_status_updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
/* set correct uORB ID, depending on if vehicle is VTOL or not */
if (!_rates_sp_id) {
if (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
}
}
void
FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[])
{
att_control::g_control->task_main();
}
void
FixedwingAttitudeControl::task_main()
{
/*
* do subscriptions
*/
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vcontrol_mode_sub, 200);
/* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */
orb_set_interval(_att_sub, 17);
parameters_update();
/* get an initial update for all sensor and status data */
vehicle_airspeed_poll();
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
vehicle_status_poll();
/* wakeup source(s) */
struct pollfd fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _att_sub;
fds[1].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = 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) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if attitude changed */
if (fds[1].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);
if (_vehicle_status.is_vtol) {
/* vehicle type is VTOL, need to modify attitude!
* The following modification to the attitude is vehicle specific and in this case applies
* to tail-sitter models !!!
*
* 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
* */
math::Matrix<3, 3> R; //original rotation matrix
math::Matrix<3, 3> R_adapted; //modified rotation matrix
R.set(_att.R);
R_adapted.set(_att.R);
/* 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);
math::Vector<3> euler_angles; //adapted euler angles for fixed wing operation
euler_angles = R_adapted.to_euler();
/* fill in new attitude data */
_att.roll = euler_angles(0);
_att.pitch = euler_angles(1);
_att.yaw = euler_angles(2);
PX4_R(_att.R, 0, 0) = R_adapted(0, 0);
PX4_R(_att.R, 0, 1) = R_adapted(0, 1);
PX4_R(_att.R, 0, 2) = R_adapted(0, 2);
PX4_R(_att.R, 1, 0) = R_adapted(1, 0);
PX4_R(_att.R, 1, 1) = R_adapted(1, 1);
PX4_R(_att.R, 1, 2) = R_adapted(1, 2);
PX4_R(_att.R, 2, 0) = R_adapted(2, 0);
PX4_R(_att.R, 2, 1) = R_adapted(2, 1);
PX4_R(_att.R, 2, 2) = R_adapted(2, 2);
/* lastly, roll- and yawspeed have to be swaped */
float helper = _att.rollspeed;
_att.rollspeed = -_att.yawspeed;
_att.yawspeed = helper;
}
vehicle_airspeed_poll();
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
global_pos_poll();
vehicle_status_poll();
/* lock integrator until control is started */
bool lock_integrator;
if (_vcontrol_mode.flag_control_attitude_enabled && !_vehicle_status.is_rotary_wing) {
lock_integrator = false;
} else {
lock_integrator = true;
}
/* Simple handling of failsafe: deploy parachute if failsafe is on */
if (_vcontrol_mode.flag_control_termination_enabled) {
_actuators_airframe.control[7] = 1.0f;
//warnx("_actuators_airframe.control[1] = 1.0f;");
} else {
_actuators_airframe.control[7] = 0.0f;
//warnx("_actuators_airframe.control[1] = -1.0f;");
}
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_attitude_enabled) {
/* scale around tuning airspeed */
float airspeed;
/* if airspeed is not updating, we assume the normal average speed */
if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s) ||
hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
airspeed = _parameters.airspeed_trim;
if (nonfinite) {
perf_count(_nonfinite_input_perf);
}
} else {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _airspeed.true_airspeed_m_s);
}
/*
* 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.
*/
float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed);
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;
float yaw_manual = 0.0f;
float throttle_sp = 0.0f;
/* Read attitude setpoint from uorb if
* - velocity control or position control is enabled (pos controller is running)
* - manual control is disabled (another app may send the setpoint, but it should
* for sure not be set from the remote control values)
*/
if (_vcontrol_mode.flag_control_auto_enabled ||
!_vcontrol_mode.flag_control_manual_enabled) {
/* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* 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();
}
} else if (_vcontrol_mode.flag_control_velocity_enabled) {
/*
* Velocity should be controlled and manual is enabled.
*/
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+ _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* 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();
}
} else {
/*
* Scale down roll and pitch as the setpoints are radians
* and a typical remote can only do around 45 degrees, the mapping is
* -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
*
* With this mapping the stick angle is a 1:1 representation of
* the commanded attitude.
*
* The trim gets subtracted here from the manual setpoint to get
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+ _parameters.rollsp_offset_rad;
pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
+ _parameters.pitchsp_offset_rad;
/* allow manual control of rudder deflection */
yaw_manual = _manual.r;
throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
/*
* in manual mode no external source should / does emit attitude setpoints.
* emit the manual setpoint here to allow attitude controller tuning
* in attitude control mode.
*/
struct vehicle_attitude_setpoint_s att_sp;
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = roll_sp;
att_sp.pitch_body = pitch_sp;
att_sp.yaw_body = 0.0f - _parameters.trim_yaw;
att_sp.thrust = throttle_sp;
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub > 0 && !_vehicle_status.is_rotary_wing) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &att_sp);
} else if (_attitude_sp_pub < 0 && !_vehicle_status.is_rotary_wing) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
}
}
/* If the aircraft is on ground reset the integrators */
if (_vehicle_status.condition_landed || _vehicle_status.is_rotary_wing) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();
_yaw_ctrl.reset_integrator();
}
/* Prepare speed_body_u and speed_body_w */
float speed_body_u = 0.0f;
float speed_body_v = 0.0f;
float speed_body_w = 0.0f;
if(_att.R_valid) {
speed_body_u = PX4_R(_att.R, 0, 0) * _global_pos.vel_n + PX4_R(_att.R, 1, 0) * _global_pos.vel_e + PX4_R(_att.R, 2, 0) * _global_pos.vel_d;
speed_body_v = PX4_R(_att.R, 0, 1) * _global_pos.vel_n + PX4_R(_att.R, 1, 1) * _global_pos.vel_e + PX4_R(_att.R, 2, 1) * _global_pos.vel_d;
speed_body_w = PX4_R(_att.R, 0, 2) * _global_pos.vel_n + PX4_R(_att.R, 1, 2) * _global_pos.vel_e + PX4_R(_att.R, 2, 2) * _global_pos.vel_d;
} else {
if (_debug && loop_counter % 10 == 0) {
warnx("Did not get a valid R\n");
}
}
/* Prepare data for attitude controllers */
struct ECL_ControlData control_input = {};
control_input.roll = _att.roll;
control_input.pitch = _att.pitch;
control_input.yaw = _att.yaw;
control_input.roll_rate = _att.rollspeed;
control_input.pitch_rate = _att.pitchspeed;
control_input.yaw_rate = _att.yawspeed;
control_input.speed_body_u = speed_body_u;
control_input.speed_body_v = speed_body_v;
control_input.speed_body_w = speed_body_w;
control_input.acc_body_x = _accel.x;
control_input.acc_body_y = _accel.y;
control_input.acc_body_z = _accel.z;
control_input.roll_setpoint = roll_sp;
control_input.pitch_setpoint = pitch_sp;
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;
/* Run attitude controllers */
if (isfinite(roll_sp) && isfinite(pitch_sp)) {
_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
/* 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_bodyrate(control_input);
_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
if (!isfinite(roll_u)) {
_roll_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("roll_u %.4f", (double)roll_u);
}
}
float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
if (!isfinite(pitch_u)) {
_pitch_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
(double)airspeed, (double)airspeed_scaling,
(double)roll_sp, (double)pitch_sp,
(double)_roll_ctrl.get_desired_rate(),
(double)_pitch_ctrl.get_desired_rate(),
(double)_att_sp.roll_body);
}
}
float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
/* add in manual rudder control */
_actuators.control[2] += yaw_manual;
if (!isfinite(yaw_u)) {
_yaw_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through if it is finite and if no engine failure was
* detected */
_actuators.control[3] = (isfinite(throttle_sp) &&
!(_vehicle_status.engine_failure ||
_vehicle_status.engine_failure_cmd)) ?
throttle_sp : 0.0f;
if (!isfinite(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);
}
}
} else {
perf_count(_nonfinite_input_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
}
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
*/
_rates_sp.roll = _roll_ctrl.get_desired_rate();
_rates_sp.pitch = _pitch_ctrl.get_desired_rate();
_rates_sp.yaw = _yaw_ctrl.get_desired_rate();
_rates_sp.timestamp = hrt_absolute_time();
if (_rate_sp_pub > 0) {
/* publish the attitude rates setpoint */
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
} else if (_rates_sp_id) {
/* advertise the attitude rates setpoint */
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
}
} else {
/* manual/direct control */
_actuators.control[0] = _manual.y;
_actuators.control[1] = -_manual.x;
_actuators.control[2] = _manual.r;
_actuators.control[3] = _manual.z;
_actuators.control[4] = _manual.flaps;
}
_actuators.control[5] = _manual.aux1;
_actuators.control[6] = _manual.aux2;
_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 > 0) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else if (_actuators_id) {
_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
}
if (_actuators_2_pub > 0) {
/* 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);
}
}
}
loop_counter++;
perf_end(_loop_perf);
}
warnx("exiting.\n");
_control_task = -1;
_task_running = false;
_exit(0);
}
int
FixedwingAttitudeControl::start()
{
ASSERT(_control_task == -1);
/* start the task */
_control_task = px4_task_spawn_cmd("fw_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1600,
(main_t)&FixedwingAttitudeControl::task_main_trampoline,
nullptr);
if (_control_task < 0) {
warn("task start failed");
return -errno;
}
return OK;
}
int fw_att_control_main(int argc, char *argv[])
{
if (argc < 2) {
errx(1, "usage: fw_att_control {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {
if (att_control::g_control != nullptr)
errx(1, "already running");
att_control::g_control = new FixedwingAttitudeControl;
if (att_control::g_control == nullptr)
errx(1, "alloc failed");
if (OK != att_control::g_control->start()) {
delete att_control::g_control;
att_control::g_control = nullptr;
err(1, "start failed");
}
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (att_control::g_control == nullptr || !att_control::g_control->task_running()) {
usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (att_control::g_control == nullptr)
errx(1, "not running");
delete att_control::g_control;
att_control::g_control = nullptr;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (att_control::g_control) {
errx(0, "running");
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
return 1;
}
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