mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 12:27:35 +08:00
Jaeyoung Lim
246 lines
11 KiB
C++
246 lines
11 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017, 2021 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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/**
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*
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* This module is a modification of the fixed wing module and it is designed for ground rovers.
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* It has been developed starting from the fw module, simplified and improved with dedicated items.
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*
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* All the ackowledgments and credits for the fw wing app are reported in those files.
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*
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* @author Marco Zorzi <mzorzi@student.ethz.ch>
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*/
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#include <float.h>
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#include <drivers/drv_hrt.h>
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#include <lib/geo/geo.h>
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#include <lib/l1/ECL_L1_Pos_Controller.hpp>
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#include <lib/mathlib/mathlib.h>
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#include <lib/perf/perf_counter.h>
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#include <lib/pid/pid.h>
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#include <lib/rate_control/rate_control.hpp>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/tasks.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/px4_work_queue/WorkItem.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/Publication.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/position_controller_status.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/trajectory_setpoint.h>
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#include <uORB/topics/vehicle_acceleration.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_angular_acceleration.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_thrust_setpoint.h>
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#include <uORB/topics/vehicle_torque_setpoint.h>
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using matrix::Dcmf;
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using namespace time_literals;
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class RoverPositionControl final : public ModuleBase<RoverPositionControl>, public ModuleParams, public px4::WorkItem
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{
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public:
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RoverPositionControl();
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~RoverPositionControl();
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RoverPositionControl(const RoverPositionControl &) = delete;
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RoverPositionControl operator=(const RoverPositionControl &other) = delete;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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private:
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void Run() override;
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uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Publication<vehicle_rates_setpoint_s> _rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};
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uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
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uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; /**< navigation capabilities publication */
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uORB::Publication<actuator_controls_s> _actuator_controls_pub{ORB_ID(actuator_controls_0)}; /**< actuator controls publication */
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uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< control mode subscription */
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uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
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uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
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uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
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uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
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uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
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uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
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uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};
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manual_control_setpoint_s _manual_control_setpoint{}; /**< r/c channel data */
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position_setpoint_triplet_s _pos_sp_triplet{}; /**< triplet of mission items */
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vehicle_attitude_setpoint_s _att_sp{}; /**< attitude setpoint > */
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vehicle_rates_setpoint_s _rates_sp{}; /**< rate setpoint > */
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vehicle_control_mode_s _control_mode{}; /**< control mode */
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vehicle_global_position_s _global_pos{}; /**< global vehicle position */
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vehicle_local_position_s _local_pos{}; /**< global vehicle position */
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actuator_controls_s _act_controls{}; /**< direct control of actuators */
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vehicle_attitude_s _vehicle_att{};
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vehicle_angular_acceleration_s _vehicle_angular_acceleration{};
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vehicle_angular_velocity_s _vehicle_rates{};
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trajectory_setpoint_s _trajectory_setpoint{};
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uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
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uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
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uORB::SubscriptionData<vehicle_acceleration_s> _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
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perf_counter_t _loop_perf; /**< loop performance counter */
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hrt_abstime _control_position_last_called{0}; /**<last call of control_position */
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hrt_abstime _control_rates_last_called{0};
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hrt_abstime _manual_setpoint_last_called{0};
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MapProjection _global_local_proj_ref{};
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float _global_local_alt0{NAN};
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/* Pid controller for the speed. Here we assume we can control airspeed but the control variable is actually on
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the throttle. For now just assuming a proportional scaler between controlled airspeed and throttle output.*/
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PID_t _speed_ctrl{};
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// estimator reset counters
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uint8_t _pos_reset_counter{0}; // captures the number of times the estimator has reset the horizontal position
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ECL_L1_Pos_Controller _gnd_control;
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RateControl _rate_control;
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float _steering_input{0.0};
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enum UGV_POSCTRL_MODE {
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UGV_POSCTRL_MODE_AUTO,
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UGV_POSCTRL_MODE_OTHER
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} _control_mode_current{UGV_POSCTRL_MODE_OTHER}; ///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.
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enum POS_CTRLSTATES {
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GOTO_WAYPOINT,
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STOPPING
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} _pos_ctrl_state {STOPPING}; /// Position control state machine
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/* previous waypoint */
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matrix::Vector2d _prev_wp{0, 0};
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enum class VelocityFrame {
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NED,
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BODY,
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} _velocity_frame{VelocityFrame::NED};
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float _manual_yaw_sp{0.0};
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bool _reset_yaw_sp{true};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::GND_L1_PERIOD>) _param_l1_period,
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(ParamFloat<px4::params::GND_L1_DAMPING>) _param_l1_damping,
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(ParamFloat<px4::params::GND_L1_DIST>) _param_l1_distance,
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(ParamFloat<px4::params::GND_SPEED_TRIM>) _param_gndspeed_trim,
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(ParamFloat<px4::params::GND_SPEED_MAX>) _param_gndspeed_max,
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(ParamInt<px4::params::GND_SP_CTRL_MODE>) _param_speed_control_mode,
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(ParamFloat<px4::params::GND_SPEED_P>) _param_speed_p,
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(ParamFloat<px4::params::GND_SPEED_I>) _param_speed_i,
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(ParamFloat<px4::params::GND_SPEED_D>) _param_speed_d,
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(ParamFloat<px4::params::GND_SPEED_IMAX>) _param_speed_imax,
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(ParamFloat<px4::params::GND_SPEED_THR_SC>) _param_throttle_speed_scaler,
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(ParamFloat<px4::params::GND_RATE_P>) _param_rate_p,
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(ParamFloat<px4::params::GND_RATE_I>) _param_rate_i,
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(ParamFloat<px4::params::GND_RATE_D>) _param_rate_d,
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(ParamFloat<px4::params::GND_RATE_FF>) _param_rate_ff,
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(ParamFloat<px4::params::GND_RATE_IMAX>) _param_rate_imax,
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(ParamFloat<px4::params::GND_RATE_MAX>) _param_rate_max,
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(ParamFloat<px4::params::GND_RATE_IMINSPD>) _param_rate_i_minspeed,
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(ParamFloat<px4::params::GND_THR_MIN>) _param_throttle_min,
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(ParamFloat<px4::params::GND_THR_MAX>) _param_throttle_max,
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(ParamFloat<px4::params::GND_THR_CRUISE>) _param_throttle_cruise,
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(ParamFloat<px4::params::GND_MAX_ANG>) _param_max_turn_angle,
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(ParamFloat<px4::params::GND_ATT_P>) _param_att_p,
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(ParamFloat<px4::params::GND_MAN_Y_MAX>) _param_gnd_man_y_max,
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(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad /**< loiter radius for Rover */
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)
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/**
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* Update our local parameter cache.
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*/
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void parameters_update(bool force = false);
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void position_setpoint_triplet_poll();
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void attitude_setpoint_poll();
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void rates_setpoint_poll();
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void vehicle_control_mode_poll();
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void vehicle_attitude_poll();
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void vehicle_angular_acceleration_poll();
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void manual_control_setpoint_poll();
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/**
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* Control position.
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*/
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bool control_position(const matrix::Vector2d &global_pos, const matrix::Vector3f &ground_speed,
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const position_setpoint_triplet_s &_pos_sp_triplet);
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void control_velocity(const matrix::Vector3f ¤t_velocity);
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void control_attitude(const vehicle_attitude_s &att, const vehicle_attitude_setpoint_s &att_sp);
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void control_rates(const vehicle_angular_velocity_s &rates, const vehicle_angular_acceleration_s &acc,
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const vehicle_local_position_s &local_pos,
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const vehicle_rates_setpoint_s &rates_sp);
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};
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