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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Silvan Fuhrer
f78847b26f
* VTOL type: add new parameter VT_FWD_TRHUST_EN for customizing pusher/tilt assist Depending on the setting of this param, the pusher assist is: -completely disabled (default) -enabled in pos, alt and auto mode (except LAND) -enabled in pos, alt and auto mode if above MPC_LAND_ALT1 -enabled in pos, alt and auto mode if above MPC_LAND_ALT2 -enabled in pos, alt and auto mode (before it was always disabled in LAND mode) -change default of VT_FWD_THRUST_SC from 0 to 0.7 Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
233 lines
10 KiB
C++
233 lines
10 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file VTOL_att_control_main.cpp
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* Implementation of an attitude controller for VTOL airframes. This module receives data
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* from both the fixed wing- and the multicopter attitude controllers and processes it.
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* It computes the correct actuator controls depending on which mode the vehicle is in (hover,forward-
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* flight or transition). It also publishes the resulting controls on the actuator controls topics.
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*
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* @author Roman Bapst <bapstr@ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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* @author David Vorsin <davidvorsin@gmail.com>
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* @author Sander Smeets <sander@droneslab.com>
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* @author Andreas Antener <andreas@uaventure.com>
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*
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_pwm_output.h>
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#include <lib/ecl/geo/geo.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/parameters/param.h>
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#include <lib/perf/perf_counter.h>
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#include <matrix/math.hpp>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/airspeed_validated.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/tecs_status.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_land_detected.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vtol_vehicle_status.h>
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#include "standard.h"
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#include "tailsitter.h"
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#include "tiltrotor.h"
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extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]);
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class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public px4::WorkItem
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{
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public:
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VtolAttitudeControl();
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~VtolAttitudeControl() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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bool is_fixed_wing_requested();
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void abort_front_transition(const char *reason);
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struct actuator_controls_s *get_actuators_fw_in() {return &_actuators_fw_in;}
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struct actuator_controls_s *get_actuators_mc_in() {return &_actuators_mc_in;}
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struct actuator_controls_s *get_actuators_out0() {return &_actuators_out_0;}
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struct actuator_controls_s *get_actuators_out1() {return &_actuators_out_1;}
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struct airspeed_validated_s *get_airspeed() {return &_airspeed_validated;}
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struct position_setpoint_triplet_s *get_pos_sp_triplet() {return &_pos_sp_triplet;}
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struct tecs_status_s *get_tecs_status() {return &_tecs_status;}
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struct vehicle_attitude_s *get_att() {return &_v_att;}
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struct vehicle_attitude_setpoint_s *get_att_sp() {return &_v_att_sp;}
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struct vehicle_attitude_setpoint_s *get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
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struct vehicle_attitude_setpoint_s *get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
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struct vehicle_control_mode_s *get_control_mode() {return &_v_control_mode;}
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struct vehicle_land_detected_s *get_land_detected() {return &_land_detected;}
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struct vehicle_local_position_s *get_local_pos() {return &_local_pos;}
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struct vehicle_local_position_setpoint_s *get_local_pos_sp() {return &_local_pos_sp;}
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struct vtol_vehicle_status_s *get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
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struct Params *get_params() {return &_params;}
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private:
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void Run() override;
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uORB::SubscriptionCallbackWorkItem _actuator_inputs_fw{this, ORB_ID(actuator_controls_virtual_fw)};
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uORB::SubscriptionCallbackWorkItem _actuator_inputs_mc{this, ORB_ID(actuator_controls_virtual_mc)};
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uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; // airspeed subscription
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uORB::Subscription _fw_virtual_att_sp_sub{ORB_ID(fw_virtual_attitude_setpoint)};
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uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
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uORB::Subscription _local_pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)}; // setpoint subscription
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uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; // sensor subscription
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uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; //manual control setpoint subscription
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uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
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uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; // local position setpoint subscription
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uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
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uORB::Subscription _v_att_sub{ORB_ID(vehicle_attitude)}; //vehicle attitude subscription
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uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)}; //vehicle control mode subscription
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uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
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uORB::Publication<actuator_controls_s> _actuators_0_pub{ORB_ID(actuator_controls_0)}; //input for the mixer (roll,pitch,yaw,thrust)
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uORB::Publication<actuator_controls_s> _actuators_1_pub{ORB_ID(actuator_controls_1)};
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uORB::Publication<vehicle_attitude_setpoint_s> _v_att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
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uORB::Publication<vtol_vehicle_status_s> _vtol_vehicle_status_pub{ORB_ID(vtol_vehicle_status)};
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orb_advert_t _mavlink_log_pub{nullptr}; // mavlink log uORB handle
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vehicle_attitude_setpoint_s _v_att_sp{}; //vehicle attitude setpoint
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vehicle_attitude_setpoint_s _fw_virtual_att_sp{}; // virtual fw attitude setpoint
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vehicle_attitude_setpoint_s _mc_virtual_att_sp{}; // virtual mc attitude setpoint
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actuator_controls_s _actuators_fw_in{}; //actuator controls from fw_att_control
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actuator_controls_s _actuators_mc_in{}; //actuator controls from mc_att_control
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actuator_controls_s _actuators_out_0{}; //actuator controls going to the mc mixer
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actuator_controls_s _actuators_out_1{}; //actuator controls going to the fw mixer (used for elevons)
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airspeed_validated_s _airspeed_validated{}; // airspeed
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manual_control_setpoint_s _manual_control_sp{}; //manual control setpoint
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position_setpoint_triplet_s _pos_sp_triplet{};
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tecs_status_s _tecs_status{};
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vehicle_attitude_s _v_att{}; //vehicle attitude
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vehicle_command_s _vehicle_cmd{};
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vehicle_control_mode_s _v_control_mode{}; //vehicle control mode
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vehicle_land_detected_s _land_detected{};
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vehicle_local_position_s _local_pos{};
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vehicle_local_position_setpoint_s _local_pos_sp{};
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vtol_vehicle_status_s _vtol_vehicle_status{};
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Params _params{}; // struct holding the parameters
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struct {
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param_t idle_pwm_mc;
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param_t vtol_motor_id;
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param_t vtol_fw_permanent_stab;
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param_t vtol_type;
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param_t elevons_mc_lock;
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param_t fw_min_alt;
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param_t fw_alt_err;
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param_t fw_qc_max_pitch;
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param_t fw_qc_max_roll;
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param_t front_trans_time_openloop;
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param_t front_trans_time_min;
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param_t front_trans_duration;
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param_t back_trans_duration;
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param_t transition_airspeed;
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param_t front_trans_throttle;
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param_t back_trans_throttle;
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param_t airspeed_blend;
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param_t airspeed_mode;
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param_t front_trans_timeout;
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param_t mpc_xy_cruise;
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param_t fw_motors_off;
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param_t diff_thrust;
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param_t diff_thrust_scale;
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param_t down_pitch_max;
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param_t forward_thrust_scale;
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param_t dec_to_pitch_ff;
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param_t dec_to_pitch_i;
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param_t back_trans_dec_sp;
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param_t vt_mc_on_fmu;
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param_t vt_forward_thrust_enable_mode;
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param_t mpc_land_alt1;
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param_t mpc_land_alt2;
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} _params_handles{};
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/* for multicopters it is usual to have a non-zero idle speed of the engines
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* for fixed wings we want to have an idle speed of zero since we do not want
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* to waste energy when gliding. */
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int _transition_command{vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC};
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bool _abort_front_transition{false};
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VtolType *_vtol_type{nullptr}; // base class for different vtol types
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bool _initialized{false};
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perf_counter_t _loop_perf; /**< loop performance counter */
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void vehicle_cmd_poll();
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int parameters_update(); //Update local parameter cache
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void handle_command();
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};
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