mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-05 03:10:37 +08:00
Matthias Grob
fdc4766da6
After f0b05ea7cf
the control allocator only has a callback on the torque setpoint and even though this should work
I'm paranoid and would like to avoid surprises by always publishing the thrust before torque
then the samples that were published together are also allocated together.
224 lines
8.9 KiB
C++
224 lines
8.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <lib/rate_control/rate_control.hpp>
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#include <drivers/drv_hrt.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 <lib/slew_rate/SlewRate.hpp>
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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/module_params.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/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionMultiArray.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/actuator_controls_status.h>
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#include <uORB/topics/airspeed_validated.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/control_allocator_status.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/normalized_unsigned_setpoint.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/rate_ctrl_status.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_land_detected.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_thrust_setpoint.h>
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#include <uORB/topics/vehicle_torque_setpoint.h>
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using matrix::Eulerf;
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using matrix::Quatf;
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using uORB::SubscriptionData;
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using namespace time_literals;
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class FixedwingRateControl final : public ModuleBase<FixedwingRateControl>, public ModuleParams,
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public px4::ScheduledWorkItem
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{
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public:
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FixedwingRateControl(bool vtol = false);
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~FixedwingRateControl() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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private:
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void Run() override;
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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::Subscription _battery_status_sub{ORB_ID(battery_status)};
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
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uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
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uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::Subscription _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::SubscriptionMultiArray<control_allocator_status_s, 2> _control_allocator_status_subs{ORB_ID::control_allocator_status};
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uORB::SubscriptionData<airspeed_validated_s> _airspeed_validated_sub{ORB_ID(airspeed_validated)};
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uORB::Publication<actuator_controls_status_s> _actuator_controls_status_pub;
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uORB::Publication<vehicle_rates_setpoint_s> _rate_sp_pub{ORB_ID(vehicle_rates_setpoint)};
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uORB::PublicationMulti<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
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uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub;
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uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub;
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uORB::Publication<normalized_unsigned_setpoint_s> _flaps_setpoint_pub{ORB_ID(flaps_setpoint)};
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uORB::Publication<normalized_unsigned_setpoint_s> _spoilers_setpoint_pub{ORB_ID(spoilers_setpoint)};
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manual_control_setpoint_s _manual_control_setpoint{};
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vehicle_control_mode_s _vcontrol_mode{};
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vehicle_thrust_setpoint_s _vehicle_thrust_setpoint{};
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vehicle_torque_setpoint_s _vehicle_torque_setpoint{};
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vehicle_rates_setpoint_s _rates_sp{};
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vehicle_status_s _vehicle_status{};
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perf_counter_t _loop_perf;
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hrt_abstime _last_run{0};
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float _airspeed_scaling{1.0f};
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bool _landed{true};
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float _battery_scale{1.0f};
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float _energy_integration_time{0.0f};
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float _control_energy[4] {};
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float _control_prev[3] {};
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bool _in_fw_or_transition_wo_tailsitter_transition{false}; // only run the FW attitude controller in these states
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// enum for bitmask of VT_FW_DIFTHR_EN parameter options
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enum class VTOLFixedWingDifferentialThrustEnabledBit : int32_t {
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YAW_BIT = (1 << 0),
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ROLL_BIT = (1 << 1),
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PITCH_BIT = (1 << 2),
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};
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param_t _handle_param_vt_fw_difthr_en{PARAM_INVALID};
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int32_t _param_vt_fw_difthr_en{0};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max,
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(ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max,
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(ParamFloat<px4::params::FW_ACRO_Z_MAX>) _param_fw_acro_z_max,
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(ParamInt<px4::params::FW_ACRO_YAW_EN>) _param_fw_acro_yaw_en,
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(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
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(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
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(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
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(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
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(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
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(ParamInt<px4::params::FW_ARSP_SCALE_EN>) _param_fw_arsp_scale_en,
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(ParamBool<px4::params::FW_BAT_SCALE_EN>) _param_fw_bat_scale_en,
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(ParamFloat<px4::params::FW_DTRIM_P_VMAX>) _param_fw_dtrim_p_vmax,
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(ParamFloat<px4::params::FW_DTRIM_P_VMIN>) _param_fw_dtrim_p_vmin,
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(ParamFloat<px4::params::FW_DTRIM_R_VMAX>) _param_fw_dtrim_r_vmax,
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(ParamFloat<px4::params::FW_DTRIM_R_VMIN>) _param_fw_dtrim_r_vmin,
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(ParamFloat<px4::params::FW_DTRIM_Y_VMAX>) _param_fw_dtrim_y_vmax,
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(ParamFloat<px4::params::FW_DTRIM_Y_VMIN>) _param_fw_dtrim_y_vmin,
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(ParamFloat<px4::params::FW_MAN_P_SC>) _param_fw_man_p_sc,
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(ParamFloat<px4::params::FW_MAN_R_SC>) _param_fw_man_r_sc,
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(ParamFloat<px4::params::FW_MAN_Y_SC>) _param_fw_man_y_sc,
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(ParamFloat<px4::params::FW_PR_FF>) _param_fw_pr_ff,
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(ParamFloat<px4::params::FW_PR_I>) _param_fw_pr_i,
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(ParamFloat<px4::params::FW_PR_IMAX>) _param_fw_pr_imax,
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(ParamFloat<px4::params::FW_PR_P>) _param_fw_pr_p,
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(ParamFloat<px4::params::FW_PR_D>) _param_fw_pr_d,
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(ParamFloat<px4::params::FW_RLL_TO_YAW_FF>) _param_fw_rll_to_yaw_ff,
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(ParamFloat<px4::params::FW_RR_FF>) _param_fw_rr_ff,
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(ParamFloat<px4::params::FW_RR_I>) _param_fw_rr_i,
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(ParamFloat<px4::params::FW_RR_IMAX>) _param_fw_rr_imax,
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(ParamFloat<px4::params::FW_RR_P>) _param_fw_rr_p,
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(ParamFloat<px4::params::FW_RR_D>) _param_fw_rr_d,
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(ParamFloat<px4::params::FW_YR_FF>) _param_fw_yr_ff,
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(ParamFloat<px4::params::FW_YR_I>) _param_fw_yr_i,
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(ParamFloat<px4::params::FW_YR_IMAX>) _param_fw_yr_imax,
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(ParamFloat<px4::params::FW_YR_P>) _param_fw_yr_p,
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(ParamFloat<px4::params::FW_YR_D>) _param_fw_yr_d,
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(ParamFloat<px4::params::TRIM_PITCH>) _param_trim_pitch,
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(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
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(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
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(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man
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)
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RateControl _rate_control; ///< class for rate control calculations
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void updateActuatorControlsStatus(float dt);
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/**
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* Update our local parameter cache.
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*/
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int parameters_update();
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void vehicle_manual_poll();
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void vehicle_land_detected_poll();
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float get_airspeed_and_update_scaling();
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};
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