mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 19:03:33 +08:00
245 lines
11 KiB
C++
245 lines
11 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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 VTOL_att_control_main.cpp
|
|
* Implementation of an attitude controller for VTOL airframes. This module receives data
|
|
* from both the fixed wing- and the multicopter attitude controllers and processes it.
|
|
* It computes the correct actuator controls depending on which mode the vehicle is in (hover,forward-
|
|
* flight or transition). It also publishes the resulting controls on the actuator controls topics.
|
|
*
|
|
* @author Roman Bapst <bapstr@ethz.ch>
|
|
* @author Lorenz Meier <lm@inf.ethz.ch>
|
|
* @author Thomas Gubler <thomasgubler@gmail.com>
|
|
* @author David Vorsin <davidvorsin@gmail.com>
|
|
* @author Sander Smeets <sander@droneslab.com>
|
|
* @author Andreas Antener <andreas@uaventure.com>
|
|
*
|
|
*/
|
|
#ifndef VTOL_ATT_CONTROL_MAIN_H
|
|
#define VTOL_ATT_CONTROL_MAIN_H
|
|
|
|
#include <px4_config.h>
|
|
#include <px4_defines.h>
|
|
#include <px4_tasks.h>
|
|
#include <px4_posix.h>
|
|
|
|
#include <arch/board/board.h>
|
|
#include <drivers/drv_hrt.h>
|
|
#include <drivers/drv_pwm_output.h>
|
|
#include <lib/geo/geo.h>
|
|
#include <lib/mathlib/mathlib.h>
|
|
#include <systemlib/err.h>
|
|
#include <systemlib/param/param.h>
|
|
#include <systemlib/systemlib.h>
|
|
|
|
#include <uORB/topics/actuator_armed.h>
|
|
#include <uORB/topics/actuator_controls.h>
|
|
#include <uORB/topics/airspeed.h>
|
|
#include <uORB/topics/battery_status.h>
|
|
#include <uORB/topics/control_state.h>
|
|
#include <uORB/topics/manual_control_setpoint.h>
|
|
#include <uORB/topics/parameter_update.h>
|
|
#include <uORB/topics/tecs_status.h>
|
|
#include <uORB/topics/vehicle_attitude.h>
|
|
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
|
#include <uORB/topics/vehicle_command.h>
|
|
#include <uORB/topics/vehicle_control_mode.h>
|
|
#include <uORB/topics/vehicle_land_detected.h>
|
|
#include <uORB/topics/vehicle_local_position.h>
|
|
#include <uORB/topics/vehicle_rates_setpoint.h>
|
|
#include <uORB/topics/vtol_vehicle_status.h>
|
|
#include <uORB/uORB.h>
|
|
|
|
#include "tiltrotor.h"
|
|
#include "tailsitter.h"
|
|
#include "standard.h"
|
|
|
|
|
|
extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]);
|
|
|
|
|
|
class VtolAttitudeControl
|
|
{
|
|
public:
|
|
|
|
VtolAttitudeControl();
|
|
~VtolAttitudeControl();
|
|
|
|
int start(); /* start the task and return OK on success */
|
|
bool is_fixed_wing_requested();
|
|
void abort_front_transition(const char *reason);
|
|
|
|
struct vehicle_attitude_s *get_att() {return &_v_att;}
|
|
struct vehicle_attitude_setpoint_s *get_att_sp() {return &_v_att_sp;}
|
|
struct vehicle_attitude_setpoint_s *get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
|
|
struct vehicle_attitude_setpoint_s *get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
|
|
struct vehicle_rates_setpoint_s *get_rates_sp() {return &_v_rates_sp;}
|
|
struct vehicle_rates_setpoint_s *get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;}
|
|
struct vehicle_rates_setpoint_s *get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;}
|
|
struct manual_control_setpoint_s *get_manual_control_sp() {return &_manual_control_sp;}
|
|
struct vehicle_control_mode_s *get_control_mode() {return &_v_control_mode;}
|
|
struct vtol_vehicle_status_s *get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
|
|
struct actuator_controls_s *get_actuators_out0() {return &_actuators_out_0;}
|
|
struct actuator_controls_s *get_actuators_out1() {return &_actuators_out_1;}
|
|
struct actuator_controls_s *get_actuators_mc_in() {return &_actuators_mc_in;}
|
|
struct actuator_controls_s *get_actuators_fw_in() {return &_actuators_fw_in;}
|
|
struct actuator_armed_s *get_armed() {return &_armed;}
|
|
struct vehicle_local_position_s *get_local_pos() {return &_local_pos;}
|
|
struct airspeed_s *get_airspeed() {return &_airspeed;}
|
|
struct battery_status_s *get_batt_status() {return &_batt_status;}
|
|
struct tecs_status_s *get_tecs_status() {return &_tecs_status;}
|
|
struct vehicle_land_detected_s *get_land_detected() {return &_land_detected;}
|
|
|
|
struct Params *get_params() {return &_params;}
|
|
|
|
|
|
private:
|
|
//******************flags & handlers******************************************************
|
|
bool _task_should_exit;
|
|
int _control_task; //task handle for VTOL attitude controller
|
|
orb_advert_t _mavlink_log_pub; // mavlink log uORB handle
|
|
|
|
/* handlers for subscriptions */
|
|
int _v_att_sub; //vehicle attitude subscription
|
|
int _v_att_sp_sub; //vehicle attitude setpoint subscription
|
|
int _mc_virtual_att_sp_sub;
|
|
int _fw_virtual_att_sp_sub;
|
|
int _mc_virtual_v_rates_sp_sub; //vehicle rates setpoint subscription
|
|
int _fw_virtual_v_rates_sp_sub; //vehicle rates setpoint subscription
|
|
int _v_control_mode_sub; //vehicle control mode subscription
|
|
int _params_sub; //parameter updates subscription
|
|
int _manual_control_sp_sub; //manual control setpoint subscription
|
|
int _armed_sub; //arming status subscription
|
|
int _local_pos_sub; // sensor subscription
|
|
int _airspeed_sub; // airspeed subscription
|
|
int _battery_status_sub; // battery status subscription
|
|
int _vehicle_cmd_sub;
|
|
int _tecs_status_sub;
|
|
int _land_detected_sub;
|
|
|
|
int _actuator_inputs_mc; //topic on which the mc_att_controller publishes actuator inputs
|
|
int _actuator_inputs_fw; //topic on which the fw_att_controller publishes actuator inputs
|
|
|
|
//handlers for publishers
|
|
orb_advert_t _actuators_0_pub; //input for the mixer (roll,pitch,yaw,thrust)
|
|
orb_advert_t _actuators_1_pub;
|
|
orb_advert_t _vtol_vehicle_status_pub;
|
|
orb_advert_t _v_rates_sp_pub;
|
|
orb_advert_t _v_att_sp_pub;
|
|
|
|
//*******************data containers***********************************************************
|
|
struct vehicle_attitude_s _v_att; //vehicle attitude
|
|
struct vehicle_attitude_setpoint_s _v_att_sp; //vehicle attitude setpoint
|
|
struct vehicle_attitude_setpoint_s _mc_virtual_att_sp; // virtual mc attitude setpoint
|
|
struct vehicle_attitude_setpoint_s _fw_virtual_att_sp; // virtual fw attitude setpoint
|
|
struct vehicle_rates_setpoint_s _v_rates_sp; //vehicle rates setpoint
|
|
struct vehicle_rates_setpoint_s _mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
|
|
struct vehicle_rates_setpoint_s _fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
|
|
struct manual_control_setpoint_s _manual_control_sp; //manual control setpoint
|
|
struct vehicle_control_mode_s _v_control_mode; //vehicle control mode
|
|
struct vtol_vehicle_status_s _vtol_vehicle_status;
|
|
struct actuator_controls_s _actuators_out_0; //actuator controls going to the mc mixer
|
|
struct actuator_controls_s _actuators_out_1; //actuator controls going to the fw mixer (used for elevons)
|
|
struct actuator_controls_s _actuators_mc_in; //actuator controls from mc_att_control
|
|
struct actuator_controls_s _actuators_fw_in; //actuator controls from fw_att_control
|
|
struct actuator_armed_s _armed; //actuator arming status
|
|
struct vehicle_local_position_s _local_pos;
|
|
struct airspeed_s _airspeed; // airspeed
|
|
struct battery_status_s _batt_status; // battery status
|
|
struct vehicle_command_s _vehicle_cmd;
|
|
struct tecs_status_s _tecs_status;
|
|
struct vehicle_land_detected_s _land_detected;
|
|
|
|
Params _params; // struct holding the parameters
|
|
|
|
struct {
|
|
param_t idle_pwm_mc;
|
|
param_t vtol_motor_count;
|
|
param_t vtol_fw_permanent_stab;
|
|
param_t mc_airspeed_min;
|
|
param_t mc_airspeed_trim;
|
|
param_t mc_airspeed_max;
|
|
param_t fw_pitch_trim;
|
|
param_t power_max;
|
|
param_t prop_eff;
|
|
param_t arsp_lp_gain;
|
|
param_t vtol_type;
|
|
param_t elevons_mc_lock;
|
|
param_t fw_min_alt;
|
|
param_t fw_qc_max_pitch;
|
|
param_t fw_qc_max_roll;
|
|
param_t front_trans_time_openloop;
|
|
param_t front_trans_time_min;
|
|
} _params_handles;
|
|
|
|
/* for multicopters it is usual to have a non-zero idle speed of the engines
|
|
* for fixed wings we want to have an idle speed of zero since we do not want
|
|
* to waste energy when gliding. */
|
|
int _transition_command;
|
|
bool _abort_front_transition;
|
|
|
|
VtolType *_vtol_type = nullptr; // base class for different vtol types
|
|
|
|
//*****************Member functions***********************************************************************
|
|
|
|
void task_main(); //main task
|
|
static void task_main_trampoline(int argc, char *argv[]); //Shim for calling task_main from task_create.
|
|
|
|
void vehicle_control_mode_poll(); //Check for changes in vehicle control mode.
|
|
void vehicle_manual_poll(); //Check for changes in manual inputs.
|
|
void arming_status_poll(); //Check for arming status updates.
|
|
void mc_virtual_att_sp_poll();
|
|
void fw_virtual_att_sp_poll();
|
|
void actuator_controls_mc_poll(); //Check for changes in mc_attitude_control output
|
|
void actuator_controls_fw_poll(); //Check for changes in fw_attitude_control output
|
|
void vehicle_rates_sp_mc_poll();
|
|
void vehicle_rates_sp_fw_poll();
|
|
void vehicle_local_pos_poll(); // Check for changes in sensor values
|
|
void vehicle_airspeed_poll(); // Check for changes in airspeed
|
|
void vehicle_attitude_setpoint_poll(); //Check for attitude setpoint updates.
|
|
void vehicle_attitude_poll(); //Check for attitude updates.
|
|
void vehicle_battery_poll(); // Check for battery updates
|
|
void vehicle_cmd_poll();
|
|
void tecs_status_poll();
|
|
void land_detected_poll();
|
|
void parameters_update_poll(); //Check if parameters have changed
|
|
int parameters_update(); //Update local paraemter cache
|
|
void fill_mc_att_rates_sp();
|
|
void fill_fw_att_rates_sp();
|
|
void handle_command();
|
|
void publish_att_sp();
|
|
};
|
|
|
|
#endif
|