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410 lines
14 KiB
C++
410 lines
14 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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#include "MulticopterRateControl.hpp"
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#include <drivers/drv_hrt.h>
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#include <circuit_breaker/circuit_breaker.h>
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#include <mathlib/math/Limits.hpp>
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#include <mathlib/math/Functions.hpp>
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#include <px4_platform_common/events.h>
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using namespace matrix;
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using namespace time_literals;
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using math::radians;
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MulticopterRateControl::MulticopterRateControl(bool vtol) :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
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_actuators_0_pub(vtol ? ORB_ID(actuator_controls_virtual_mc) : ORB_ID(actuator_controls_0)),
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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{
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_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
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parameters_updated();
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_controller_status_pub.advertise();
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}
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MulticopterRateControl::~MulticopterRateControl()
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{
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perf_free(_loop_perf);
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}
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bool
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MulticopterRateControl::init()
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{
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if (!_vehicle_angular_velocity_sub.registerCallback()) {
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PX4_ERR("callback registration failed");
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return false;
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}
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return true;
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}
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void
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MulticopterRateControl::parameters_updated()
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{
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// rate control parameters
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// The controller gain K is used to convert the parallel (P + I/s + sD) form
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// to the ideal (K * [1 + 1/sTi + sTd]) form
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const Vector3f rate_k = Vector3f(_param_mc_rollrate_k.get(), _param_mc_pitchrate_k.get(), _param_mc_yawrate_k.get());
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_rate_control.setGains(
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rate_k.emult(Vector3f(_param_mc_rollrate_p.get(), _param_mc_pitchrate_p.get(), _param_mc_yawrate_p.get())),
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rate_k.emult(Vector3f(_param_mc_rollrate_i.get(), _param_mc_pitchrate_i.get(), _param_mc_yawrate_i.get())),
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rate_k.emult(Vector3f(_param_mc_rollrate_d.get(), _param_mc_pitchrate_d.get(), _param_mc_yawrate_d.get())));
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_rate_control.setIntegratorLimit(
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Vector3f(_param_mc_rr_int_lim.get(), _param_mc_pr_int_lim.get(), _param_mc_yr_int_lim.get()));
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_rate_control.setFeedForwardGain(
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Vector3f(_param_mc_rollrate_ff.get(), _param_mc_pitchrate_ff.get(), _param_mc_yawrate_ff.get()));
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// manual rate control acro mode rate limits
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_acro_rate_max = Vector3f(radians(_param_mc_acro_r_max.get()), radians(_param_mc_acro_p_max.get()),
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radians(_param_mc_acro_y_max.get()));
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_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled_by_val(_param_cbrk_rate_ctrl.get(), CBRK_RATE_CTRL_KEY);
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}
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void
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MulticopterRateControl::Run()
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{
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if (should_exit()) {
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_vehicle_angular_velocity_sub.unregisterCallback();
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exit_and_cleanup();
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return;
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}
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perf_begin(_loop_perf);
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// Check if parameters have changed
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if (_parameter_update_sub.updated()) {
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// clear update
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parameter_update_s param_update;
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_parameter_update_sub.copy(¶m_update);
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updateParams();
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parameters_updated();
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}
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/* run controller on gyro changes */
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vehicle_angular_velocity_s angular_velocity;
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if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
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// grab corresponding vehicle_angular_acceleration immediately after vehicle_angular_velocity copy
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vehicle_angular_acceleration_s v_angular_acceleration{};
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_vehicle_angular_acceleration_sub.copy(&v_angular_acceleration);
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const hrt_abstime now = angular_velocity.timestamp_sample;
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// Guard against too small (< 0.125ms) and too large (> 20ms) dt's.
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const float dt = math::constrain(((now - _last_run) * 1e-6f), 0.000125f, 0.02f);
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_last_run = now;
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const Vector3f angular_accel{v_angular_acceleration.xyz};
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const Vector3f rates{angular_velocity.xyz};
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/* check for updates in other topics */
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_v_control_mode_sub.update(&_v_control_mode);
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if (_vehicle_land_detected_sub.updated()) {
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vehicle_land_detected_s vehicle_land_detected;
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if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
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_landed = vehicle_land_detected.landed;
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_maybe_landed = vehicle_land_detected.maybe_landed;
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}
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}
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_vehicle_status_sub.update(&_vehicle_status);
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if (_landing_gear_sub.updated()) {
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landing_gear_s landing_gear;
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if (_landing_gear_sub.copy(&landing_gear)) {
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if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) {
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if (landing_gear.landing_gear == landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) {
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mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear\t");
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events::send(events::ID("mc_rate_control_not_retract_landing_gear_landed"),
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{events::Log::Error, events::LogInternal::Info},
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"Landed, unable to retract landing gear");
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} else {
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_landing_gear = landing_gear.landing_gear;
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}
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}
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}
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}
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if (_v_control_mode.flag_control_manual_enabled && !_v_control_mode.flag_control_attitude_enabled) {
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// generate the rate setpoint from sticks
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manual_control_setpoint_s manual_control_setpoint;
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if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
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// manual rates control - ACRO mode
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const Vector3f man_rate_sp{
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math::superexpo(manual_control_setpoint.y, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
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math::superexpo(-manual_control_setpoint.x, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
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math::superexpo(manual_control_setpoint.r, _param_mc_acro_expo_y.get(), _param_mc_acro_supexpoy.get())};
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_rates_sp = man_rate_sp.emult(_acro_rate_max);
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_thrust_sp = math::constrain(manual_control_setpoint.z, 0.0f, 1.0f);
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// publish rate setpoint
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vehicle_rates_setpoint_s v_rates_sp{};
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v_rates_sp.roll = _rates_sp(0);
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v_rates_sp.pitch = _rates_sp(1);
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v_rates_sp.yaw = _rates_sp(2);
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v_rates_sp.thrust_body[0] = 0.0f;
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v_rates_sp.thrust_body[1] = 0.0f;
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v_rates_sp.thrust_body[2] = -_thrust_sp;
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v_rates_sp.timestamp = hrt_absolute_time();
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_v_rates_sp_pub.publish(v_rates_sp);
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}
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} else {
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// use rates setpoint topic
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vehicle_rates_setpoint_s v_rates_sp;
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if (_v_rates_sp_sub.update(&v_rates_sp)) {
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_rates_sp(0) = PX4_ISFINITE(v_rates_sp.roll) ? v_rates_sp.roll : rates(0);
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_rates_sp(1) = PX4_ISFINITE(v_rates_sp.pitch) ? v_rates_sp.pitch : rates(1);
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_rates_sp(2) = PX4_ISFINITE(v_rates_sp.yaw) ? v_rates_sp.yaw : rates(2);
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_thrust_sp = -v_rates_sp.thrust_body[2];
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}
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}
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// run the rate controller
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if (_v_control_mode.flag_control_rates_enabled && !_actuators_0_circuit_breaker_enabled) {
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// reset integral if disarmed
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if (!_v_control_mode.flag_armed || _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
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_rate_control.resetIntegral();
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}
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// update saturation status from control allocation feedback
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control_allocator_status_s control_allocator_status;
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if (_control_allocator_status_sub.update(&control_allocator_status)) {
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Vector<bool, 3> saturation_positive;
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Vector<bool, 3> saturation_negative;
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if (!control_allocator_status.torque_setpoint_achieved) {
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for (size_t i = 0; i < 3; i++) {
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if (control_allocator_status.unallocated_torque[i] > FLT_EPSILON) {
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saturation_positive(i) = true;
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} else if (control_allocator_status.unallocated_torque[i] < -FLT_EPSILON) {
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saturation_negative(i) = true;
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}
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}
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}
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// TODO: send the unallocated value directly for better anti-windup
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_rate_control.setSaturationStatus(saturation_positive, saturation_negative);
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}
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// run rate controller
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const Vector3f att_control = _rate_control.update(rates, _rates_sp, angular_accel, dt, _maybe_landed || _landed);
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// publish rate controller status
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rate_ctrl_status_s rate_ctrl_status{};
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_rate_control.getRateControlStatus(rate_ctrl_status);
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rate_ctrl_status.timestamp = hrt_absolute_time();
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_controller_status_pub.publish(rate_ctrl_status);
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// publish actuator controls
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actuator_controls_s actuators{};
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actuators.control[actuator_controls_s::INDEX_ROLL] = PX4_ISFINITE(att_control(0)) ? att_control(0) : 0.0f;
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actuators.control[actuator_controls_s::INDEX_PITCH] = PX4_ISFINITE(att_control(1)) ? att_control(1) : 0.0f;
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actuators.control[actuator_controls_s::INDEX_YAW] = PX4_ISFINITE(att_control(2)) ? att_control(2) : 0.0f;
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actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(_thrust_sp) ? _thrust_sp : 0.0f;
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actuators.control[actuator_controls_s::INDEX_LANDING_GEAR] = _landing_gear;
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actuators.timestamp_sample = angular_velocity.timestamp_sample;
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if (!_vehicle_status.is_vtol) {
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publishTorqueSetpoint(att_control, angular_velocity.timestamp_sample);
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publishThrustSetpoint(angular_velocity.timestamp_sample);
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}
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// scale effort by battery status if enabled
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if (_param_mc_bat_scale_en.get()) {
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if (_battery_status_sub.updated()) {
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battery_status_s battery_status;
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if (_battery_status_sub.copy(&battery_status) && battery_status.connected && battery_status.scale > 0.f) {
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_battery_status_scale = battery_status.scale;
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}
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}
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if (_battery_status_scale > 0.0f) {
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for (int i = 0; i < 4; i++) {
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actuators.control[i] *= _battery_status_scale;
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}
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}
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}
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actuators.timestamp = hrt_absolute_time();
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_actuators_0_pub.publish(actuators);
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updateActuatorControlsStatus(actuators, dt);
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} else if (_v_control_mode.flag_control_termination_enabled) {
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if (!_vehicle_status.is_vtol) {
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// publish actuator controls
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actuator_controls_s actuators{};
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actuators.timestamp = hrt_absolute_time();
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_actuators_0_pub.publish(actuators);
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}
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}
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}
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perf_end(_loop_perf);
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}
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void MulticopterRateControl::publishTorqueSetpoint(const Vector3f &torque_sp, const hrt_abstime ×tamp_sample)
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{
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vehicle_torque_setpoint_s v_torque_sp = {};
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v_torque_sp.timestamp = hrt_absolute_time();
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v_torque_sp.timestamp_sample = timestamp_sample;
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v_torque_sp.xyz[0] = (PX4_ISFINITE(torque_sp(0))) ? torque_sp(0) : 0.0f;
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v_torque_sp.xyz[1] = (PX4_ISFINITE(torque_sp(1))) ? torque_sp(1) : 0.0f;
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v_torque_sp.xyz[2] = (PX4_ISFINITE(torque_sp(2))) ? torque_sp(2) : 0.0f;
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_vehicle_torque_setpoint_pub.publish(v_torque_sp);
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}
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void MulticopterRateControl::publishThrustSetpoint(const hrt_abstime ×tamp_sample)
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{
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vehicle_thrust_setpoint_s v_thrust_sp = {};
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v_thrust_sp.timestamp = hrt_absolute_time();
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v_thrust_sp.timestamp_sample = timestamp_sample;
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v_thrust_sp.xyz[0] = 0.0f;
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v_thrust_sp.xyz[1] = 0.0f;
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v_thrust_sp.xyz[2] = PX4_ISFINITE(_thrust_sp) ? -_thrust_sp : 0.0f; // Z is Down
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_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
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}
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void MulticopterRateControl::updateActuatorControlsStatus(const actuator_controls_s &actuators, float dt)
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{
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for (int i = 0; i < 4; i++) {
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_control_energy[i] += actuators.control[i] * actuators.control[i] * dt;
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}
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_energy_integration_time += dt;
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if (_energy_integration_time > 500e-3f) {
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actuator_controls_status_s status;
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status.timestamp = actuators.timestamp;
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for (int i = 0; i < 4; i++) {
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status.control_power[i] = _control_energy[i] / _energy_integration_time;
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_control_energy[i] = 0.f;
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}
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_actuator_controls_status_0_pub.publish(status);
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_energy_integration_time = 0.f;
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}
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}
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int MulticopterRateControl::task_spawn(int argc, char *argv[])
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{
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bool vtol = false;
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if (argc > 1) {
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if (strcmp(argv[1], "vtol") == 0) {
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vtol = true;
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}
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}
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MulticopterRateControl *instance = new MulticopterRateControl(vtol);
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if (instance) {
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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if (instance->init()) {
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return PX4_OK;
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}
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} else {
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PX4_ERR("alloc failed");
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}
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delete instance;
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_object.store(nullptr);
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_task_id = -1;
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return PX4_ERROR;
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}
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int MulticopterRateControl::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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int MulticopterRateControl::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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This implements the multicopter rate controller. It takes rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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The controller has a PID loop for angular rate error.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("mc_rate_control", "controller");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_ARG("vtol", "VTOL mode", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int mc_rate_control_main(int argc, char *argv[])
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{
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return MulticopterRateControl::main(argc, argv);
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}
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