mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 14:10:36 +08:00
Silvan Fuhrer
174 lines
7.0 KiB
C++
174 lines
7.0 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013-2022 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <drivers/drv_hrt.h>
|
|
#include "fw_pitch_controller.h"
|
|
#include "fw_roll_controller.h"
|
|
#include "fw_wheel_controller.h"
|
|
#include "fw_yaw_controller.h"
|
|
#include <lib/mathlib/mathlib.h>
|
|
#include <lib/parameters/param.h>
|
|
#include <lib/perf/perf_counter.h>
|
|
#include <matrix/math.hpp>
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <px4_platform_common/defines.h>
|
|
#include <px4_platform_common/module.h>
|
|
#include <px4_platform_common/module_params.h>
|
|
#include <px4_platform_common/posix.h>
|
|
#include <px4_platform_common/tasks.h>
|
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
|
#include <uORB/Publication.hpp>
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/SubscriptionCallback.hpp>
|
|
#include <uORB/topics/airspeed_validated.h>
|
|
#include <uORB/topics/autotune_attitude_control_status.h>
|
|
#include <uORB/topics/landing_gear_wheel.h>
|
|
#include <uORB/topics/manual_control_setpoint.h>
|
|
#include <uORB/topics/parameter_update.h>
|
|
#include <uORB/topics/vehicle_angular_velocity.h>
|
|
#include <uORB/topics/vehicle_attitude.h>
|
|
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
|
#include <uORB/topics/vehicle_control_mode.h>
|
|
#include <uORB/topics/vehicle_local_position.h>
|
|
#include <uORB/topics/vehicle_land_detected.h>
|
|
#include <uORB/topics/vehicle_rates_setpoint.h>
|
|
#include <uORB/topics/vehicle_status.h>
|
|
|
|
using matrix::Eulerf;
|
|
using matrix::Quatf;
|
|
|
|
using uORB::SubscriptionData;
|
|
|
|
using namespace time_literals;
|
|
|
|
class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public ModuleParams,
|
|
public px4::ScheduledWorkItem
|
|
{
|
|
public:
|
|
FixedwingAttitudeControl(bool vtol = false);
|
|
~FixedwingAttitudeControl() override;
|
|
|
|
/** @see ModuleBase */
|
|
static int task_spawn(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int custom_command(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int print_usage(const char *reason = nullptr);
|
|
|
|
bool init();
|
|
|
|
private:
|
|
void Run() override;
|
|
|
|
uORB::SubscriptionCallbackWorkItem _att_sub{this, ORB_ID(vehicle_attitude)}; /**< vehicle attitude */
|
|
|
|
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
|
|
|
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint */
|
|
uORB::Subscription _autotune_attitude_control_status_sub{ORB_ID(autotune_attitude_control_status)};
|
|
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; /**< local position subscription */
|
|
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
|
|
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle status subscription */
|
|
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
|
|
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
|
|
uORB::Subscription _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
|
|
|
|
uORB::SubscriptionData<airspeed_validated_s> _airspeed_validated_sub{ORB_ID(airspeed_validated)};
|
|
|
|
uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_pub;
|
|
uORB::Publication<vehicle_rates_setpoint_s> _rate_sp_pub{ORB_ID(vehicle_rates_setpoint)};
|
|
uORB::Publication<landing_gear_wheel_s> _landing_gear_wheel_pub{ORB_ID(landing_gear_wheel)};
|
|
|
|
manual_control_setpoint_s _manual_control_setpoint{};
|
|
vehicle_attitude_setpoint_s _att_sp{};
|
|
vehicle_control_mode_s _vcontrol_mode{};
|
|
vehicle_rates_setpoint_s _rates_sp{};
|
|
vehicle_status_s _vehicle_status{};
|
|
landing_gear_wheel_s _landing_gear_wheel{};
|
|
|
|
matrix::Dcmf _R{matrix::eye<float, 3>()};
|
|
|
|
perf_counter_t _loop_perf;
|
|
|
|
hrt_abstime _last_run{0};
|
|
|
|
bool _landed{true};
|
|
float _groundspeed{0.f};
|
|
bool _in_fw_or_transition_wo_tailsitter_transition{false}; // only run the FW attitude controller in these states
|
|
|
|
DEFINE_PARAMETERS(
|
|
(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
|
|
(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
|
|
(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
|
|
(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
|
|
(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
|
|
|
|
(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
|
|
(ParamFloat<px4::params::FW_MAN_R_MAX>) _param_fw_man_r_max,
|
|
|
|
(ParamFloat<px4::params::FW_P_RMAX_NEG>) _param_fw_p_rmax_neg,
|
|
(ParamFloat<px4::params::FW_P_RMAX_POS>) _param_fw_p_rmax_pos,
|
|
(ParamFloat<px4::params::FW_P_TC>) _param_fw_p_tc,
|
|
(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
|
|
|
|
(ParamFloat<px4::params::FW_R_RMAX>) _param_fw_r_rmax,
|
|
(ParamFloat<px4::params::FW_R_TC>) _param_fw_r_tc,
|
|
|
|
(ParamBool<px4::params::FW_W_EN>) _param_fw_w_en,
|
|
(ParamFloat<px4::params::FW_W_RMAX>) _param_fw_w_rmax,
|
|
(ParamFloat<px4::params::FW_WR_FF>) _param_fw_wr_ff,
|
|
(ParamFloat<px4::params::FW_WR_I>) _param_fw_wr_i,
|
|
(ParamFloat<px4::params::FW_WR_IMAX>) _param_fw_wr_imax,
|
|
(ParamFloat<px4::params::FW_WR_P>) _param_fw_wr_p,
|
|
|
|
(ParamFloat<px4::params::FW_Y_RMAX>) _param_fw_y_rmax,
|
|
(ParamFloat<px4::params::FW_MAN_YR_MAX>) _param_man_yr_max
|
|
|
|
)
|
|
|
|
RollController _roll_ctrl;
|
|
PitchController _pitch_ctrl;
|
|
YawController _yaw_ctrl;
|
|
WheelController _wheel_ctrl;
|
|
|
|
void parameters_update();
|
|
void vehicle_manual_poll(const float yaw_body);
|
|
void vehicle_attitude_setpoint_poll();
|
|
void vehicle_land_detected_poll();
|
|
float get_airspeed_constrained();
|
|
};
|