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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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fdc4766da6
After f0b05ea7cfd9de4113f4cd63e8068cf8089bc158 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.
169 lines
7.3 KiB
C++
169 lines
7.3 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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#pragma once
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#include <lib/rate_control/rate_control.hpp>
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#include <lib/mathlib/math/filter/AlphaFilter.hpp>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/perf/perf_counter.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/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/systemlib/mavlink_log.h>
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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/SubscriptionCallback.hpp>
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#include <uORB/topics/actuator_controls_status.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/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 namespace time_literals;
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class MulticopterRateControl : public ModuleBase<MulticopterRateControl>, public ModuleParams, public px4::WorkItem
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{
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public:
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MulticopterRateControl(bool vtol = false);
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~MulticopterRateControl() 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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/**
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* initialize some vectors/matrices from parameters
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*/
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void parameters_updated();
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void updateActuatorControlsStatus(const vehicle_torque_setpoint_s &vehicle_torque_setpoint, float dt);
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RateControl _rate_control; ///< class for rate control calculations
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uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
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uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)};
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_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_rates_setpoint_sub{ORB_ID(vehicle_rates_setpoint)};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
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uORB::Publication<actuator_controls_status_s> _actuator_controls_status_pub{ORB_ID(actuator_controls_status_0)};
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uORB::PublicationMulti<rate_ctrl_status_s> _controller_status_pub{ORB_ID(rate_ctrl_status)};
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uORB::Publication<vehicle_rates_setpoint_s> _vehicle_rates_setpoint_pub{ORB_ID(vehicle_rates_setpoint)};
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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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vehicle_control_mode_s _vehicle_control_mode{};
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vehicle_status_s _vehicle_status{};
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bool _landed{true};
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bool _maybe_landed{true};
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hrt_abstime _last_run{0};
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perf_counter_t _loop_perf; /**< loop duration performance counter */
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// keep setpoint values between updates
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matrix::Vector3f _acro_rate_max; /**< max attitude rates in acro mode */
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matrix::Vector3f _rates_setpoint{};
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float _battery_status_scale{0.0f};
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matrix::Vector3f _thrust_setpoint{};
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float _energy_integration_time{0.0f};
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float _control_energy[4] {};
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AlphaFilter<float> _output_lpf_yaw;
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::MC_ROLLRATE_P>) _param_mc_rollrate_p,
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(ParamFloat<px4::params::MC_ROLLRATE_I>) _param_mc_rollrate_i,
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(ParamFloat<px4::params::MC_RR_INT_LIM>) _param_mc_rr_int_lim,
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(ParamFloat<px4::params::MC_ROLLRATE_D>) _param_mc_rollrate_d,
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(ParamFloat<px4::params::MC_ROLLRATE_FF>) _param_mc_rollrate_ff,
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(ParamFloat<px4::params::MC_ROLLRATE_K>) _param_mc_rollrate_k,
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(ParamFloat<px4::params::MC_PITCHRATE_P>) _param_mc_pitchrate_p,
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(ParamFloat<px4::params::MC_PITCHRATE_I>) _param_mc_pitchrate_i,
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(ParamFloat<px4::params::MC_PR_INT_LIM>) _param_mc_pr_int_lim,
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(ParamFloat<px4::params::MC_PITCHRATE_D>) _param_mc_pitchrate_d,
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(ParamFloat<px4::params::MC_PITCHRATE_FF>) _param_mc_pitchrate_ff,
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(ParamFloat<px4::params::MC_PITCHRATE_K>) _param_mc_pitchrate_k,
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(ParamFloat<px4::params::MC_YAWRATE_P>) _param_mc_yawrate_p,
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(ParamFloat<px4::params::MC_YAWRATE_I>) _param_mc_yawrate_i,
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(ParamFloat<px4::params::MC_YR_INT_LIM>) _param_mc_yr_int_lim,
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(ParamFloat<px4::params::MC_YAWRATE_D>) _param_mc_yawrate_d,
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(ParamFloat<px4::params::MC_YAWRATE_FF>) _param_mc_yawrate_ff,
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(ParamFloat<px4::params::MC_YAWRATE_K>) _param_mc_yawrate_k,
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(ParamFloat<px4::params::MC_YAW_TQ_CUTOFF>) _param_mc_yaw_tq_cutoff,
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(ParamFloat<px4::params::MC_ACRO_R_MAX>) _param_mc_acro_r_max,
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(ParamFloat<px4::params::MC_ACRO_P_MAX>) _param_mc_acro_p_max,
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(ParamFloat<px4::params::MC_ACRO_Y_MAX>) _param_mc_acro_y_max,
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(ParamFloat<px4::params::MC_ACRO_EXPO>) _param_mc_acro_expo, /**< expo stick curve shape (roll & pitch) */
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(ParamFloat<px4::params::MC_ACRO_EXPO_Y>) _param_mc_acro_expo_y, /**< expo stick curve shape (yaw) */
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(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo, /**< superexpo stick curve shape (roll & pitch) */
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(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */
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(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en
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)
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};
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