PX4-Autopilot/src/modules/uuv_pos_control/uuv_pos_control.hpp

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/**
 *
 * This module is a modification of the hippocampus control module and is designed for the
 * BlueROV2.
 *
 * All the acknowledgments and credits for the fw wing app are reported in those files.
 *
 * @author Tim Hansen <t.hansen@jacobs-university.de>
 * @author Daniel Duecker <daniel.duecker@tuhh.de>
 */

#include <float.h>

#include <drivers/drv_hrt.h>
#include <lib/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <lib/pid/pid.h>
#include <matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/trajectory_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/uORB.h>

using matrix::Eulerf;
using matrix::Quatf;
using matrix::Matrix3f;
using matrix::Vector3f;
using matrix::Dcmf;

using uORB::SubscriptionData;

using namespace time_literals;

class UUVPOSControl: public ModuleBase<UUVPOSControl>, public ModuleParams, public px4::WorkItem
{
public:
	UUVPOSControl();
	~UUVPOSControl();

	/** @see ModuleBase */
	static int task_spawn(int argc, char *argv[]);

	static int custom_command(int argc, char *argv[]);

	/** @see ModuleBase */
	static int print_usage(const char *reason = nullptr);

	bool init();

private:
	uORB::Publication<vehicle_attitude_setpoint_s> _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};

	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
	uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};

	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};

	vehicle_attitude_s _vehicle_attitude{};
	trajectory_setpoint_s _trajectory_setpoint{};
	vehicle_control_mode_s _vcontrol_mode{};

	perf_counter_t	_loop_perf;

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::UUV_GAIN_X_P>) _param_pose_gain_x,
		(ParamFloat<px4::params::UUV_GAIN_Y_P>) _param_pose_gain_y,
		(ParamFloat<px4::params::UUV_GAIN_Z_P>) _param_pose_gain_z,
		(ParamFloat<px4::params::UUV_GAIN_X_D>) _param_pose_gain_d_x,
		(ParamFloat<px4::params::UUV_GAIN_Y_D>) _param_pose_gain_d_y,
		(ParamFloat<px4::params::UUV_GAIN_Z_D>) _param_pose_gain_d_z,

		(ParamInt<px4::params::UUV_INPUT_MODE>) _param_input_mode,
		(ParamInt<px4::params::UUV_STAB_MODE>) _param_stabilization,
		(ParamInt<px4::params::UUV_SKIP_CTRL>) _param_skip_ctrl
	)

	void Run() override;
	/**
	 * Update our local parameter cache.
	 */
	void parameters_update(bool force = false);

	/**
	 * Control Attitude
	 */
	void publish_attitude_setpoint(const float thrust_x, const float thrust_y, const float thrust_z,
				       const float roll_des, const float pitch_des, const float yaw_des);
	void pose_controller_6dof(const Vector3f &pos_des,
				  const float roll_des, const float pitch_des, const float yaw_des,
				  vehicle_attitude_s &vehicle_attitude, vehicle_local_position_s &vlocal_pos);
	void stabilization_controller_6dof(const Vector3f &pos_des,
					   const float roll_des, const float pitch_des, const float yaw_des,
					   vehicle_attitude_s &vehicle_attitude, vehicle_local_position_s &vlocal_pos);
};