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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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8f870a1346
* removed commented out parts * changed the height controller to work in Altitude mode and moved the controller to the uuv_pos_control.hpp instead of uuv_att_control.hpp * Updated format changes etc. Removed one parameter, that is not used anymore(UUV_HGT_MODE) added my correct email * added a rotation to the thrust, that with different roll and pitch values, x y z thrust is still working as if roll/pitch is zero. * fixed constant roll/pitch to be 0.0 again * added parameter for maximum distance between controlled des height and current height. Added state observation to reset the desired height to current height when altitude mode is turned on. * added first short descriptions of manual modes. * update descriptions * removed vector dependency * feat: updated gz submodule * fix: newline * fix: gz submodule --------- Co-authored-by: Pedro Roque <roque@caltech.edu>
172 lines
6.9 KiB
C++
172 lines
6.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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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/**
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*
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* This module is a modification of the hippocampus control module and is designed for the
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* BlueROV2.
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*
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* All the acknowledgments and credits for the fw wing app are reported in those files.
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*
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* @author Tim Hansen <timhansen93@googlemail.com>
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* @author Daniel Duecker <daniel.duecker@tuhh.de>
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*/
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#include <float.h>
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#include <drivers/drv_hrt.h>
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#include <lib/geo/geo.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/perf/perf_counter.h>
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#include <matrix/math.hpp>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/tasks.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/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/Publication.hpp>
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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/trajectory_setpoint6dof.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/uORB.h>
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using matrix::Eulerf;
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using matrix::Quatf;
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using matrix::Matrix3f;
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using matrix::Vector3f;
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using matrix::Dcmf;
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using uORB::SubscriptionData;
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using namespace time_literals;
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class UUVPOSControl: public ModuleBase, public ModuleParams, public px4::WorkItem
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{
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public:
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static Descriptor desc;
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UUVPOSControl();
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~UUVPOSControl();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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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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uORB::Publication<vehicle_attitude_setpoint_s> _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint6dof)};
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uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
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uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
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vehicle_attitude_s _vehicle_attitude{};
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trajectory_setpoint6dof_s _trajectory_setpoint{};
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manual_control_setpoint_s _manual_control_setpoint{};
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vehicle_control_mode_s _vcontrol_mode{};
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vehicle_attitude_setpoint_s _attitude_setpoint{};
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perf_counter_t _loop_perf;
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hrt_abstime _last_run{0};
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//control variables
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float hgtData[2];//des_hgt,integrated hgt error
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bool altitudeStateFlag;
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::UUV_GAIN_X_P>) _param_pose_gain_x,
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(ParamFloat<px4::params::UUV_GAIN_Y_P>) _param_pose_gain_y,
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(ParamFloat<px4::params::UUV_GAIN_Z_P>) _param_pose_gain_z,
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(ParamFloat<px4::params::UUV_GAIN_X_D>) _param_pose_gain_d_x,
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(ParamFloat<px4::params::UUV_GAIN_Y_D>) _param_pose_gain_d_y,
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(ParamFloat<px4::params::UUV_GAIN_Z_D>) _param_pose_gain_d_z,
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(ParamInt<px4::params::UUV_STAB_MODE>) _param_stab_mode,
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(ParamFloat<px4::params::UUV_POS_STICK_DB>) _param_pos_stick_db,
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(ParamFloat<px4::params::UUV_PGM_VEL>) _param_pgm_vel,
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(ParamFloat<px4::params::UUV_SGM_ROLL>) _param_sgm_roll,
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(ParamFloat<px4::params::UUV_SGM_PITCH>) _param_sgm_pitch,
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(ParamFloat<px4::params::UUV_SGM_YAW>) _param_sgm_yaw,
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(ParamFloat<px4::params::UUV_SP_MAX_AGE>) _param_setpoint_max_age,
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(ParamInt<px4::params::UUV_POS_MODE>) _param_pos_mode,
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(ParamFloat<px4::params::UUV_SGM_THRTL>) _param_sgm_thrtl,
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(ParamFloat<px4::params::UUV_HGT_P>) _param_hgt_p,
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(ParamFloat<px4::params::UUV_HGT_D>) _param_hgt_d,
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(ParamFloat<px4::params::UUV_HGT_I>) _param_hgt_i,
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(ParamFloat<px4::params::UUV_HGT_I_SPD>) _param_hgt_i_speed,
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(ParamFloat<px4::params::UUV_HGT_STR>) _param_hgt_strength,
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(ParamInt<px4::params::UUV_HGT_B_UP>) _param_hgt_b_up,
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(ParamInt<px4::params::UUV_HGT_B_DOWN>) _param_hgt_b_down,
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(ParamFloat<px4::params::UUV_HGT_MAX_DIFF>) _param_hgt_max_diff
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)
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void Run() override;
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/**
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* Update our local parameter cache.
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*/
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void parameters_update(bool force = false);
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/**
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* Control Attitude
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*/
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void publish_attitude_setpoint(const float thrust_x, const float thrust_y, const float thrust_z,
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const float roll_des, const float pitch_des, const float yaw_des);
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void pose_controller_6dof(const Vector3f &pos_des, vehicle_attitude_s &vehicle_attitude,
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vehicle_local_position_s &vlocal_pos, bool altitude_mode);
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void stabilization_controller_6dof(const Vector3f &pos_des,
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const float roll_des, const float pitch_des, const float yaw_des,
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vehicle_attitude_s &vehicle_attitude, vehicle_local_position_s &vlocal_pos);
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void generate_trajectory_setpoint(vehicle_local_position_s &vlocal_pos, vehicle_attitude_s &vehicle_attitude, float dt);
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void reset_trajectory_setpoint(vehicle_local_position_s &vlocal_pos);
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void check_setpoint_validity(vehicle_local_position_s &vlocal_pos);
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};
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