mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Pedro-Roque
177 lines
7.2 KiB
C++
177 lines
7.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2020 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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* Multicopter position controller.
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*/
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#pragma once
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#include "PositionControl/PositionControl.hpp"
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#include <drivers/drv_hrt.h>
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#include <lib/controllib/blocks.hpp>
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#include <lib/perf/perf_counter.h>
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#include <lib/slew_rate/SlewRateYaw.hpp>
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#include <lib/systemlib/mavlink_log.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/matrix/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/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 <px4_platform_common/posix.h>
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#include <px4_platform_common/tasks.h>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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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/manual_control_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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using namespace time_literals;
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class SpacecraftPositionControl : public ModuleParams
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{
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public:
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SpacecraftPositionControl(ModuleParams *parent);
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~SpacecraftPositionControl() = default;
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void updatePositionControl();
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protected:
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/**
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* Update our local parameter cache.
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*/
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void updateParams();
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private:
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orb_advert_t _mavlink_log_pub{nullptr};
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uORB::Publication<vehicle_attitude_setpoint_s> _vehicle_attitude_setpoint_pub{ORB_ID(vehicle_attitude_setpoint)};
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uORB::Publication<vehicle_local_position_setpoint_s> _local_pos_sp_pub{ORB_ID(vehicle_local_position_setpoint)}; /**< vehicle local position setpoint publication */
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uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; /**< vehicle local position */
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
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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::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint6dof)};
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uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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hrt_abstime _time_stamp_last_loop{0}; /**< time stamp of last loop iteration */
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hrt_abstime _time_position_control_enabled{0};
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hrt_abstime _manual_setpoint_last_called{0};
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trajectory_setpoint6dof_s _setpoint{ScPositionControl::empty_trajectory_setpoint};
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vehicle_control_mode_s _vehicle_control_mode{};
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manual_control_setpoint_s _manual_control_setpoint{}; /**< r/c channel data */
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DEFINE_PARAMETERS(
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// Position Control
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(ParamFloat<px4::params::SPC_POS_P>) _param_mpc_pos_p,
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(ParamFloat<px4::params::SPC_POS_I>) _param_mpc_pos_i,
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(ParamFloat<px4::params::SPC_POS_I_LIM>) _param_mpc_pos_i_lim,
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(ParamFloat<px4::params::SPC_VEL_P>) _param_mpc_vel_p_acc,
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(ParamFloat<px4::params::SPC_VEL_I>) _param_mpc_vel_i_acc,
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(ParamFloat<px4::params::SPC_VEL_I_LIM>) _param_mpc_vel_i_lim,
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(ParamFloat<px4::params::SPC_VEL_D>) _param_mpc_vel_d_acc,
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(ParamFloat<px4::params::SPC_VEL_ALL>) _param_mpc_vel_all,
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(ParamFloat<px4::params::SPC_VEL_MAX>) _param_mpc_vel_max,
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(ParamFloat<px4::params::SPC_VEL_CRUISE>) _param_mpc_vel_cruise,
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(ParamFloat<px4::params::SPC_VEL_MANUAL>) _param_mpc_vel_manual,
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(ParamFloat<px4::params::SPC_VEHICLE_RESP>) _param_sys_vehicle_resp,
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(ParamFloat<px4::params::SPC_ACC>) _param_mpc_acc,
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(ParamFloat<px4::params::SPC_ACC_MAX>) _param_mpc_acc_max,
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(ParamFloat<px4::params::SPC_MAN_Y_MAX>) _param_mpc_man_y_max,
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(ParamFloat<px4::params::SPC_MAN_Y_TAU>) _param_mpc_man_y_tau,
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(ParamFloat<px4::params::SPC_JERK_AUTO>) _param_mpc_jerk_auto,
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(ParamFloat<px4::params::SPC_JERK_MAX>) _param_mpc_jerk_max,
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(ParamFloat<px4::params::SPC_THR_MAX>) _param_mpc_thr_max
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);
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matrix::Vector3f target_pos_sp;
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float yaw_rate;
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bool stabilized_pos_sp_initialized{false};
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ScPositionControl _control; /**< class for core PID position control */
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hrt_abstime _last_warn{0}; /**< timer when the last warn message was sent out */
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/** Timeout in us for trajectory data to get considered invalid */
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static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500_ms;
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uint8_t _vxy_reset_counter{0};
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uint8_t _vz_reset_counter{0};
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uint8_t _xy_reset_counter{0};
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uint8_t _z_reset_counter{0};
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uint8_t _heading_reset_counter{0};
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// Manual setpoints on yaw and reset
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bool _reset_yaw_sp{true};
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float _manual_yaw_sp{0.f};
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float _throttle_control{0.f};
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float _yaw_control{0.f};
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/**
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* Check for validity of positon/velocity states.
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*/
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PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos, const vehicle_attitude_s &att);
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/**
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* Check for manual setpoints.
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*/
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void poll_manual_setpoint(const float dt, const vehicle_local_position_s
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&vehicle_local_position, const vehicle_attitude_s &_vehicle_att);
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/**
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* @brief publishes target setpoint.
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*
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*/
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void publishLocalPositionSetpoint(vehicle_attitude_setpoint_s &_att_sp);
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/**
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* Generate setpoint to bridge no executable setpoint being available.
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* Used to handle transitions where no proper setpoint was generated yet and when the received setpoint is invalid.
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* This should only happen briefly when transitioning and never during mode operation or by design.
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*/
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trajectory_setpoint6dof_s generateFailsafeSetpoint(const hrt_abstime &now, const PositionControlStates &states, bool warn);
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};
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