mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-30 19:04:06 +08:00
2ef2911c36
The default implementation for multicopter Position mode is FlightTaskManualAcceleration. The last missing piece was support for CollisionPrevention in this implementation.
258 lines
11 KiB
C++
258 lines
11 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013-2020 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* Multicopter position controller.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "PositionControl/PositionControl.hpp"
|
|
#include "Takeoff/Takeoff.hpp"
|
|
#include "GotoControl/GotoControl.hpp"
|
|
|
|
#include <drivers/drv_hrt.h>
|
|
#include <lib/mathlib/math/filter/AlphaFilter.hpp>
|
|
#include <lib/mathlib/math/filter/NotchFilter.hpp>
|
|
#include <lib/mathlib/math/WelfordMean.hpp>
|
|
#include <lib/perf/perf_counter.h>
|
|
#include <lib/slew_rate/SlewRateYaw.hpp>
|
|
#include <lib/systemlib/mavlink_log.h>
|
|
#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/px4_work_queue/ScheduledWorkItem.hpp>
|
|
#include <px4_platform_common/posix.h>
|
|
#include <px4_platform_common/tasks.h>
|
|
#include <uORB/Publication.hpp>
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/SubscriptionCallback.hpp>
|
|
#include <uORB/topics/hover_thrust_estimate.h>
|
|
#include <uORB/topics/parameter_update.h>
|
|
#include <uORB/topics/trajectory_setpoint.h>
|
|
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
|
#include <uORB/topics/vehicle_constraints.h>
|
|
#include <uORB/topics/vehicle_control_mode.h>
|
|
#include <uORB/topics/vehicle_land_detected.h>
|
|
#include <uORB/topics/vehicle_local_position.h>
|
|
#include <uORB/topics/vehicle_local_position_setpoint.h>
|
|
|
|
using namespace time_literals;
|
|
|
|
class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>, public ModuleParams,
|
|
public px4::ScheduledWorkItem
|
|
{
|
|
public:
|
|
MulticopterPositionControl(bool vtol = false);
|
|
~MulticopterPositionControl() 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;
|
|
|
|
TakeoffHandling _takeoff; /**< state machine and ramp to bring the vehicle off the ground without jumps */
|
|
|
|
orb_advert_t _mavlink_log_pub{nullptr};
|
|
|
|
uORB::PublicationData<takeoff_status_s> _takeoff_status_pub{ORB_ID(takeoff_status)};
|
|
uORB::Publication<vehicle_attitude_setpoint_s> _vehicle_attitude_setpoint_pub{ORB_ID(vehicle_attitude_setpoint)};
|
|
uORB::Publication<vehicle_local_position_setpoint_s> _local_pos_sp_pub{ORB_ID(vehicle_local_position_setpoint)}; /**< vehicle local position setpoint publication */
|
|
|
|
uORB::SubscriptionCallbackWorkItem _local_pos_sub{this, ORB_ID(vehicle_local_position)}; /**< vehicle local position */
|
|
|
|
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
|
|
|
uORB::Subscription _hover_thrust_estimate_sub{ORB_ID(hover_thrust_estimate)};
|
|
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
|
|
uORB::Subscription _vehicle_constraints_sub{ORB_ID(vehicle_constraints)};
|
|
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
|
|
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
|
|
|
|
hrt_abstime _time_stamp_last_loop{0}; /**< time stamp of last loop iteration */
|
|
hrt_abstime _time_position_control_enabled{0};
|
|
|
|
trajectory_setpoint_s _setpoint{PositionControl::empty_trajectory_setpoint};
|
|
vehicle_control_mode_s _vehicle_control_mode{};
|
|
|
|
vehicle_constraints_s _vehicle_constraints {
|
|
.timestamp = 0,
|
|
.speed_up = NAN,
|
|
.speed_down = NAN,
|
|
.want_takeoff = false,
|
|
};
|
|
|
|
vehicle_land_detected_s _vehicle_land_detected {
|
|
.timestamp = 0,
|
|
.freefall = false,
|
|
.ground_contact = true,
|
|
.maybe_landed = true,
|
|
.landed = true,
|
|
};
|
|
|
|
DEFINE_PARAMETERS(
|
|
// Position Control
|
|
(ParamFloat<px4::params::MPC_XY_P>) _param_mpc_xy_p,
|
|
(ParamFloat<px4::params::MPC_Z_P>) _param_mpc_z_p,
|
|
(ParamFloat<px4::params::MPC_XY_VEL_P_ACC>) _param_mpc_xy_vel_p_acc,
|
|
(ParamFloat<px4::params::MPC_XY_VEL_I_ACC>) _param_mpc_xy_vel_i_acc,
|
|
(ParamFloat<px4::params::MPC_XY_VEL_D_ACC>) _param_mpc_xy_vel_d_acc,
|
|
(ParamFloat<px4::params::MPC_Z_VEL_P_ACC>) _param_mpc_z_vel_p_acc,
|
|
(ParamFloat<px4::params::MPC_Z_VEL_I_ACC>) _param_mpc_z_vel_i_acc,
|
|
(ParamFloat<px4::params::MPC_Z_VEL_D_ACC>) _param_mpc_z_vel_d_acc,
|
|
(ParamFloat<px4::params::MPC_XY_VEL_MAX>) _param_mpc_xy_vel_max,
|
|
(ParamFloat<px4::params::MPC_Z_V_AUTO_UP>) _param_mpc_z_v_auto_up,
|
|
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up,
|
|
(ParamFloat<px4::params::MPC_Z_V_AUTO_DN>) _param_mpc_z_v_auto_dn,
|
|
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,
|
|
(ParamFloat<px4::params::MPC_TILTMAX_AIR>) _param_mpc_tiltmax_air,
|
|
(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover,
|
|
(ParamBool<px4::params::MPC_USE_HTE>) _param_mpc_use_hte,
|
|
(ParamBool<px4::params::MPC_ACC_DECOUPLE>) _param_mpc_acc_decouple,
|
|
|
|
(ParamFloat<px4::params::MPC_VEL_LP>) _param_mpc_vel_lp,
|
|
(ParamFloat<px4::params::MPC_VEL_NF_FRQ>) _param_mpc_vel_nf_frq,
|
|
(ParamFloat<px4::params::MPC_VEL_NF_BW>) _param_mpc_vel_nf_bw,
|
|
(ParamFloat<px4::params::MPC_VELD_LP>) _param_mpc_veld_lp,
|
|
|
|
// Takeoff / Land
|
|
(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */
|
|
(ParamBool<px4::params::COM_THROW_EN>) _param_com_throw_en, /**< throw launch enabled */
|
|
(ParamFloat<px4::params::MPC_TKO_RAMP_T>) _param_mpc_tko_ramp_t, /**< time constant for smooth takeoff ramp */
|
|
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
|
|
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
|
|
|
|
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
|
|
(ParamFloat<px4::params::MPC_VEL_MAN_BACK>) _param_mpc_vel_man_back,
|
|
(ParamFloat<px4::params::MPC_VEL_MAN_SIDE>) _param_mpc_vel_man_side,
|
|
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
|
|
(ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2, /**< downwards speed limited below this altitude */
|
|
(ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,
|
|
(ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd, /**< maximum tilt for landing and smooth takeoff */
|
|
(ParamFloat<px4::params::MPC_THR_MIN>) _param_mpc_thr_min,
|
|
(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,
|
|
(ParamFloat<px4::params::MPC_THR_XY_MARG>) _param_mpc_thr_xy_marg,
|
|
|
|
(ParamFloat<px4::params::SYS_VEHICLE_RESP>) _param_sys_vehicle_resp,
|
|
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor,
|
|
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
|
|
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
|
|
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
|
|
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
|
|
(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
|
|
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max,
|
|
(ParamFloat<px4::params::MPC_MAN_Y_TAU>) _param_mpc_man_y_tau,
|
|
|
|
(ParamFloat<px4::params::MPC_XY_VEL_ALL>) _param_mpc_xy_vel_all,
|
|
(ParamFloat<px4::params::MPC_Z_VEL_ALL>) _param_mpc_z_vel_all,
|
|
|
|
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
|
|
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
|
|
(ParamFloat<px4::params::MPC_YAWRAUTO_ACC>) _param_mpc_yawrauto_acc
|
|
);
|
|
|
|
math::WelfordMean<float> _sample_interval_s{};
|
|
|
|
AlphaFilter<matrix::Vector2f> _vel_xy_lp_filter{};
|
|
AlphaFilter<float> _vel_z_lp_filter{};
|
|
|
|
math::NotchFilter<matrix::Vector2f> _vel_xy_notch_filter{};
|
|
math::NotchFilter<float> _vel_z_notch_filter{};
|
|
|
|
AlphaFilter<matrix::Vector2f> _vel_deriv_xy_lp_filter{};
|
|
AlphaFilter<float> _vel_deriv_z_lp_filter{};
|
|
|
|
GotoControl _goto_control; ///< class for handling smooth goto position setpoints
|
|
PositionControl _control; ///< class for core PID position control
|
|
|
|
hrt_abstime _last_warn{0}; /**< timer when the last warn message was sent out */
|
|
|
|
bool _hover_thrust_initialized{false};
|
|
|
|
/** Timeout in us for trajectory data to get considered invalid */
|
|
static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500_ms;
|
|
|
|
/** During smooth-takeoff, below ALTITUDE_THRESHOLD the yaw-control is turned off and tilt is limited */
|
|
static constexpr float ALTITUDE_THRESHOLD = 0.3f;
|
|
|
|
static constexpr float MAX_SAFE_TILT_DEG = 89.f; // Numerical issues above this value due to tanf
|
|
|
|
SlewRate<float> _tilt_limit_slew_rate;
|
|
|
|
uint8_t _vxy_reset_counter{0};
|
|
uint8_t _vz_reset_counter{0};
|
|
uint8_t _xy_reset_counter{0};
|
|
uint8_t _z_reset_counter{0};
|
|
uint8_t _heading_reset_counter{0};
|
|
|
|
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
|
|
|
|
/**
|
|
* Update our local parameter cache.
|
|
* Parameter update can be forced when argument is true.
|
|
* @param force forces parameter update.
|
|
*/
|
|
void parameters_update(bool force);
|
|
|
|
/**
|
|
* Check for validity of positon/velocity states.
|
|
*/
|
|
PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos, const float dt_s);
|
|
|
|
/**
|
|
* Generate setpoint to bridge no executable setpoint being available.
|
|
* Used to handle transitions where no proper setpoint was generated yet and when the received setpoint is invalid.
|
|
* This should only happen briefly when transitioning and never during mode operation or by design.
|
|
*/
|
|
trajectory_setpoint_s generateFailsafeSetpoint(const hrt_abstime &now, const PositionControlStates &states, bool warn);
|
|
|
|
/**
|
|
* @brief adjust existing (or older) setpoint with any EKF reset deltas and update the local counters
|
|
*
|
|
* @param[in] vehicle_local_position struct containing EKF reset deltas and counters
|
|
* @param[out] setpoint trajectory setpoint struct to be adjusted
|
|
*/
|
|
void adjustSetpointForEKFResets(const vehicle_local_position_s &vehicle_local_position,
|
|
trajectory_setpoint_s &setpoint);
|
|
};
|