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143 lines
4.5 KiB
C++
143 lines
4.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 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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* @file mc_att_control_main.cpp
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* Multicopter attitude controller.
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*
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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* @author Julian Oes <julian@oes.ch>
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* @author Roman Bapst <bapstr@ethz.ch>
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*
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* The controller has two loops: P loop for angular error and PD loop for angular rate error.
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* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
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* For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
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* so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
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* These two approaches fused seamlessly with weight depending on angular error.
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* When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
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* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
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* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
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*/
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#include <string.h>
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#include <cstdlib>
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#include "mc_att_control.h"
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static bool thread_running = false; /**< Deamon status flag */
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static int daemon_task; /**< Handle of deamon task / thread */
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namespace px4
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{
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bool task_should_exit = false;
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}
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using namespace px4;
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PX4_MAIN_FUNCTION(mc_att_control);
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void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) {
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PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
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}
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#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__))
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/**
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* Multicopter attitude control app start / stop handling function
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*
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* @ingroup apps
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*/
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extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[])
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{
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px4::init(argc, argv, "mc_att_control");
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if (argc < 1) {
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errx(1, "usage: mc_att_control {start|stop|status}");
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}
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if (!strcmp(argv[1], "start")) {
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if (thread_running) {
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warnx("already running");
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/* this is not an error */
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exit(0);
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}
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task_should_exit = false;
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daemon_task = task_spawn_cmd("mc_att_control",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 5,
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2000,
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mc_att_control_task_main,
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(argv) ? (const char **)&argv[2] : (const char **)NULL);
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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task_should_exit = true;
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exit(0);
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}
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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warnx("is running");
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} else {
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warnx("not started");
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}
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exit(0);
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}
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warnx("unrecognized command");
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return 1;
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}
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#endif
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PX4_MAIN_FUNCTION(mc_att_control)
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{
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warnx("starting");
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MulticopterAttitudeControl attctl;
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thread_running = true;
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attctl.spin();
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warnx("exiting.");
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thread_running = false;
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return 0;
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}
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