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cfb670fbb3
* moved computation of _time_since_trans_start into base class Signed-off-by: RomanBapst <bapstroman@gmail.com> * refactor quadchute logic - move entired logic into VtolType class - split into smaller functions Signed-off-by: RomanBapst <bapstroman@gmail.com> * Update src/modules/vtol_att_control/vtol_type.h Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Signed-off-by: RomanBapst <bapstroman@gmail.com> Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
240 lines
11 KiB
C++
240 lines
11 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2022 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 VTOL_att_control_main.cpp
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* Implementation of an attitude controller for VTOL airframes. This module receives data
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* from both the fixed wing- and the multicopter attitude controllers and processes it.
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* It computes the correct actuator controls depending on which mode the vehicle is in (hover,forward-
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* flight or transition). It also publishes the resulting controls on the actuator controls topics.
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*
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* @author Roman Bapst <bapstr@ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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* @author David Vorsin <davidvorsin@gmail.com>
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* @author Sander Smeets <sander@droneslab.com>
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* @author Andreas Antener <andreas@uaventure.com>
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*
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*/
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#pragma once
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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/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/action_request.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/airspeed_validated.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/vehicle_air_data.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/tecs_status.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_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_land_detected.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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#include <uORB/topics/vtol_vehicle_status.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_thrust_setpoint.h>
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#include <uORB/topics/vehicle_torque_setpoint.h>
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#include "standard.h"
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#include "tailsitter.h"
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#include "tiltrotor.h"
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using namespace time_literals;
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extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]);
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static constexpr float kMaxVTOLAttitudeControlTimeStep = 0.1f; // max time step [s]
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class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public ModuleParams, public px4::WorkItem
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{
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public:
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VtolAttitudeControl();
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~VtolAttitudeControl() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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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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bool is_fixed_wing_requested() { return _transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW; };
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void quadchute(QuadchuteReason reason);
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int get_transition_command() {return _transition_command;}
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bool get_immediate_transition() {return _immediate_transition;}
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void reset_immediate_transition() {_immediate_transition = false;}
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float getAirDensity() const { return _air_density; }
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struct actuator_controls_s *get_actuators_fw_in() {return &_actuators_fw_in;}
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struct actuator_controls_s *get_actuators_mc_in() {return &_actuators_mc_in;}
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struct actuator_controls_s *get_actuators_out0() {return &_actuators_out_0;}
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struct actuator_controls_s *get_actuators_out1() {return &_actuators_out_1;}
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struct airspeed_validated_s *get_airspeed() {return &_airspeed_validated;}
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struct position_setpoint_triplet_s *get_pos_sp_triplet() {return &_pos_sp_triplet;}
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struct tecs_status_s *get_tecs_status() {return &_tecs_status;}
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struct vehicle_attitude_s *get_att() {return &_vehicle_attitude;}
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struct vehicle_attitude_setpoint_s *get_att_sp() {return &_vehicle_attitude_sp;}
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struct vehicle_attitude_setpoint_s *get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
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struct vehicle_attitude_setpoint_s *get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
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struct vehicle_control_mode_s *get_control_mode() {return &_vehicle_control_mode;}
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struct vehicle_land_detected_s *get_land_detected() {return &_land_detected;}
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struct vehicle_local_position_s *get_local_pos() {return &_local_pos;}
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struct vehicle_local_position_setpoint_s *get_local_pos_sp() {return &_local_pos_sp;}
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struct vehicle_torque_setpoint_s *get_torque_setpoint_0() {return &_torque_setpoint_0;}
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struct vehicle_torque_setpoint_s *get_torque_setpoint_1() {return &_torque_setpoint_1;}
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struct vehicle_thrust_setpoint_s *get_thrust_setpoint_0() {return &_thrust_setpoint_0;}
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struct vehicle_thrust_setpoint_s *get_thrust_setpoint_1() {return &_thrust_setpoint_1;}
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struct vtol_vehicle_status_s *get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
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float get_home_position_z() { return _home_position_z; }
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private:
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void Run() override;
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uORB::SubscriptionCallbackWorkItem _actuator_inputs_fw{this, ORB_ID(actuator_controls_virtual_fw)};
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uORB::SubscriptionCallbackWorkItem _actuator_inputs_mc{this, ORB_ID(actuator_controls_virtual_mc)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _action_request_sub{ORB_ID(action_request)};
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uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
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uORB::Subscription _fw_virtual_att_sp_sub{ORB_ID(fw_virtual_attitude_setpoint)};
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uORB::Subscription _home_position_sub{ORB_ID(home_position)};
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uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
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uORB::Subscription _local_pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};
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uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
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uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
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uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
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uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
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uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::Publication<actuator_controls_s> _actuator_controls_0_pub{ORB_ID(actuator_controls_0)}; //input for the mixer (roll,pitch,yaw,thrust)
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uORB::Publication<actuator_controls_s> _actuator_controls_1_pub{ORB_ID(actuator_controls_1)};
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uORB::Publication<vehicle_attitude_setpoint_s> _vehicle_attitude_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
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uORB::PublicationMulti<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint0_pub{ORB_ID(vehicle_thrust_setpoint)};
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uORB::PublicationMulti<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint1_pub{ORB_ID(vehicle_thrust_setpoint)};
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uORB::PublicationMulti<vehicle_torque_setpoint_s> _vehicle_torque_setpoint0_pub{ORB_ID(vehicle_torque_setpoint)};
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uORB::PublicationMulti<vehicle_torque_setpoint_s> _vehicle_torque_setpoint1_pub{ORB_ID(vehicle_torque_setpoint)};
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uORB::Publication<vtol_vehicle_status_s> _vtol_vehicle_status_pub{ORB_ID(vtol_vehicle_status)};
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orb_advert_t _mavlink_log_pub{nullptr}; // mavlink log uORB handle
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vehicle_attitude_setpoint_s _vehicle_attitude_sp{}; // vehicle attitude setpoint
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vehicle_attitude_setpoint_s _fw_virtual_att_sp{}; // virtual fw attitude setpoint
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vehicle_attitude_setpoint_s _mc_virtual_att_sp{}; // virtual mc attitude setpoint
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actuator_controls_s _actuators_fw_in{}; //actuator controls from fw_att_control
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actuator_controls_s _actuators_mc_in{}; //actuator controls from mc_att_control
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actuator_controls_s _actuators_out_0{}; //actuator controls going to the mc mixer
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actuator_controls_s _actuators_out_1{}; //actuator controls going to the fw mixer (used for elevons)
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vehicle_torque_setpoint_s _torque_setpoint_0{};
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vehicle_torque_setpoint_s _torque_setpoint_1{};
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vehicle_thrust_setpoint_s _thrust_setpoint_0{};
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vehicle_thrust_setpoint_s _thrust_setpoint_1{};
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airspeed_validated_s _airspeed_validated{};
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position_setpoint_triplet_s _pos_sp_triplet{};
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tecs_status_s _tecs_status{};
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vehicle_attitude_s _vehicle_attitude{};
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vehicle_control_mode_s _vehicle_control_mode{};
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vehicle_land_detected_s _land_detected{};
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vehicle_local_position_s _local_pos{};
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vehicle_local_position_setpoint_s _local_pos_sp{};
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vehicle_status_s _vehicle_status{};
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vtol_vehicle_status_s _vtol_vehicle_status{};
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float _home_position_z{NAN};
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float _air_density{CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C}; // [kg/m^3]
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hrt_abstime _last_run_timestamp{0};
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/* For multicopters it is usual to have a non-zero idle speed of the engines
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* for fixed wings we want to have an idle speed of zero since we do not want
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* to waste energy when gliding. */
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int _transition_command{vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC};
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bool _immediate_transition{false};
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uint8_t _nav_state_prev;
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VtolType *_vtol_type{nullptr}; // base class for different vtol types
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bool _initialized{false};
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perf_counter_t _loop_perf; // loop performance counter
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void vehicle_status_poll();
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void action_request_poll();
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void vehicle_cmd_poll();
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void parameters_update();
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::VT_TYPE>) _param_vt_type
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)
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};
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