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135 lines
4.4 KiB
C++
135 lines
4.4 KiB
C++
#ifndef MC_ATT_CONTROL_BASE_H_
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#define MC_ATT_CONTROL_BASE_H_
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/* Copyright (c) 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_base.h
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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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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <errno.h>
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#include <math.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/actuator_armed.h>
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#include <systemlib/err.h>
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#include <systemlib/perf_counter.h>
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#include <lib/mathlib/mathlib.h>
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#define YAW_DEADZONE 0.05f
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#define MIN_TAKEOFF_THRUST 0.2f
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#define RATES_I_LIMIT 0.3f
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class MulticopterAttitudeControlBase
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{
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public:
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/**
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* Constructor
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*/
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MulticopterAttitudeControlBase();
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/**
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* Destructor
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*/
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~MulticopterAttitudeControlBase();
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/**
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* Start the sensors task.
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*
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* @return OK on success.
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*/
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void control_attitude(float dt);
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void control_attitude_rates(float dt);
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void set_actuator_controls();
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protected:
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struct vehicle_attitude_s _v_att; /**< vehicle attitude */
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struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
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struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
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struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
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struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
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struct actuator_controls_s _actuators; /**< actuator controls */
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struct actuator_armed_s _armed; /**< actuator arming status */
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math::Vector<3> _rates_prev; /**< angular rates on previous step */
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math::Vector<3> _rates_sp; /**< angular rates setpoint */
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math::Vector<3> _rates_int; /**< angular rates integral error */
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float _thrust_sp; /**< thrust setpoint */
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math::Vector<3> _att_control; /**< attitude control vector */
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math::Matrix<3, 3> _I; /**< identity matrix */
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bool _reset_yaw_sp; /**< reset yaw setpoint flag */
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struct {
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math::Vector<3> att_p; /**< P gain for angular error */
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math::Vector<3> rate_p; /**< P gain for angular rate error */
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math::Vector<3> rate_i; /**< I gain for angular rate error */
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math::Vector<3> rate_d; /**< D gain for angular rate error */
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float yaw_ff; /**< yaw control feed-forward */
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float yaw_rate_max; /**< max yaw rate */
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float man_roll_max;
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float man_pitch_max;
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float man_yaw_max;
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math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
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} _params;
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bool _publish_att_sp;
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virtual void vehicle_attitude_setpoint_poll() = 0;
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};
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#endif /* MC_ATT_CONTROL_BASE_H_ */
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