mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
f8e0441e7b
Script to update include paths: for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
304 lines
10 KiB
C++
304 lines
10 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2019 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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#include <px4_module.h>
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#include <drivers/drv_hrt.h>
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#include <ecl/attitude_fw/ecl_pitch_controller.h>
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#include <ecl/attitude_fw/ecl_roll_controller.h>
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#include <ecl/attitude_fw/ecl_wheel_controller.h>
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#include <ecl/attitude_fw/ecl_yaw_controller.h>
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#include <lib/ecl/geo/geo.h>
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#include <mathlib/mathlib.h>
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#include <matrix/math.hpp>
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_posix.h>
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#include <px4_tasks.h>
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#include <parameters/param.h>
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#include <perf/perf_counter.h>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/airspeed.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/rate_ctrl_status.h>
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#include <uORB/topics/vehicle_angular_velocity.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_global_position.h>
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#include <uORB/topics/vehicle_land_detected.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_status.h>
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using matrix::Eulerf;
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using matrix::Quatf;
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using uORB::SubscriptionData;
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class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public px4::WorkItem
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{
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public:
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FixedwingAttitudeControl();
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~FixedwingAttitudeControl() 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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/** @see ModuleBase::print_status() */
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int print_status() override;
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void Run() override;
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bool init();
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private:
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uORB::SubscriptionCallbackWorkItem _att_sub{this, ORB_ID(vehicle_attitude)}; /**< vehicle attitude */
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uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint */
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uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; /**< battery status subscription */
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uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)}; /**< global position subscription */
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uORB::Subscription _manual_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
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uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
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uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint */
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uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle status subscription */
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uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
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uORB::Subscription _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::SubscriptionData<airspeed_s> _airspeed_sub{ORB_ID(airspeed)};
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orb_advert_t _rate_sp_pub{nullptr}; /**< rate setpoint publication */
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orb_advert_t _attitude_sp_pub{nullptr}; /**< attitude setpoint point */
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orb_advert_t _actuators_0_pub{nullptr}; /**< actuator control group 0 setpoint */
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orb_advert_t _actuators_2_pub{nullptr}; /**< actuator control group 1 setpoint (Airframe) */
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orb_advert_t _rate_ctrl_status_pub{nullptr}; /**< rate controller status publication */
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orb_id_t _actuators_id{nullptr}; // pointer to correct actuator controls0 uORB metadata structure
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orb_id_t _attitude_setpoint_id{nullptr};
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actuator_controls_s _actuators {}; /**< actuator control inputs */
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actuator_controls_s _actuators_airframe {}; /**< actuator control inputs */
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manual_control_setpoint_s _manual {}; /**< r/c channel data */
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vehicle_attitude_s _att {}; /**< vehicle attitude setpoint */
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vehicle_attitude_setpoint_s _att_sp {}; /**< vehicle attitude setpoint */
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vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */
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vehicle_global_position_s _global_pos {}; /**< global position */
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vehicle_rates_setpoint_s _rates_sp {}; /* attitude rates setpoint */
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vehicle_status_s _vehicle_status {}; /**< vehicle status */
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perf_counter_t _loop_perf; /**< loop performance counter */
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perf_counter_t _loop_interval_perf; /**< loop interval performance counter */
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float _flaps_applied{0.0f};
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float _flaperons_applied{0.0f};
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float _airspeed_scaling{1.0f};
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bool _landed{true};
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float _battery_scale{1.0f};
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bool _flag_control_attitude_enabled_last{false};
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bool _is_tailsitter{false};
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struct {
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float p_tc;
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float p_p;
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float p_i;
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float p_ff;
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float p_rmax_pos;
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float p_rmax_neg;
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float p_integrator_max;
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float r_tc;
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float r_p;
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float r_i;
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float r_ff;
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float r_integrator_max;
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float r_rmax;
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float y_p;
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float y_i;
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float y_ff;
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float y_integrator_max;
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float roll_to_yaw_ff;
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float y_rmax;
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bool w_en;
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float w_p;
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float w_i;
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float w_ff;
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float w_integrator_max;
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float w_rmax;
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float airspeed_min;
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float airspeed_trim;
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float airspeed_max;
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float trim_roll;
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float trim_pitch;
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float trim_yaw;
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float dtrim_roll_vmin;
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float dtrim_pitch_vmin;
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float dtrim_yaw_vmin;
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float dtrim_roll_vmax;
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float dtrim_pitch_vmax;
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float dtrim_yaw_vmax;
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float dtrim_roll_flaps;
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float dtrim_pitch_flaps;
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float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
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float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
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float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
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float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
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float man_roll_max; /**< Max Roll in rad */
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float man_pitch_max; /**< Max Pitch in rad */
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float man_roll_scale; /**< scale factor applied to roll actuator control in pure manual mode */
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float man_pitch_scale; /**< scale factor applied to pitch actuator control in pure manual mode */
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float man_yaw_scale; /**< scale factor applied to yaw actuator control in pure manual mode */
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float acro_max_x_rate_rad;
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float acro_max_y_rate_rad;
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float acro_max_z_rate_rad;
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float flaps_scale; /**< Scale factor for flaps */
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float flaps_takeoff_scale; /**< Scale factor for flaps on take-off */
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float flaps_land_scale; /**< Scale factor for flaps on landing */
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float flaperon_scale; /**< Scale factor for flaperons */
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float rattitude_thres;
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int32_t bat_scale_en; /**< Battery scaling enabled */
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bool airspeed_disabled;
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} _parameters{}; /**< local copies of interesting parameters */
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struct {
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param_t p_tc;
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param_t p_p;
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param_t p_i;
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param_t p_ff;
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param_t p_rmax_pos;
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param_t p_rmax_neg;
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param_t p_integrator_max;
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param_t r_tc;
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param_t r_p;
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param_t r_i;
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param_t r_ff;
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param_t r_integrator_max;
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param_t r_rmax;
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param_t y_p;
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param_t y_i;
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param_t y_ff;
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param_t y_integrator_max;
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param_t roll_to_yaw_ff;
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param_t y_rmax;
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param_t w_en;
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param_t w_p;
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param_t w_i;
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param_t w_ff;
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param_t w_integrator_max;
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param_t w_rmax;
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param_t airspeed_min;
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param_t airspeed_trim;
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param_t airspeed_max;
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param_t trim_roll;
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param_t trim_pitch;
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param_t trim_yaw;
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param_t dtrim_roll_vmin;
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param_t dtrim_pitch_vmin;
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param_t dtrim_yaw_vmin;
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param_t dtrim_roll_vmax;
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param_t dtrim_pitch_vmax;
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param_t dtrim_yaw_vmax;
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param_t dtrim_roll_flaps;
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param_t dtrim_pitch_flaps;
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param_t rollsp_offset_deg;
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param_t pitchsp_offset_deg;
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param_t man_roll_max;
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param_t man_pitch_max;
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param_t man_roll_scale;
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param_t man_pitch_scale;
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param_t man_yaw_scale;
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param_t acro_max_x_rate;
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param_t acro_max_y_rate;
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param_t acro_max_z_rate;
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param_t flaps_scale;
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param_t flaps_takeoff_scale;
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param_t flaps_land_scale;
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param_t flaperon_scale;
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param_t rattitude_thres;
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param_t bat_scale_en;
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param_t airspeed_mode;
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} _parameter_handles{}; /**< handles for interesting parameters */
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ECL_RollController _roll_ctrl;
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ECL_PitchController _pitch_ctrl;
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ECL_YawController _yaw_ctrl;
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ECL_WheelController _wheel_ctrl;
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void control_flaps(const float dt);
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/**
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* Update our local parameter cache.
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*/
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int parameters_update();
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void vehicle_control_mode_poll();
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void vehicle_manual_poll();
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void vehicle_attitude_setpoint_poll();
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void vehicle_rates_setpoint_poll();
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void vehicle_status_poll();
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void vehicle_land_detected_poll();
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float get_airspeed_and_update_scaling();
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};
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