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PX4-Autopilot/src/modules/fw_att_control/FixedwingAttitudeControl.cpp

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/****************************************************************************
*
* Copyright (c) 2013-2019 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.
*
****************************************************************************/
#include "FixedwingAttitudeControl.hpp"
#include <vtol_att_control/vtol_type.h>
using namespace time_literals;
using math::constrain;
using math::gradual;
using math::radians;
FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
_actuators_0_pub(vtol ? ORB_ID(actuator_controls_virtual_fw) : ORB_ID(actuator_controls_0)),
_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
// check if VTOL first
if (vtol) {
int32_t vt_type = -1;
if (param_get(param_find("VT_TYPE"), &vt_type) == PX4_OK) {
_is_tailsitter = (static_cast<vtol_type>(vt_type) == vtol_type::TAILSITTER);
}
}
/* fetch initial parameter values */
parameters_update();
// set initial maximum body rate setpoints
_roll_ctrl.set_max_rate(radians(_param_fw_acro_x_max.get()));
_pitch_ctrl.set_max_rate_pos(radians(_param_fw_acro_y_max.get()));
_pitch_ctrl.set_max_rate_neg(radians(_param_fw_acro_y_max.get()));
_yaw_ctrl.set_max_rate(radians(_param_fw_acro_z_max.get()));
}
FixedwingAttitudeControl::~FixedwingAttitudeControl()
{
perf_free(_loop_perf);
}
bool
FixedwingAttitudeControl::init()
{
if (!_att_sub.registerCallback()) {
PX4_ERR("vehicle attitude callback registration failed!");
return false;
}
return true;
}
int
FixedwingAttitudeControl::parameters_update()
{
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_param_fw_p_tc.get());
_pitch_ctrl.set_k_p(_param_fw_pr_p.get());
_pitch_ctrl.set_k_i(_param_fw_pr_i.get());
_pitch_ctrl.set_k_ff(_param_fw_pr_ff.get());
_pitch_ctrl.set_integrator_max(_param_fw_pr_imax.get());
/* roll control parameters */
_roll_ctrl.set_time_constant(_param_fw_r_tc.get());
_roll_ctrl.set_k_p(_param_fw_rr_p.get());
_roll_ctrl.set_k_i(_param_fw_rr_i.get());
_roll_ctrl.set_k_ff(_param_fw_rr_ff.get());
_roll_ctrl.set_integrator_max(_param_fw_rr_imax.get());
/* yaw control parameters */
_yaw_ctrl.set_k_p(_param_fw_yr_p.get());
_yaw_ctrl.set_k_i(_param_fw_yr_i.get());
_yaw_ctrl.set_k_ff(_param_fw_yr_ff.get());
_yaw_ctrl.set_integrator_max(_param_fw_yr_imax.get());
/* wheel control parameters */
_wheel_ctrl.set_k_p(_param_fw_wr_p.get());
_wheel_ctrl.set_k_i(_param_fw_wr_i.get());
_wheel_ctrl.set_k_ff(_param_fw_wr_ff.get());
_wheel_ctrl.set_integrator_max(_param_fw_wr_imax.get());
_wheel_ctrl.set_max_rate(radians(_param_fw_w_rmax.get()));
return PX4_OK;
}
void
FixedwingAttitudeControl::vehicle_control_mode_poll()
{
_vcontrol_mode_sub.update(&_vcontrol_mode);
if (_vehicle_status.is_vtol) {
const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode;
const bool is_tailsitter_transition = _vehicle_status.in_transition_mode && _is_tailsitter;
if (is_hovering || is_tailsitter_transition) {
_vcontrol_mode.flag_control_attitude_enabled = false;
_vcontrol_mode.flag_control_manual_enabled = false;
}
}
}
void
FixedwingAttitudeControl::vehicle_manual_poll()
{
const bool is_tailsitter_transition = _is_tailsitter && _vehicle_status.in_transition_mode;
const bool is_fixed_wing = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
if (_vcontrol_mode.flag_control_manual_enabled && (!is_tailsitter_transition || is_fixed_wing)) {
// Always copy the new manual setpoint, even if it wasn't updated, to fill the _actuators with valid values
if (_manual_sub.copy(&_manual)) {
// Check if we are in rattitude mode and the pilot is above the threshold on pitch
if (_vcontrol_mode.flag_control_rattitude_enabled) {
if (fabsf(_manual.y) > _param_fw_ratt_th.get() || fabsf(_manual.x) > _param_fw_ratt_th.get()) {
_vcontrol_mode.flag_control_attitude_enabled = false;
}
}
if (!_vcontrol_mode.flag_control_climb_rate_enabled &&
!_vcontrol_mode.flag_control_offboard_enabled) {
if (_vcontrol_mode.flag_control_attitude_enabled) {
// STABILIZED mode generate the attitude setpoint from manual user inputs
_att_sp.roll_body = _manual.y * radians(_param_fw_man_r_max.get()) + radians(_param_fw_rsp_off.get());
_att_sp.roll_body = constrain(_att_sp.roll_body,
-radians(_param_fw_man_r_max.get()), radians(_param_fw_man_r_max.get()));
_att_sp.pitch_body = -_manual.x * radians(_param_fw_man_p_max.get()) + radians(_param_fw_psp_off.get());
_att_sp.pitch_body = constrain(_att_sp.pitch_body,
-radians(_param_fw_man_p_max.get()), radians(_param_fw_man_p_max.get()));
_att_sp.yaw_body = 0.0f;
_att_sp.thrust_body[0] = _manual.z;
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
q.copyTo(_att_sp.q_d);
_att_sp.timestamp = hrt_absolute_time();
_attitude_sp_pub.publish(_att_sp);
} else if (_vcontrol_mode.flag_control_rates_enabled &&
!_vcontrol_mode.flag_control_attitude_enabled) {
// RATE mode we need to generate the rate setpoint from manual user inputs
_rates_sp.timestamp = hrt_absolute_time();
_rates_sp.roll = _manual.y * radians(_param_fw_acro_x_max.get());
_rates_sp.pitch = -_manual.x * radians(_param_fw_acro_y_max.get());
_rates_sp.yaw = _manual.r * radians(_param_fw_acro_z_max.get());
_rates_sp.thrust_body[0] = _manual.z;
_rate_sp_pub.publish(_rates_sp);
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _param_fw_man_r_sc.get() + _param_trim_roll.get();
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _param_fw_man_p_sc.get() + _param_trim_pitch.get();
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r * _param_fw_man_y_sc.get() + _param_trim_yaw.get();
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
}
}
}
}
void
FixedwingAttitudeControl::vehicle_attitude_setpoint_poll()
{
if (_att_sp_sub.update(&_att_sp)) {
_rates_sp.thrust_body[0] = _att_sp.thrust_body[0];
_rates_sp.thrust_body[1] = _att_sp.thrust_body[1];
_rates_sp.thrust_body[2] = _att_sp.thrust_body[2];
}
}
void
FixedwingAttitudeControl::vehicle_rates_setpoint_poll()
{
if (_rates_sp_sub.update(&_rates_sp)) {
if (_is_tailsitter) {
float tmp = _rates_sp.roll;
_rates_sp.roll = -_rates_sp.yaw;
_rates_sp.yaw = tmp;
}
}
}
void
FixedwingAttitudeControl::vehicle_land_detected_poll()
{
if (_vehicle_land_detected_sub.updated()) {
vehicle_land_detected_s vehicle_land_detected {};
if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
_landed = vehicle_land_detected.landed;
}
}
}
float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
{
_airspeed_validated_sub.update();
const bool airspeed_valid = PX4_ISFINITE(_airspeed_validated_sub.get().indicated_airspeed_m_s)
&& (hrt_elapsed_time(&_airspeed_validated_sub.get().timestamp) < 1_s);
// if no airspeed measurement is available out best guess is to use the trim airspeed
float airspeed = _param_fw_airspd_trim.get();
if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _airspeed_validated_sub.get().indicated_airspeed_m_s);
} else {
// VTOL: if we have no airspeed available and we are in hover mode then assume the lowest airspeed possible
// this assumption is good as long as the vehicle is not hovering in a headwind which is much larger
// than the minimum airspeed
if (_vehicle_status.is_vtol && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode) {
airspeed = _param_fw_airspd_min.get();
}
}
/*
* For scaling our actuators using anything less than the min (close to stall)
* speed doesn't make any sense - its the strongest reasonable deflection we
* want to do in flight and its the baseline a human pilot would choose.
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
const float airspeed_constrained = constrain(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_max.get());
_airspeed_scaling = _param_fw_airspd_trim.get() / airspeed_constrained;
return airspeed;
}
void FixedwingAttitudeControl::Run()
{
if (should_exit()) {
_att_sub.unregisterCallback();
exit_and_cleanup();
return;
}
perf_begin(_loop_perf);
if (_att_sub.update(&_att)) {
// only update parameters if they changed
bool params_updated = _parameter_update_sub.updated();
// check for parameter updates
if (params_updated) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
updateParams();
parameters_update();
}
/* only run controller if attitude changed */
static uint64_t last_run = 0;
float deltaT = constrain((hrt_elapsed_time(&last_run) / 1e6f), 0.01f, 0.1f);
last_run = hrt_absolute_time();
/* get current rotation matrix and euler angles from control state quaternions */
matrix::Dcmf R = matrix::Quatf(_att.q);
vehicle_angular_velocity_s angular_velocity{};
_vehicle_rates_sub.copy(&angular_velocity);
float rollspeed = angular_velocity.xyz[0];
float pitchspeed = angular_velocity.xyz[1];
float yawspeed = angular_velocity.xyz[2];
if (_is_tailsitter) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.
* Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
* the pitch axis compared to the neutral position of the vehicle in multicopter mode
* we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix.
* Additionally, in order to get the correct sign of the pitch, we need to multiply
* the new x axis of the rotation matrix with -1
*
* original: modified:
*
* Rxx Ryx Rzx -Rzx Ryx Rxx
* Rxy Ryy Rzy -Rzy Ryy Rxy
* Rxz Ryz Rzz -Rzz Ryz Rxz
* */
matrix::Dcmf R_adapted = R; //modified rotation matrix
/* move z to x */
R_adapted(0, 0) = R(0, 2);
R_adapted(1, 0) = R(1, 2);
R_adapted(2, 0) = R(2, 2);
/* move x to z */
R_adapted(0, 2) = R(0, 0);
R_adapted(1, 2) = R(1, 0);
R_adapted(2, 2) = R(2, 0);
/* change direction of pitch (convert to right handed system) */
R_adapted(0, 0) = -R_adapted(0, 0);
R_adapted(1, 0) = -R_adapted(1, 0);
R_adapted(2, 0) = -R_adapted(2, 0);
/* fill in new attitude data */
R = R_adapted;
/* lastly, roll- and yawspeed have to be swaped */
float helper = rollspeed;
rollspeed = -yawspeed;
yawspeed = helper;
}
const matrix::Eulerf euler_angles(R);
vehicle_attitude_setpoint_poll();
// vehicle status update must be before the vehicle_control_mode_poll(), otherwise rate sp are not published during whole transition
_vehicle_status_sub.update(&_vehicle_status);
vehicle_control_mode_poll();
vehicle_manual_poll();
_global_pos_sub.update(&_global_pos);
vehicle_land_detected_poll();
// the position controller will not emit attitude setpoints in some modes
// we need to make sure that this flag is reset
_att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled;
/* lock integrator until control is started */
bool lock_integrator = !_vcontrol_mode.flag_control_rates_enabled
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && ! _vehicle_status.in_transition_mode);
/* Simple handling of failsafe: deploy parachute if failsafe is on */
if (_vcontrol_mode.flag_control_termination_enabled) {
_actuators_airframe.control[7] = 1.0f;
} else {
_actuators_airframe.control[7] = 0.0f;
}
/* if we are in rotary wing mode, do nothing */
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.is_vtol) {
perf_end(_loop_perf);
return;
}
control_flaps(deltaT);
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_rates_enabled) {
const float airspeed = get_airspeed_and_update_scaling();
/* Use min airspeed to calculate ground speed scaling region.
* Don't scale below gspd_scaling_trim
*/
float groundspeed = sqrtf(_global_pos.vel_n * _global_pos.vel_n +
_global_pos.vel_e * _global_pos.vel_e);
float gspd_scaling_trim = (_param_fw_airspd_min.get() * 0.6f);
float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed);
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
}
if (_att_sp.pitch_reset_integral) {
_pitch_ctrl.reset_integrator();
}
if (_att_sp.yaw_reset_integral) {
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
/* Reset integrators if the aircraft is on ground
* or a multicopter (but not transitioning VTOL)
*/
if (_landed
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode)) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
/* Prepare data for attitude controllers */
struct ECL_ControlData control_input = {};
control_input.roll = euler_angles.phi();
control_input.pitch = euler_angles.theta();
control_input.yaw = euler_angles.psi();
control_input.body_x_rate = rollspeed;
control_input.body_y_rate = pitchspeed;
control_input.body_z_rate = yawspeed;
control_input.roll_setpoint = _att_sp.roll_body;
control_input.pitch_setpoint = _att_sp.pitch_body;
control_input.yaw_setpoint = _att_sp.yaw_body;
control_input.airspeed_min = _param_fw_airspd_min.get();
control_input.airspeed_max = _param_fw_airspd_max.get();
control_input.airspeed = airspeed;
control_input.scaler = _airspeed_scaling;
control_input.lock_integrator = lock_integrator;
control_input.groundspeed = groundspeed;
control_input.groundspeed_scaler = groundspeed_scaler;
/* reset body angular rate limits on mode change */
if ((_vcontrol_mode.flag_control_attitude_enabled != _flag_control_attitude_enabled_last) || params_updated) {
if (_vcontrol_mode.flag_control_attitude_enabled
|| _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_roll_ctrl.set_max_rate(radians(_param_fw_r_rmax.get()));
_pitch_ctrl.set_max_rate_pos(radians(_param_fw_p_rmax_pos.get()));
_pitch_ctrl.set_max_rate_neg(radians(_param_fw_p_rmax_neg.get()));
_yaw_ctrl.set_max_rate(radians(_param_fw_y_rmax.get()));
} else {
_roll_ctrl.set_max_rate(radians(_param_fw_acro_x_max.get()));
_pitch_ctrl.set_max_rate_pos(radians(_param_fw_acro_y_max.get()));
_pitch_ctrl.set_max_rate_neg(radians(_param_fw_acro_y_max.get()));
_yaw_ctrl.set_max_rate(radians(_param_fw_acro_z_max.get()));
}
}
_flag_control_attitude_enabled_last = _vcontrol_mode.flag_control_attitude_enabled;
/* bi-linear interpolation over airspeed for actuator trim scheduling */
float trim_roll = _param_trim_roll.get();
float trim_pitch = _param_trim_pitch.get();
float trim_yaw = _param_trim_yaw.get();
if (airspeed < _param_fw_airspd_trim.get()) {
trim_roll += gradual(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), _param_fw_dtrim_r_vmin.get(),
0.0f);
trim_pitch += gradual(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), _param_fw_dtrim_p_vmin.get(),
0.0f);
trim_yaw += gradual(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), _param_fw_dtrim_y_vmin.get(),
0.0f);
} else {
trim_roll += gradual(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
_param_fw_dtrim_r_vmax.get());
trim_pitch += gradual(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
_param_fw_dtrim_p_vmax.get());
trim_yaw += gradual(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
_param_fw_dtrim_y_vmax.get());
}
/* add trim increment if flaps are deployed */
trim_roll += _flaps_applied * _param_fw_dtrim_r_flps.get();
trim_pitch += _flaps_applied * _param_fw_dtrim_p_flps.get();
/* Run attitude controllers */
if (_vcontrol_mode.flag_control_attitude_enabled) {
if (PX4_ISFINITE(_att_sp.roll_body) && PX4_ISFINITE(_att_sp.pitch_body)) {
_roll_ctrl.control_attitude(control_input);
_pitch_ctrl.control_attitude(control_input);
_yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude
_wheel_ctrl.control_attitude(control_input);
/* Update input data for rate controllers */
control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate();
control_input.pitch_rate_setpoint = _pitch_ctrl.get_desired_rate();
control_input.yaw_rate_setpoint = _yaw_ctrl.get_desired_rate();
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
float roll_u = _roll_ctrl.control_euler_rate(control_input);
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + trim_roll : trim_roll;
if (!PX4_ISFINITE(roll_u)) {
_roll_ctrl.reset_integrator();
}
float pitch_u = _pitch_ctrl.control_euler_rate(control_input);
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + trim_pitch : trim_pitch;
if (!PX4_ISFINITE(pitch_u)) {
_pitch_ctrl.reset_integrator();
}
float yaw_u = 0.0f;
if (_param_fw_w_en.get() && _att_sp.fw_control_yaw) {
yaw_u = _wheel_ctrl.control_bodyrate(control_input);
} else {
yaw_u = _yaw_ctrl.control_euler_rate(control_input);
}
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + trim_yaw : trim_yaw;
/* add in manual rudder control in manual modes */
if (_vcontrol_mode.flag_control_manual_enabled) {
_actuators.control[actuator_controls_s::INDEX_YAW] += _manual.r;
}
if (!PX4_ISFINITE(yaw_u)) {
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
/* throttle passed through if it is finite and if no engine failure was detected */
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(_att_sp.thrust_body[0])
&& !_vehicle_status.engine_failure) ? _att_sp.thrust_body[0] : 0.0f;
/* scale effort by battery status */
if (_param_fw_bat_scale_en.get() &&
_actuators.control[actuator_controls_s::INDEX_THROTTLE] > 0.1f) {
if (_battery_status_sub.updated()) {
battery_status_s battery_status{};
if (_battery_status_sub.copy(&battery_status)) {
if (battery_status.scale > 0.0f) {
_battery_scale = battery_status.scale;
}
}
}
_actuators.control[actuator_controls_s::INDEX_THROTTLE] *= _battery_scale;
}
}
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
*/
_rates_sp.roll = _roll_ctrl.get_desired_bodyrate();
_rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate();
_rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate();
_rates_sp.timestamp = hrt_absolute_time();
_rate_sp_pub.publish(_rates_sp);
} else {
vehicle_rates_setpoint_poll();
_roll_ctrl.set_bodyrate_setpoint(_rates_sp.roll);
_yaw_ctrl.set_bodyrate_setpoint(_rates_sp.yaw);
_pitch_ctrl.set_bodyrate_setpoint(_rates_sp.pitch);
float roll_u = _roll_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + trim_roll : trim_roll;
float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + trim_pitch : trim_pitch;
float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + trim_yaw : trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(_rates_sp.thrust_body[0]) ?
_rates_sp.thrust_body[0] : 0.0f;
}
rate_ctrl_status_s rate_ctrl_status;
rate_ctrl_status.timestamp = hrt_absolute_time();
rate_ctrl_status.rollspeed_integ = _roll_ctrl.get_integrator();
rate_ctrl_status.pitchspeed_integ = _pitch_ctrl.get_integrator();
rate_ctrl_status.yawspeed_integ = _yaw_ctrl.get_integrator();
rate_ctrl_status.additional_integ1 = _wheel_ctrl.get_integrator();
_rate_ctrl_status_pub.publish(rate_ctrl_status);
}
// Add feed-forward from roll control output to yaw control output
// This can be used to counteract the adverse yaw effect when rolling the plane
_actuators.control[actuator_controls_s::INDEX_YAW] += _param_fw_rll_to_yaw_ff.get()
* constrain(_actuators.control[actuator_controls_s::INDEX_ROLL], -1.0f, 1.0f);
_actuators.control[actuator_controls_s::INDEX_FLAPS] = _flaps_applied;
_actuators.control[5] = _manual.aux1;
_actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = _flaperons_applied;
// FIXME: this should use _vcontrol_mode.landing_gear_pos in the future
_actuators.control[7] = _manual.aux3;
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _att.timestamp;
_actuators_airframe.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp_sample = _att.timestamp;
/* Only publish if any of the proper modes are enabled */
if (_vcontrol_mode.flag_control_rates_enabled ||
_vcontrol_mode.flag_control_attitude_enabled ||
_vcontrol_mode.flag_control_manual_enabled) {
_actuators_0_pub.publish(_actuators);
_actuators_2_pub.publish(_actuators_airframe);
}
}
perf_end(_loop_perf);
}
void FixedwingAttitudeControl::control_flaps(const float dt)
{
/* default flaps to center */
float flap_control = 0.0f;
/* map flaps by default to manual if valid */
if (PX4_ISFINITE(_manual.flaps) && _vcontrol_mode.flag_control_manual_enabled
&& fabsf(_param_fw_flaps_scl.get()) > 0.01f) {
flap_control = 0.5f * (_manual.flaps + 1.0f) * _param_fw_flaps_scl.get();
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_param_fw_flaps_scl.get()) > 0.01f) {
switch (_att_sp.apply_flaps) {
case vehicle_attitude_setpoint_s::FLAPS_OFF:
flap_control = 0.0f; // no flaps
break;
case vehicle_attitude_setpoint_s::FLAPS_LAND:
flap_control = 1.0f * _param_fw_flaps_scl.get() * _param_fw_flaps_lnd_scl.get();
break;
case vehicle_attitude_setpoint_s::FLAPS_TAKEOFF:
flap_control = 1.0f * _param_fw_flaps_scl.get() * _param_fw_flaps_to_scl.get();
break;
}
}
// move the actual control value continuous with time, full flap travel in 1sec
if (fabsf(_flaps_applied - flap_control) > 0.01f) {
_flaps_applied += (_flaps_applied - flap_control) < 0 ? dt : -dt;
} else {
_flaps_applied = flap_control;
}
/* default flaperon to center */
float flaperon_control = 0.0f;
/* map flaperons by default to manual if valid */
if (PX4_ISFINITE(_manual.aux2) && _vcontrol_mode.flag_control_manual_enabled
&& fabsf(_param_fw_flaperon_scl.get()) > 0.01f) {
flaperon_control = 0.5f * (_manual.aux2 + 1.0f) * _param_fw_flaperon_scl.get();
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_param_fw_flaperon_scl.get()) > 0.01f) {
if (_att_sp.apply_flaps == vehicle_attitude_setpoint_s::FLAPS_LAND) {
flaperon_control = _param_fw_flaperon_scl.get();
} else {
flaperon_control = 0.0f;
}
}
// move the actual control value continuous with time, full flap travel in 1sec
if (fabsf(_flaperons_applied - flaperon_control) > 0.01f) {
_flaperons_applied += (_flaperons_applied - flaperon_control) < 0 ? dt : -dt;
} else {
_flaperons_applied = flaperon_control;
}
}
int FixedwingAttitudeControl::task_spawn(int argc, char *argv[])
{
bool vtol = false;
if (argc > 1) {
if (strcmp(argv[1], "vtol") == 0) {
vtol = true;
}
}
FixedwingAttitudeControl *instance = new FixedwingAttitudeControl(vtol);
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
if (instance->init()) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
_object.store(nullptr);
_task_id = -1;
return PX4_ERROR;
}
int FixedwingAttitudeControl::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int FixedwingAttitudeControl::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
fw_att_control is the fixed wing attitude controller.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("fw_att_control", "controller");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_ARG("vtol", "VTOL mode", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[])
{
return FixedwingAttitudeControl::main(argc, argv);
}
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