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Rover: Rewrote gnd_pos_control and removed gnd_att_control (#12239)

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This commit is contained in:
Timothy Scott
2019-07-11 15:39:13 +02:00
committed by Daniel Agar
parent 3743e6d8fb
commit 2ed00c9cb6
55 changed files with 297 additions and 1068 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/1060_rover
+4 -4
View File
@@ -19,10 +19,6 @@ then
param set GND_THR_IDLE 0
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set GND_WR_D 1.2
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_P 2
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
@@ -30,6 +26,10 @@ then
param set NAV_LOITER_RAD 2
param set CBRK_AIRSPD_CHK 162128
param set GND_MAX_ANG 0.6
param set GND_WHEEL_BASE 2.0
fi
set MAV_TYPE 10
ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
+12 -8
View File
@@ -15,7 +15,7 @@
# @board px4_fmu-v2 exclude
#
sh /etc/init.d/rc.ugv_defaults
sh /etc/init.d/rc.rover_defaults
if [ $AUTOCNF = yes ]
then
@@ -29,15 +29,19 @@ then
param set FW_AIRSPD_TRIM 1
param set FW_AIRSPD_MAX 3
param set GND_WR_P 1
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_D 0.1
param set GND_SP_CTRL_MODE 1
param set GND_L1_DIST 10
param set GND_L1_DIST 5.0
param set GND_L1_PERIOD 3.0
param set GND_THR_IDLE 0
param set GND_THR_CRUISE 0
param set GND_THR_CRUISE 0.7
param set GND_THR_MAX 0.5
# Because this is differential drive, it can make a turn with radius 0.
# This corresponds to a turn angle of pi radians.
# If a special case is made for differential-drive, this will need to change.
param set GND_MAX_ANG 3.142
param set GND_WHEEL_BASE 0.3
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
param set GND_THR_MIN 0.0
@@ -64,7 +68,7 @@ then
param set CBRK_AIRSPD_CHK 162128
fi
# Configure this as ugv
# Configure this as rover
set MAV_TYPE 10
# Set mixer
ROMFS/px4fmu_common/init.d/rc.rover_apps
+1 -2
View File
@@ -16,8 +16,7 @@ ekf2 start
#
# Start attitude controllers.
#
gnd_att_control start
gnd_pos_control start
rover_pos_control start
#
boards/aerotenna/ocpoc/ubuntu.cmake
+1 -2
View File
@@ -37,8 +37,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/airmind/mindpx-v2/default.cmake
+1 -2
View File
@@ -58,8 +58,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/atlflight/eagle/default.cmake
+1 -2
View File
@@ -72,8 +72,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/atlflight/eagle/qurt-default.cmake
+1 -2
View File
@@ -66,8 +66,7 @@ px4_add_board(
ekf2
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
local_position_estimator
boards/atlflight/excelsior/default.cmake
+1 -2
View File
@@ -72,8 +72,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/atlflight/excelsior/qurt-default.cmake
+1 -2
View File
@@ -66,8 +66,7 @@ px4_add_board(
ekf2
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
local_position_estimator
boards/auav/x21/default.cmake
+1 -2
View File
@@ -64,8 +64,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/av/x-v1/default.cmake
+1 -2
View File
@@ -65,8 +65,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/beaglebone/blue/cross.cmake
+1 -2
View File
@@ -36,8 +36,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/beaglebone/blue/native.cmake
+1 -2
View File
@@ -34,8 +34,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/bitcraze/crazyflie/default.cmake
+1 -2
View File
@@ -25,8 +25,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/emlid/navio2/cross.cmake
+1 -2
View File
@@ -40,8 +40,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/emlid/navio2/native.cmake
+1 -2
View File
@@ -38,8 +38,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/intel/aerofc-v1/default.cmake
+1 -2
View File
@@ -41,8 +41,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/intel/aerofc-v1/rtps.cmake
+1 -2
View File
@@ -44,8 +44,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/nxp/fmuk66-v3/default.cmake
+1 -2
View File
@@ -60,8 +60,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/omnibus/f4sd/default.cmake
+1 -2
View File
@@ -53,8 +53,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/parrot/bebop/default.cmake
+1 -2
View File
@@ -28,8 +28,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v2/default.cmake
+1 -2
View File
@@ -73,8 +73,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
#landing_target_estimator
load_mon
boards/px4/fmu-v2/lpe.cmake
+1 -2
View File
@@ -69,8 +69,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v2/rover.cmake
+1 -2
View File
@@ -42,8 +42,7 @@ px4_add_board(
dataman
ekf2
events
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
load_mon
logger
boards/px4/fmu-v2/test.cmake
+1 -2
View File
@@ -69,8 +69,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v3/default.cmake
+1 -2
View File
@@ -72,8 +72,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v3/rtps.cmake
+1 -2
View File
@@ -71,8 +71,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v3/stackcheck.cmake
+1 -2
View File
@@ -71,8 +71,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v4/default.cmake
+1 -2
View File
@@ -56,8 +56,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v4/rtps.cmake
+1 -2
View File
@@ -58,8 +58,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v4/stackcheck.cmake
+1 -2
View File
@@ -56,8 +56,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v4pro/default.cmake
+1 -2
View File
@@ -70,8 +70,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v4pro/rtps.cmake
+1 -2
View File
@@ -69,8 +69,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v5/default.cmake
+1 -2
View File
@@ -70,8 +70,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v5/rover.cmake
+1 -2
View File
@@ -53,8 +53,7 @@ px4_add_board(
dataman
ekf2
events
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
load_mon
logger
boards/px4/fmu-v5/rtps.cmake
+1 -2
View File
@@ -68,8 +68,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v5/stackcheck.cmake
+1 -2
View File
@@ -68,8 +68,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/fmu-v5x/default.cmake
+1 -2
View File
@@ -70,8 +70,6 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
land_detector
landing_target_estimator
load_mon
@@ -81,6 +79,7 @@ px4_add_board(
mc_att_control
mc_pos_control
navigator
rover_pos_control
sensors
sih
vmount
boards/px4/fmu-v5x/rover.cmake
+1 -2
View File
@@ -63,13 +63,12 @@ px4_add_board(
dataman
ekf2
events
gnd_att_control
gnd_pos_control
land_detector
load_mon
logger
mavlink
navigator
rover_pos_control
sensors
vmount
boards/px4/fmu-v5x/rtps.cmake
+1 -2
View File
@@ -70,8 +70,6 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
land_detector
landing_target_estimator
load_mon
@@ -82,6 +80,7 @@ px4_add_board(
mc_pos_control
micrortps_bridge
navigator
rover_pos_control
sensors
sih
vmount
boards/px4/fmu-v5x/stackcheck.cmake
+1 -2
View File
@@ -70,8 +70,6 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
land_detector
landing_target_estimator
load_mon
@@ -81,6 +79,7 @@ px4_add_board(
mc_att_control
mc_pos_control
navigator
rover_pos_control
sensors
sih
vmount
boards/px4/raspberrypi/cross.cmake
+1 -2
View File
@@ -33,8 +33,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/raspberrypi/native.cmake
+1 -2
View File
@@ -31,8 +31,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/sitl/default.cmake
+1 -2
View File
@@ -30,8 +30,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/sitl/rtps.cmake
+1 -2
View File
@@ -30,8 +30,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
boards/px4/sitl/test.cmake
+1 -2
View File
@@ -30,8 +30,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon
src/modules/gnd_att_control/CMakeLists.txt
-40
View File
@@ -1,40 +0,0 @@
############################################################################
#
# Copyright (c) 2017 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.
#
############################################################################
px4_add_module(
MODULE modules__gnd_att_control
MAIN gnd_att_control
STACK_MAIN 1200
COMPILE_FLAGS
SRCS
GroundRoverAttitudeControl.cpp
)
src/modules/gnd_att_control/GroundRoverAttitudeControl.cpp
-439
View File
@@ -1,439 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/**
*
* This module is a modification of the fixed wing module and it is designed for ground rovers.
* It has been developed starting from the fw module, simplified and improved with dedicated items.
*
* All the acknowledgments and credits for the fw wing app are reported in those files.
*
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
#include "GroundRoverAttitudeControl.hpp"
/**
* GroundRover attitude control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int gnd_att_control_main(int argc, char *argv[]);
namespace att_gnd_control
{
GroundRoverAttitudeControl *g_control = nullptr;
}
GroundRoverAttitudeControl::GroundRoverAttitudeControl() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "gnda_dt")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "gnda_nani")),
_nonfinite_output_perf(perf_alloc(PC_COUNT, "gnda_nano"))
{
_parameter_handles.w_p = param_find("GND_WR_P");
_parameter_handles.w_i = param_find("GND_WR_I");
_parameter_handles.w_d = param_find("GND_WR_D");
_parameter_handles.w_imax = param_find("GND_WR_IMAX");
_parameter_handles.trim_yaw = param_find("TRIM_YAW");
_parameter_handles.man_yaw_scale = param_find("GND_MAN_Y_SC");
_parameter_handles.bat_scale_en = param_find("GND_BAT_SCALE_EN");
/* fetch initial parameter values */
parameters_update();
}
GroundRoverAttitudeControl::~GroundRoverAttitudeControl()
{
if (_control_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
px4_task_delete(_control_task);
break;
}
} while (_control_task != -1);
}
perf_free(_loop_perf);
perf_free(_nonfinite_input_perf);
perf_free(_nonfinite_output_perf);
att_gnd_control::g_control = nullptr;
}
void
GroundRoverAttitudeControl::parameters_update()
{
param_get(_parameter_handles.w_p, &(_parameters.w_p));
param_get(_parameter_handles.w_i, &(_parameters.w_i));
param_get(_parameter_handles.w_d, &(_parameters.w_d));
param_get(_parameter_handles.w_imax, &(_parameters.w_imax));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.man_yaw_scale, &(_parameters.man_yaw_scale));
param_get(_parameter_handles.bat_scale_en, &_parameters.bat_scale_en);
/* Steering pid parameters*/
pid_init(&_steering_ctrl, PID_MODE_DERIVATIV_SET, 0.01f);
pid_set_parameters(&_steering_ctrl,
_parameters.w_p,
_parameters.w_i,
_parameters.w_d,
_parameters.w_imax,
1.0f);
}
void
GroundRoverAttitudeControl::vehicle_control_mode_poll()
{
bool updated = false;
orb_check(_vcontrol_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
}
}
void
GroundRoverAttitudeControl::manual_control_setpoint_poll()
{
bool updated = false;
orb_check(_manual_sub, &updated);
if (updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
}
}
void
GroundRoverAttitudeControl::vehicle_attitude_setpoint_poll()
{
bool updated = false;
orb_check(_att_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
}
}
void
GroundRoverAttitudeControl::battery_status_poll()
{
/* check if there is a new message */
bool updated;
orb_check(_battery_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(battery_status), _battery_status_sub, &_battery_status);
}
}
int
GroundRoverAttitudeControl::task_main_trampoline(int argc, char *argv[])
{
att_gnd_control::g_control->task_main();
return 0;
}
void
GroundRoverAttitudeControl::task_main()
{
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
parameters_update();
/* get an initial update for all sensor and status data */
vehicle_attitude_setpoint_poll();
vehicle_control_mode_poll();
manual_control_setpoint_poll();
battery_status_poll();
/* wakeup source */
px4_pollfd_struct_t fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _att_sub;
fds[1].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
PX4_ERR("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f ||
fabsf(deltaT) < 0.00001f ||
!PX4_ISFINITE(deltaT)) {
deltaT = 0.01f;
}
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
vehicle_attitude_setpoint_poll();
vehicle_control_mode_poll();
manual_control_setpoint_poll();
battery_status_poll();
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_rates_enabled) {
/* Run attitude controllers */
if (_vcontrol_mode.flag_control_attitude_enabled) {
Eulerf euler_angles(matrix::Quatf(_att.q));
/* Calculate the control output for the steering as yaw */
float yaw_u = pid_calculate(&_steering_ctrl, _att_sp.yaw_body, euler_angles.psi(), _att.yawspeed, deltaT);
float angle_diff = 0.0f;
if (_att_sp.yaw_body * euler_angles.psi() < 0.0f) {
if (_att_sp.yaw_body < 0.0f) {
angle_diff = euler_angles.psi() - _att_sp.yaw_body ;
} else {
angle_diff = _att_sp.yaw_body - euler_angles.psi();
}
// a switch might have happened
if ((double)angle_diff > M_PI) {
yaw_u = -yaw_u;
}
}
math::constrain(yaw_u, -1.0f, 1.0f);
if (PX4_ISFINITE(yaw_u)) {
_actuators.control[actuator_controls_s::INDEX_YAW] = yaw_u + _parameters.trim_yaw;
} else {
_actuators.control[actuator_controls_s::INDEX_YAW] = _parameters.trim_yaw;
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
PX4_INFO("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through if it is finite and if no engine failure was detected */
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _att_sp.thrust_body[0];
/* scale effort by battery status */
if (_parameters.bat_scale_en && _battery_status.scale > 0.0f &&
_actuators.control[actuator_controls_s::INDEX_THROTTLE] > 0.1f) {
_actuators.control[actuator_controls_s::INDEX_THROTTLE] *= _battery_status.scale;
}
}
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r * _parameters.man_yaw_scale + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _att.timestamp;
/* Only publish if any of the proper modes are enabled */
if (_vcontrol_mode.flag_control_attitude_enabled ||
_vcontrol_mode.flag_control_manual_enabled) {
/* publish the actuator controls */
if (_actuators_0_pub != nullptr) {
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _actuators_0_pub, &_actuators);
} else {
_actuators_0_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &_actuators);
}
}
}
loop_counter++;
perf_end(_loop_perf);
}
PX4_INFO("exiting.");
_control_task = -1;
_task_running = false;
}
int
GroundRoverAttitudeControl::start()
{
/* start the task */
_control_task = px4_task_spawn_cmd("gnd_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1500,
(px4_main_t)&GroundRoverAttitudeControl::task_main_trampoline,
nullptr);
if (_control_task < 0) {
PX4_ERR("task start failed");
return -errno;
}
return PX4_OK;
}
int gnd_att_control_main(int argc, char *argv[])
{
if (argc < 2) {
PX4_INFO("usage: gnd_att_control {start|stop|status}");
return 1;
}
if (!strcmp(argv[1], "start")) {
if (att_gnd_control::g_control != nullptr) {
PX4_WARN("already running");
return 1;
}
att_gnd_control::g_control = new GroundRoverAttitudeControl;
if (att_gnd_control::g_control == nullptr) {
PX4_ERR("alloc failed");
return 1;
}
if (PX4_OK != att_gnd_control::g_control->start()) {
delete att_gnd_control::g_control;
att_gnd_control::g_control = nullptr;
PX4_ERR("start failed");
return 1;
}
/* check if the waiting is necessary at all */
if (att_gnd_control::g_control == nullptr || !att_gnd_control::g_control->task_running()) {
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (att_gnd_control::g_control == nullptr || !att_gnd_control::g_control->task_running()) {
px4_usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
}
return 0;
}
if (!strcmp(argv[1], "stop")) {
if (att_gnd_control::g_control == nullptr) {
PX4_WARN("not running");
return 1;
}
delete att_gnd_control::g_control;
att_gnd_control::g_control = nullptr;
return 0;
}
if (!strcmp(argv[1], "status")) {
if (att_gnd_control::g_control) {
PX4_INFO("running");
return 0;
} else {
PX4_INFO("not running");
return 1;
}
}
PX4_WARN("unrecognized command");
return 1;
}
src/modules/gnd_att_control/GroundRoverAttitudeControl.hpp
-143
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@@ -1,143 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/**
*
* This module is a modification of the fixed wing module and it is designed for ground rovers.
* It has been developed starting from the fw module, simplified and improved with dedicated items.
*
* All the acknowledgments and credits for the fw wing app are reported in those files.
*
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <drivers/drv_hrt.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <parameters/param.h>
#include <pid/pid.h>
#include <perf/perf_counter.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/uORB.h>
using matrix::Eulerf;
using matrix::Quatf;
class GroundRoverAttitudeControl
{
public:
GroundRoverAttitudeControl();
~GroundRoverAttitudeControl();
int start();
bool task_running() { return _task_running; }
private:
bool _task_should_exit{false}; /**< if true, attitude control task should exit */
bool _task_running{false}; /**< if true, task is running in its mainloop */
int _control_task{-1}; /**< task handle */
int _att_sp_sub{-1}; /**< vehicle attitude setpoint */
int _battery_status_sub{-1}; /**< battery status subscription */
int _att_sub{-1}; /**< control state subscription */
int _manual_sub{-1}; /**< notification of manual control updates */
int _params_sub{-1}; /**< notification of parameter updates */
int _vcontrol_mode_sub{-1}; /**< vehicle status subscription */
orb_advert_t _actuators_0_pub{nullptr}; /**< actuator control group 0 setpoint */
actuator_controls_s _actuators {}; /**< actuator control inputs */
battery_status_s _battery_status {}; /**< battery status */
manual_control_setpoint_s _manual {}; /**< r/c channel data */
vehicle_attitude_s _att {}; /**< control state */
vehicle_attitude_setpoint_s _att_sp {}; /**< vehicle attitude setpoint */
vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
bool _debug{false}; /**< if set to true, print debug output */
struct {
float w_p; /**< Proportional gain of the steering controller */
float w_i; /**< Integral gain of the steering controller */
float w_d; /**< Derivative of the steering controller */
float w_imax; /**< maximum integrator level of the steering controller */
float trim_yaw;
float man_yaw_scale; /**< scale factor applied to yaw actuator control in pure manual mode */
int32_t bat_scale_en; /**< Battery scaling enabled */
} _parameters{}; /**< local copies of interesting parameters */
struct {
param_t w_p;
param_t w_i;
param_t w_d;
param_t w_imax;
param_t trim_yaw;
param_t man_yaw_scale;
param_t bat_scale_en;
} _parameter_handles{}; /**< handles for interesting parameters */
PID_t _steering_ctrl{};
void parameters_update();
void vehicle_control_mode_poll();
void manual_control_setpoint_poll();
void vehicle_attitude_setpoint_poll();
void battery_status_poll();
static int task_main_trampoline(int argc, char *argv[]);
void task_main();
};
src/modules/gnd_att_control/gnd_att_control_params.c
-195
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@@ -1,195 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013-2017 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.
*
****************************************************************************/
/**
* @file gnd_att_control_params.c
*
* Parameters defined by the attitude control task for ground rovers
*
* This is a modification of the fixed wing params and it is designed for ground rovers.
* It has been developed starting from the fw module, simplified and improved with dedicated items.
*
* All the ackowledgments and credits for the fw wing app are reported in those files.
*
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
/*
* Controller parameters, accessible via MAVLink
*
*/
/**
* Attitude Wheel Time Constant
*
* This defines the latency between a steering step input and the achieved setpoint
* (inverse to a P gain). Half a second is a good start value and fits for
* most average systems. Smaller systems may require smaller values, but as
* this will wear out servos faster, the value should only be decreased as
* needed.
*
* @unit s
* @min 0.4
* @max 1.0
* @decimal 2
* @increment 0.05
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_TC, 0.4f);
/**
* Wheel steering rate proportional gain
*
* This defines how much the wheel steering input will be commanded depending on the
* current body angular rate error.
*
* @unit %/rad/s
* @min 0.005
* @max 1.0
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_P, 1.0f);
/**
* Wheel steering rate integrator gain
*
* This gain defines how much control response will result out of a steady
* state error. It trims any constant error.
*
* @unit %/rad
* @min 0.00
* @max 0.5
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_I, 0.00f);
/**
* Wheel steering rate integrator gain
*
*
* @unit %/rad
* @min 0.00
* @max 30
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_D, 0.00f);
/**
* Wheel steering rate integrator limit
*
* The portion of the integrator part in the control surface deflection is
* limited to this value
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_IMAX, 0.0f);
/**
* Maximum wheel steering rate
*
* This limits the maximum wheel steering rate the controller will output (in degrees per
* second). Setting a value of zero disables the limit.
*
* @unit deg/s
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_W_RMAX, 90.0f);
/**
* Wheel steering rate feed forward
*
* Direct feed forward from rate setpoint to control surface output
*
* @unit %/rad/s
* @min 0.0
* @max 10.0
* @decimal 2
* @increment 0.05
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_FF, 0.0f);
/**
* Manual yaw scale
*
* Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows
* to adjust the throws of the control surfaces.
*
* @unit norm
* @min 0.0
* @decimal 2
* @increment 0.01
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_MAN_Y_SC, 1.0f);
/**
* Groundspeed speed trim
*
* This allows to scale the turning radius depending on the speed.
*
* @unit norm
* @min 0.0
* @decimal 2
* @increment 0.1
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_GSPD_SP_TRIM, 1.0f);
/**
* Whether to scale throttle by battery power level
*
* This compensates for voltage drop of the battery over time by attempting to
* normalize performance across the operating range of the battery. The fixed wing
* should constantly behave as if it was fully charged with reduced max thrust
* at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery,
* it will still be 0.5 at 60% battery.
*
* @boolean
* @group GND Attitude Control
*/
PARAM_DEFINE_INT32(GND_BAT_SCALE_EN, 0);

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