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mc_att_control_vector renamed to mc_att_control

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This commit is contained in:
Anton Babushkin
2014-01-19 10:44:57 +01:00
parent d55ef18c7f
commit 42f4f45979
7 changed files with 64 additions and 40 deletions
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ROMFS/px4fmu_common/init.d/rc.mc_apps
+1 -1
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@@ -16,7 +16,7 @@ position_estimator_inav start
#
# Start attitude control
#
mc_att_control_vector start
mc_att_control start
#
# Start position control
makefiles/config_px4fmu-v1_default.mk
+1 -1
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@@ -82,7 +82,7 @@ MODULES += modules/position_estimator_inav
#
MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
MODULES += modules/mc_att_control_vector
MODULES += modules/mc_att_control
MODULES += modules/mc_pos_control
#MODULES += examples/flow_position_control
#MODULES += examples/flow_speed_control
makefiles/config_px4fmu-v2_default.mk
+1 -1
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@@ -85,7 +85,7 @@ MODULES += examples/flow_position_estimator
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
MODULES += modules/mc_att_control_vector
MODULES += modules/mc_att_control
MODULES += modules/mc_pos_control
#
src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp → src/modules/mc_att_control/mc_att_control_main.cpp
+4 -13
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
@@ -35,17 +35,8 @@
****************************************************************************/
/**
* @file mc_att_control_vector_main.c
* @file mc_att_control_main.c
* Implementation of a multicopter attitude controller based on desired rotation matrix.
*
* References
* [1] Daniel Mellinger and Vijay Kumar, "Minimum Snap Trajectory Generation and Control for Quadrotors",
* http://www.seas.upenn.edu/~dmel/mellingerICRA11.pdf
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
*/
#include <nuttx/config.h>
@@ -82,7 +73,7 @@
*
* @ingroup apps
*/
extern "C" __EXPORT int mc_att_control_vector_main(int argc, char *argv[]);
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define MIN_TAKEOFF_THROTTLE 0.3f
#define YAW_DEADZONE 0.01f
@@ -698,7 +689,7 @@ MulticopterAttitudeControl::start()
return OK;
}
int mc_att_control_vector_main(int argc, char *argv[])
int mc_att_control_main(int argc, char *argv[])
{
if (argc < 1)
errx(1, "usage: mc_att_control_vector {start|stop|status}");
src/modules/mc_att_control/mc_att_control_params.c
+53
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@@ -0,0 +1,53 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* 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 mc_att_control_params.c
* Parameters for multicopter attitude controller.
*/
#include <systemlib/param/param.h>
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
PARAM_DEFINE_FLOAT(MC_YAW_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
src/modules/mc_att_control_vector/module.mk → src/modules/mc_att_control/module.mk
+4 -4
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@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2013, 2014 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
@@ -35,7 +35,7 @@
# Multirotor attitude controller (vector based, no Euler singularities)
#
MODULE_COMMAND = mc_att_control_vector
MODULE_COMMAND = mc_att_control
SRCS = mc_att_control_vector_main.cpp \
mc_att_control_vector_params.c
SRCS = mc_att_control_main.cpp \
mc_att_control_params.c
src/modules/mc_att_control_vector/mc_att_control_vector_params.c
-20
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@@ -1,20 +0,0 @@
/*
* mc_att_control_vector_params.c
*
* Created on: 26.12.2013
* Author: ton
*/
#include <systemlib/param/param.h>
/* multicopter attitude controller parameters */
PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 2.0f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);