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fw_att_control centralize manual setpoint generation

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This commit is contained in:
Daniel Agar
2018-02-16 20:38:16 -05:00
parent 7fa858ad84
commit 4cb71f209f
1 changed files with 88 additions and 59 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+87 -58
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@@ -249,9 +249,73 @@ FixedwingAttitudeControl::vehicle_manual_poll()
/* get pilots inputs */ /* get pilots inputs */
orb_check(_manual_sub, &manual_updated); orb_check(_manual_sub, &manual_updated);
if (manual_updated) { // only update manual if in a manual mode
if (_vcontrol_mode.flag_control_manual_enabled && manual_updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual); if (orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual) == PX4_OK) {
// 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) > _parameters.rattitude_thres || fabsf(_manual.x) > _parameters.rattitude_thres) {
_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.timestamp = hrt_absolute_time();
_att_sp.roll_body = _manual.y * _parameters.man_roll_max + _parameters.rollsp_offset_rad;
_att_sp.roll_body = math::constrain(_att_sp.roll_body, -_parameters.man_roll_max, _parameters.man_roll_max);
_att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max + _parameters.pitchsp_offset_rad;
_att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max, _parameters.man_pitch_max);
_att_sp.yaw_body = 0.0f;
_att_sp.thrust = _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.q_d_valid = true;
if (_attitude_setpoint_id != nullptr) {
/* publish the attitude rates setpoint */
orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &_att_sp);
} else if (_attitude_setpoint_id) {
/* advertise the attitude rates setpoint */
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_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 * _parameters.acro_max_x_rate_rad;
_rates_sp.pitch = -_manual.x * _parameters.acro_max_y_rate_rad;
_rates_sp.yaw = _manual.r * _parameters.acro_max_z_rate_rad;
_rates_sp.thrust = _manual.z;
if (_rate_sp_pub != nullptr) {
/* publish the attitude rates setpoint */
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
} else if (_rates_sp_id) {
/* advertise the attitude rates setpoint */
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
}
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _parameters.man_roll_scale + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _parameters.man_pitch_scale +
_parameters.trim_pitch;
_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;
}
}
}
} }
} }
@@ -528,14 +592,6 @@ void FixedwingAttitudeControl::run()
_flaperons_applied = flaperon_control; _flaperons_applied = flaperon_control;
} }
// 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) > _parameters.rattitude_thres ||
fabsf(_manual.x) > _parameters.rattitude_thres) {
_vcontrol_mode.flag_control_attitude_enabled = false;
}
}
/* decide if in stabilized or full manual control */ /* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_rates_enabled) { if (_vcontrol_mode.flag_control_rates_enabled) {
/* scale around tuning airspeed */ /* scale around tuning airspeed */
@@ -572,25 +628,6 @@ void FixedwingAttitudeControl::run()
float gspd_scaling_trim = (_parameters.airspeed_min * 0.6f); float gspd_scaling_trim = (_parameters.airspeed_min * 0.6f);
float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed); float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed);
// in STABILIZED mode we need to generate the attitude setpoint
// from manual user inputs
if (!_vcontrol_mode.flag_control_climb_rate_enabled && !_vcontrol_mode.flag_control_offboard_enabled) {
_att_sp.timestamp = hrt_absolute_time();
_att_sp.roll_body = _manual.y * _parameters.man_roll_max + _parameters.rollsp_offset_rad;
_att_sp.roll_body = math::constrain(_att_sp.roll_body, -_parameters.man_roll_max, _parameters.man_roll_max);
_att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max + _parameters.pitchsp_offset_rad;
_att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max, _parameters.man_pitch_max);
_att_sp.yaw_body = 0.0f;
_att_sp.thrust = _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.q_d_valid = true;
int instance;
orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT);
}
/* reset integrals where needed */ /* reset integrals where needed */
if (_att_sp.roll_reset_integral) { if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator(); _roll_ctrl.reset_integrator();
@@ -724,27 +761,6 @@ void FixedwingAttitudeControl::run()
perf_count(_nonfinite_input_perf); perf_count(_nonfinite_input_perf);
} }
} else {
// pure rate control
_roll_ctrl.set_bodyrate_setpoint(_manual.y * _parameters.acro_max_x_rate_rad);
_pitch_ctrl.set_bodyrate_setpoint(-_manual.x * _parameters.acro_max_y_rate_rad);
_yaw_ctrl.set_bodyrate_setpoint(_manual.r * _parameters.acro_max_z_rate_rad);
float roll_u = _roll_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll :
_parameters.trim_roll;
float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch :
_parameters.trim_pitch;
float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(throttle_sp) ? throttle_sp : 0.0f;
}
/* /*
* Lazily publish the rate setpoint (for analysis, the actuators are published below) * Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available * only once available
@@ -764,6 +780,27 @@ void FixedwingAttitudeControl::run()
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp); _rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
} }
} else {
// pure rate control
_roll_ctrl.set_bodyrate_setpoint(_rates_sp.roll);
_pitch_ctrl.set_bodyrate_setpoint(_rates_sp.pitch);
_yaw_ctrl.set_bodyrate_setpoint(_rates_sp.yaw);
float roll_u = _roll_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll :
_parameters.trim_roll;
float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch :
_parameters.trim_pitch;
float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(throttle_sp) ? throttle_sp : 0.0f;
}
rate_ctrl_status_s rate_ctrl_status; rate_ctrl_status_s rate_ctrl_status;
rate_ctrl_status.timestamp = hrt_absolute_time(); rate_ctrl_status.timestamp = hrt_absolute_time();
rate_ctrl_status.rollspeed = _att.rollspeed; rate_ctrl_status.rollspeed = _att.rollspeed;
@@ -776,14 +813,6 @@ void FixedwingAttitudeControl::run()
int instance; int instance;
orb_publish_auto(ORB_ID(rate_ctrl_status), &_rate_ctrl_status_pub, &rate_ctrl_status, &instance, ORB_PRIO_DEFAULT); orb_publish_auto(ORB_ID(rate_ctrl_status), &_rate_ctrl_status_pub, &rate_ctrl_status, &instance, ORB_PRIO_DEFAULT);
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _parameters.man_roll_scale + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _parameters.man_pitch_scale +
_parameters.trim_pitch;
_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;
} }
// Add feed-forward from roll control output to yaw control output // Add feed-forward from roll control output to yaw control output