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mc_att_control: refactor to ModuleBase & add module documentation

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This commit is contained in:
Beat Küng
2018-03-19 17:12:25 +01:00
parent 25300a6b11
commit 673fa75e58
2 changed files with 317 additions and 355 deletions
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src/modules/mc_att_control/mc_att_control.hpp
+268
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@@ -0,0 +1,268 @@
/****************************************************************************
*
* Copyright (c) 2013-2018 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 <lib/mathlib/mathlib.h>
#include <lib/mixer/mixer.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <systemlib/perf_counter.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_module.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_gyro.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/topics/vehicle_status.h>
/**
* Multicopter attitude control app start / stop handling function
*/
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define MAX_GYRO_COUNT 3
class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>
{
public:
MulticopterAttitudeControl();
virtual ~MulticopterAttitudeControl() = default;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static MulticopterAttitudeControl *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
private:
int _v_att_sub; /**< vehicle attitude subscription */
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
int _v_control_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< parameter updates subscription */
int _manual_control_sp_sub; /**< manual control setpoint subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
int _motor_limits_sub; /**< motor limits subscription */
int _battery_status_sub; /**< battery status subscription */
int _sensor_gyro_sub[MAX_GYRO_COUNT]; /**< gyro data subscription */
int _sensor_correction_sub; /**< sensor thermal correction subscription */
int _sensor_bias_sub; /**< sensor in-run bias correction subscription */
unsigned _gyro_count;
int _selected_gyro;
orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
orb_advert_t _controller_status_pub; /**< controller status publication */
orb_id_t _rates_sp_id; /**< pointer to correct rates setpoint uORB metadata structure */
orb_id_t _actuators_id; /**< pointer to correct actuator controls0 uORB metadata structure */
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
struct vehicle_attitude_s _v_att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator controls */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
struct battery_status_s _battery_status; /**< battery status */
struct sensor_gyro_s _sensor_gyro; /**< gyro data before thermal correctons and ekf bias estimates are applied */
struct sensor_correction_s _sensor_correction; /**< sensor thermal corrections */
struct sensor_bias_s _sensor_bias; /**< sensor in-run bias corrections */
MultirotorMixer::saturation_status _saturation_status{};
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _controller_latency_perf;
math::LowPassFilter2p _lp_filters_d[3]; /**< low-pass filters for D-term (roll, pitch & yaw) */
static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
float _loop_update_rate_hz; /**< current rate-controller loop update rate in [Hz] */
math::Vector<3> _rates_prev; /**< angular rates on previous step */
math::Vector<3> _rates_prev_filtered; /**< angular rates on previous step (low-pass filtered) */
math::Vector<3> _rates_sp; /**< angular rates setpoint */
math::Vector<3> _rates_int; /**< angular rates integral error */
float _thrust_sp; /**< thrust setpoint */
math::Vector<3> _att_control; /**< attitude control vector */
math::Matrix<3, 3> _board_rotation = {}; /**< rotation matrix for the orientation that the board is mounted */
struct {
param_t roll_p;
param_t roll_rate_p;
param_t roll_rate_i;
param_t roll_rate_integ_lim;
param_t roll_rate_d;
param_t roll_rate_ff;
param_t pitch_p;
param_t pitch_rate_p;
param_t pitch_rate_i;
param_t pitch_rate_integ_lim;
param_t pitch_rate_d;
param_t pitch_rate_ff;
param_t d_term_cutoff_freq;
param_t tpa_breakpoint_p;
param_t tpa_breakpoint_i;
param_t tpa_breakpoint_d;
param_t tpa_rate_p;
param_t tpa_rate_i;
param_t tpa_rate_d;
param_t yaw_p;
param_t yaw_rate_p;
param_t yaw_rate_i;
param_t yaw_rate_integ_lim;
param_t yaw_rate_d;
param_t yaw_rate_ff;
param_t yaw_ff;
param_t roll_rate_max;
param_t pitch_rate_max;
param_t yaw_rate_max;
param_t yaw_auto_max;
param_t acro_roll_max;
param_t acro_pitch_max;
param_t acro_yaw_max;
param_t acro_expo;
param_t acro_superexpo;
param_t rattitude_thres;
param_t vtol_wv_yaw_rate_scale;
param_t bat_scale_en;
param_t board_rotation;
param_t board_offset[3];
} _params_handles; /**< handles for interesting parameters */
struct {
matrix::Vector3f attitude_p; /**< P gain for attitude control */
math::Vector<3> rate_p; /**< P gain for angular rate error */
math::Vector<3> rate_i; /**< I gain for angular rate error */
math::Vector<3> rate_int_lim; /**< integrator state limit for rate loop */
math::Vector<3> rate_d; /**< D gain for angular rate error */
math::Vector<3> rate_ff; /**< Feedforward gain for desired rates */
float yaw_ff; /**< yaw control feed-forward */
float d_term_cutoff_freq; /**< Cutoff frequency for the D-term filter */
float tpa_breakpoint_p; /**< Throttle PID Attenuation breakpoint */
float tpa_breakpoint_i; /**< Throttle PID Attenuation breakpoint */
float tpa_breakpoint_d; /**< Throttle PID Attenuation breakpoint */
float tpa_rate_p; /**< Throttle PID Attenuation slope */
float tpa_rate_i; /**< Throttle PID Attenuation slope */
float tpa_rate_d; /**< Throttle PID Attenuation slope */
float roll_rate_max;
float pitch_rate_max;
float yaw_rate_max;
float yaw_auto_max;
math::Vector<3> mc_rate_max; /**< attitude rate limits in stabilized modes */
math::Vector<3> auto_rate_max; /**< attitude rate limits in auto modes */
matrix::Vector3f acro_rate_max; /**< max attitude rates in acro mode */
float acro_expo; /**< function parameter for expo stick curve shape */
float acro_superexpo; /**< function parameter for superexpo stick curve shape */
float rattitude_thres;
float vtol_wv_yaw_rate_scale; /**< Scale value [0, 1] for yaw rate setpoint */
int32_t bat_scale_en;
int32_t board_rotation;
float board_offset[3];
} _params;
/**
* Update our local parameter cache.
*/
void parameters_update();
/**
* Check for parameter update and handle it.
*/
void battery_status_poll();
void parameter_update_poll();
void sensor_bias_poll();
void sensor_correction_poll();
void vehicle_attitude_poll();
void vehicle_attitude_setpoint_poll();
void vehicle_control_mode_poll();
void vehicle_manual_poll();
void vehicle_motor_limits_poll();
void vehicle_rates_setpoint_poll();
void vehicle_status_poll();
/**
* Attitude controller.
*/
void control_attitude(float dt);
/**
* Attitude rates controller.
*/
void control_attitude_rates(float dt);
/**
* Throttle PID attenuation.
*/
math::Vector<3> pid_attenuations(float tpa_breakpoint, float tpa_rate);
};
src/modules/mc_att_control/mc_att_control_main.cpp
+49 -355
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@@ -35,60 +35,21 @@
* @file mc_att_control_main.cpp
* Multicopter attitude controller.
*
* Publication documenting this type of Quaternion Attitude Control:
* Nonlinear Quadrocopter Attitude Control (2013)
* by Dario Brescianini, Markus Hehn and Raffaello D'Andrea
* Institute for Dynamic Systems and Control (IDSC), ETH Zurich
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Sander Smeets <sander@droneslab.com>
* @author Matthias Grob <maetugr@gmail.com>
* @author Beat Küng <beat-kueng@gmx.net>
*
* The controller has two loops: P loop for angular error and PD loop for angular rate error.
* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
* For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
* so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
* These two approaches fused seamlessly with weight depending on angular error.
* When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
*/
#include "mc_att_control.hpp"
#include <conversion/rotation.h>
#include <drivers/drv_hrt.h>
#include <lib/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/mixer/mixer.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <systemlib/circuit_breaker.h>
#include <systemlib/param/param.h>
#include <systemlib/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/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_gyro.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/topics/vehicle_status.h>
/**
* Multicopter attitude control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define MIN_TAKEOFF_THRUST 0.2f
#define TPA_RATE_LOWER_LIMIT 0.05f
@@ -98,235 +59,45 @@ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define AXIS_INDEX_YAW 2
#define AXIS_COUNT 3
#define MAX_GYRO_COUNT 3
using namespace matrix;
class MulticopterAttitudeControl
int MulticopterAttitudeControl::print_usage(const char *reason)
{
public:
/**
* Constructor
*/
MulticopterAttitudeControl();
if (reason) {
PX4_WARN("%s\n", reason);
}
/**
* Destructor, also kills the main task
*/
~MulticopterAttitudeControl();
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
This implements the multicopter attitude and rate controller. It takes attitude
setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
/**
* Start the multicopter attitude control task.
*
* @return OK on success.
*/
int start();
The controller has two loops: a P loop for angular error and a PID loop for angular rate error.
private:
Publication documenting the implemented Quaternion Attitude Control:
Nonlinear Quadrocopter Attitude Control (2013)
by Dario Brescianini, Markus Hehn and Raffaello D'Andrea
Institute for Dynamic Systems and Control (IDSC), ETH Zurich
bool _task_should_exit; /**< if true, task_main() should exit */
int _control_task; /**< task handle */
https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
int _v_att_sub; /**< vehicle attitude subscription */
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
int _v_control_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< parameter updates subscription */
int _manual_control_sp_sub; /**< manual control setpoint subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
int _motor_limits_sub; /**< motor limits subscription */
int _battery_status_sub; /**< battery status subscription */
int _sensor_gyro_sub[MAX_GYRO_COUNT]; /**< gyro data subscription */
int _sensor_correction_sub; /**< sensor thermal correction subscription */
int _sensor_bias_sub; /**< sensor in-run bias correction subscription */
### Implementation
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
unsigned _gyro_count;
int _selected_gyro;
)DESCR_STR");
orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
orb_advert_t _controller_status_pub; /**< controller status publication */
PRINT_MODULE_USAGE_NAME("mc_att_control", "controller");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
orb_id_t _rates_sp_id; /**< pointer to correct rates setpoint uORB metadata structure */
orb_id_t _actuators_id; /**< pointer to correct actuator controls0 uORB metadata structure */
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
struct vehicle_attitude_s _v_att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator controls */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
struct battery_status_s _battery_status; /**< battery status */
struct sensor_gyro_s _sensor_gyro; /**< gyro data before thermal correctons and ekf bias estimates are applied */
struct sensor_correction_s _sensor_correction; /**< sensor thermal corrections */
struct sensor_bias_s _sensor_bias; /**< sensor in-run bias corrections */
MultirotorMixer::saturation_status _saturation_status{};
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _controller_latency_perf;
math::LowPassFilter2p _lp_filters_d[3]; /**< low-pass filters for D-term (roll, pitch & yaw) */
static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
float _loop_update_rate_hz; /**< current rate-controller loop update rate in [Hz] */
math::Vector<3> _rates_prev; /**< angular rates on previous step */
math::Vector<3> _rates_prev_filtered; /**< angular rates on previous step (low-pass filtered) */
math::Vector<3> _rates_sp; /**< angular rates setpoint */
math::Vector<3> _rates_int; /**< angular rates integral error */
float _thrust_sp; /**< thrust setpoint */
math::Vector<3> _att_control; /**< attitude control vector */
math::Matrix<3, 3> _board_rotation = {}; /**< rotation matrix for the orientation that the board is mounted */
struct {
param_t roll_p;
param_t roll_rate_p;
param_t roll_rate_i;
param_t roll_rate_integ_lim;
param_t roll_rate_d;
param_t roll_rate_ff;
param_t pitch_p;
param_t pitch_rate_p;
param_t pitch_rate_i;
param_t pitch_rate_integ_lim;
param_t pitch_rate_d;
param_t pitch_rate_ff;
param_t d_term_cutoff_freq;
param_t tpa_breakpoint_p;
param_t tpa_breakpoint_i;
param_t tpa_breakpoint_d;
param_t tpa_rate_p;
param_t tpa_rate_i;
param_t tpa_rate_d;
param_t yaw_p;
param_t yaw_rate_p;
param_t yaw_rate_i;
param_t yaw_rate_integ_lim;
param_t yaw_rate_d;
param_t yaw_rate_ff;
param_t yaw_ff;
param_t roll_rate_max;
param_t pitch_rate_max;
param_t yaw_rate_max;
param_t yaw_auto_max;
param_t acro_roll_max;
param_t acro_pitch_max;
param_t acro_yaw_max;
param_t acro_expo;
param_t acro_superexpo;
param_t rattitude_thres;
param_t vtol_wv_yaw_rate_scale;
param_t bat_scale_en;
param_t board_rotation;
param_t board_offset[3];
} _params_handles; /**< handles for interesting parameters */
struct {
Vector3f attitude_p; /**< P gain for attitude control */
math::Vector<3> rate_p; /**< P gain for angular rate error */
math::Vector<3> rate_i; /**< I gain for angular rate error */
math::Vector<3> rate_int_lim; /**< integrator state limit for rate loop */
math::Vector<3> rate_d; /**< D gain for angular rate error */
math::Vector<3> rate_ff; /**< Feedforward gain for desired rates */
float yaw_ff; /**< yaw control feed-forward */
float d_term_cutoff_freq; /**< Cutoff frequency for the D-term filter */
float tpa_breakpoint_p; /**< Throttle PID Attenuation breakpoint */
float tpa_breakpoint_i; /**< Throttle PID Attenuation breakpoint */
float tpa_breakpoint_d; /**< Throttle PID Attenuation breakpoint */
float tpa_rate_p; /**< Throttle PID Attenuation slope */
float tpa_rate_i; /**< Throttle PID Attenuation slope */
float tpa_rate_d; /**< Throttle PID Attenuation slope */
float roll_rate_max;
float pitch_rate_max;
float yaw_rate_max;
float yaw_auto_max;
math::Vector<3> mc_rate_max; /**< attitude rate limits in stabilized modes */
math::Vector<3> auto_rate_max; /**< attitude rate limits in auto modes */
matrix::Vector3f acro_rate_max; /**< max attitude rates in acro mode */
float acro_expo; /**< function parameter for expo stick curve shape */
float acro_superexpo; /**< function parameter for superexpo stick curve shape */
float rattitude_thres;
float vtol_wv_yaw_rate_scale; /**< Scale value [0, 1] for yaw rate setpoint */
int32_t bat_scale_en;
int32_t board_rotation;
float board_offset[3];
} _params;
/**
* Update our local parameter cache.
*/
void parameters_update();
/**
* Check for parameter update and handle it.
*/
void battery_status_poll();
void parameter_update_poll();
void sensor_bias_poll();
void sensor_correction_poll();
void vehicle_attitude_poll();
void vehicle_attitude_setpoint_poll();
void vehicle_control_mode_poll();
void vehicle_manual_poll();
void vehicle_motor_limits_poll();
void vehicle_rates_setpoint_poll();
void vehicle_status_poll();
/**
* Attitude controller.
*/
void control_attitude(float dt);
/**
* Attitude rates controller.
*/
void control_attitude_rates(float dt);
/**
* Throttle PID attenuation.
*/
math::Vector<3> pid_attenuations(float tpa_breakpoint, float tpa_rate);
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main attitude control task.
*/
void task_main();
};
namespace mc_att_control
{
MulticopterAttitudeControl *g_control;
return 0;
}
MulticopterAttitudeControl::MulticopterAttitudeControl() :
_task_should_exit(false),
_control_task(-1),
/* subscriptions */
_v_att_sub(-1),
_v_att_sp_sub(-1),
@@ -482,30 +253,6 @@ _loop_update_rate_hz(initial_update_rate_hz)
}
}
MulticopterAttitudeControl::~MulticopterAttitudeControl()
{
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 */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
px4_task_delete(_control_task);
break;
}
} while (_control_task != -1);
}
mc_att_control::g_control = nullptr;
}
void
MulticopterAttitudeControl::parameters_update()
{
@@ -1020,13 +767,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
}
void
MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
{
mc_att_control::g_control->task_main();
}
void
MulticopterAttitudeControl::task_main()
MulticopterAttitudeControl::run()
{
/*
@@ -1067,21 +808,21 @@ MulticopterAttitudeControl::task_main()
float dt_accumulator = 0.f;
int loop_counter = 0;
while (!_task_should_exit) {
while (!should_exit()) {
poll_fds.fd = _sensor_gyro_sub[_selected_gyro];
/* wait for up to 100ms for data */
int pret = px4_poll(&poll_fds, 1, 100);
/* timed out - periodic check for _task_should_exit */
/* timed out - periodic check for should_exit() */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("mc att ctrl: poll error %d, %d", pret, errno);
PX4_ERR("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(100000);
continue;
@@ -1276,83 +1017,36 @@ MulticopterAttitudeControl::task_main()
perf_end(_loop_perf);
}
_control_task = -1;
}
int
MulticopterAttitudeControl::start()
int MulticopterAttitudeControl::task_spawn(int argc, char *argv[])
{
ASSERT(_control_task == -1);
/* start the task */
_control_task = px4_task_spawn_cmd("mc_att_control",
_task_id = px4_task_spawn_cmd("mc_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_ATTITUDE_CONTROL,
1700,
(px4_main_t)&MulticopterAttitudeControl::task_main_trampoline,
nullptr);
(px4_main_t)&run_trampoline,
(char *const *)argv);
if (_control_task < 0) {
warn("task start failed");
if (_task_id < 0) {
_task_id = -1;
return -errno;
}
return OK;
return 0;
}
MulticopterAttitudeControl *MulticopterAttitudeControl::instantiate(int argc, char *argv[])
{
return new MulticopterAttitudeControl();
}
int MulticopterAttitudeControl::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int mc_att_control_main(int argc, char *argv[])
{
if (argc < 2) {
warnx("usage: mc_att_control {start|stop|status}");
return 1;
}
if (!strcmp(argv[1], "start")) {
if (mc_att_control::g_control != nullptr) {
warnx("already running");
return 1;
}
mc_att_control::g_control = new MulticopterAttitudeControl;
if (mc_att_control::g_control == nullptr) {
warnx("alloc failed");
return 1;
}
if (OK != mc_att_control::g_control->start()) {
delete mc_att_control::g_control;
mc_att_control::g_control = nullptr;
warnx("start failed");
return 1;
}
return 0;
}
if (!strcmp(argv[1], "stop")) {
if (mc_att_control::g_control == nullptr) {
warnx("not running");
return 1;
}
delete mc_att_control::g_control;
mc_att_control::g_control = nullptr;
return 0;
}
if (!strcmp(argv[1], "status")) {
if (mc_att_control::g_control) {
warnx("running");
return 0;
} else {
warnx("not running");
return 1;
}
}
warnx("unrecognized command");
return 1;
return MulticopterAttitudeControl::main(argc, argv);
}