mirror of
https://github.com/PX4/PX4-Autopilot.git
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mc_att_control: refactor to ModuleBase & add module documentation
This commit is contained in:
Beat Küng
@@ -0,0 +1,268 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <lib/mathlib/mathlib.h>
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#include <lib/mixer/mixer.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <systemlib/perf_counter.h>
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_module.h>
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#include <px4_posix.h>
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#include <px4_tasks.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/multirotor_motor_limits.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/rate_ctrl_status.h>
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#include <uORB/topics/sensor_bias.h>
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#include <uORB/topics/sensor_correction.h>
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#include <uORB/topics/sensor_gyro.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_status.h>
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/**
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* Multicopter attitude control app start / stop handling function
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*/
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extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
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#define MAX_GYRO_COUNT 3
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class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>
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{
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public:
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MulticopterAttitudeControl();
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virtual ~MulticopterAttitudeControl() = default;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static MulticopterAttitudeControl *instantiate(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::run() */
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void run() override;
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private:
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int _v_att_sub; /**< vehicle attitude subscription */
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int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
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int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
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int _v_control_mode_sub; /**< vehicle control mode subscription */
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int _params_sub; /**< parameter updates subscription */
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int _manual_control_sp_sub; /**< manual control setpoint subscription */
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int _vehicle_status_sub; /**< vehicle status subscription */
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int _motor_limits_sub; /**< motor limits subscription */
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int _battery_status_sub; /**< battery status subscription */
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int _sensor_gyro_sub[MAX_GYRO_COUNT]; /**< gyro data subscription */
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int _sensor_correction_sub; /**< sensor thermal correction subscription */
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int _sensor_bias_sub; /**< sensor in-run bias correction subscription */
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unsigned _gyro_count;
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int _selected_gyro;
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orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
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orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
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orb_advert_t _controller_status_pub; /**< controller status publication */
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orb_id_t _rates_sp_id; /**< pointer to correct rates setpoint uORB metadata structure */
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orb_id_t _actuators_id; /**< pointer to correct actuator controls0 uORB metadata structure */
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bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
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struct vehicle_attitude_s _v_att; /**< vehicle attitude */
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struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
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struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
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struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
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struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
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struct actuator_controls_s _actuators; /**< actuator controls */
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struct vehicle_status_s _vehicle_status; /**< vehicle status */
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struct battery_status_s _battery_status; /**< battery status */
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struct sensor_gyro_s _sensor_gyro; /**< gyro data before thermal correctons and ekf bias estimates are applied */
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struct sensor_correction_s _sensor_correction; /**< sensor thermal corrections */
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struct sensor_bias_s _sensor_bias; /**< sensor in-run bias corrections */
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MultirotorMixer::saturation_status _saturation_status{};
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perf_counter_t _loop_perf; /**< loop performance counter */
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perf_counter_t _controller_latency_perf;
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math::LowPassFilter2p _lp_filters_d[3]; /**< low-pass filters for D-term (roll, pitch & yaw) */
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static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
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float _loop_update_rate_hz; /**< current rate-controller loop update rate in [Hz] */
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math::Vector<3> _rates_prev; /**< angular rates on previous step */
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math::Vector<3> _rates_prev_filtered; /**< angular rates on previous step (low-pass filtered) */
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math::Vector<3> _rates_sp; /**< angular rates setpoint */
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math::Vector<3> _rates_int; /**< angular rates integral error */
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float _thrust_sp; /**< thrust setpoint */
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math::Vector<3> _att_control; /**< attitude control vector */
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math::Matrix<3, 3> _board_rotation = {}; /**< rotation matrix for the orientation that the board is mounted */
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struct {
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param_t roll_p;
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param_t roll_rate_p;
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param_t roll_rate_i;
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param_t roll_rate_integ_lim;
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param_t roll_rate_d;
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param_t roll_rate_ff;
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param_t pitch_p;
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param_t pitch_rate_p;
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param_t pitch_rate_i;
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param_t pitch_rate_integ_lim;
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param_t pitch_rate_d;
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param_t pitch_rate_ff;
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param_t d_term_cutoff_freq;
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param_t tpa_breakpoint_p;
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param_t tpa_breakpoint_i;
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param_t tpa_breakpoint_d;
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param_t tpa_rate_p;
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param_t tpa_rate_i;
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param_t tpa_rate_d;
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param_t yaw_p;
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param_t yaw_rate_p;
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param_t yaw_rate_i;
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param_t yaw_rate_integ_lim;
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param_t yaw_rate_d;
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param_t yaw_rate_ff;
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param_t yaw_ff;
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param_t roll_rate_max;
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param_t pitch_rate_max;
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param_t yaw_rate_max;
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param_t yaw_auto_max;
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param_t acro_roll_max;
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param_t acro_pitch_max;
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param_t acro_yaw_max;
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param_t acro_expo;
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param_t acro_superexpo;
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param_t rattitude_thres;
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param_t vtol_wv_yaw_rate_scale;
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param_t bat_scale_en;
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param_t board_rotation;
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param_t board_offset[3];
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} _params_handles; /**< handles for interesting parameters */
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struct {
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matrix::Vector3f attitude_p; /**< P gain for attitude control */
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math::Vector<3> rate_p; /**< P gain for angular rate error */
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math::Vector<3> rate_i; /**< I gain for angular rate error */
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math::Vector<3> rate_int_lim; /**< integrator state limit for rate loop */
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math::Vector<3> rate_d; /**< D gain for angular rate error */
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math::Vector<3> rate_ff; /**< Feedforward gain for desired rates */
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float yaw_ff; /**< yaw control feed-forward */
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float d_term_cutoff_freq; /**< Cutoff frequency for the D-term filter */
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float tpa_breakpoint_p; /**< Throttle PID Attenuation breakpoint */
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float tpa_breakpoint_i; /**< Throttle PID Attenuation breakpoint */
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float tpa_breakpoint_d; /**< Throttle PID Attenuation breakpoint */
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float tpa_rate_p; /**< Throttle PID Attenuation slope */
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float tpa_rate_i; /**< Throttle PID Attenuation slope */
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float tpa_rate_d; /**< Throttle PID Attenuation slope */
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float roll_rate_max;
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float pitch_rate_max;
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float yaw_rate_max;
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float yaw_auto_max;
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math::Vector<3> mc_rate_max; /**< attitude rate limits in stabilized modes */
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math::Vector<3> auto_rate_max; /**< attitude rate limits in auto modes */
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matrix::Vector3f acro_rate_max; /**< max attitude rates in acro mode */
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float acro_expo; /**< function parameter for expo stick curve shape */
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float acro_superexpo; /**< function parameter for superexpo stick curve shape */
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float rattitude_thres;
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float vtol_wv_yaw_rate_scale; /**< Scale value [0, 1] for yaw rate setpoint */
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int32_t bat_scale_en;
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int32_t board_rotation;
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float board_offset[3];
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} _params;
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/**
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* Update our local parameter cache.
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*/
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void parameters_update();
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/**
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* Check for parameter update and handle it.
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*/
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void battery_status_poll();
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void parameter_update_poll();
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void sensor_bias_poll();
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void sensor_correction_poll();
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void vehicle_attitude_poll();
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void vehicle_attitude_setpoint_poll();
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void vehicle_control_mode_poll();
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void vehicle_manual_poll();
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void vehicle_motor_limits_poll();
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void vehicle_rates_setpoint_poll();
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void vehicle_status_poll();
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/**
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* Attitude controller.
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*/
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void control_attitude(float dt);
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/**
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* Attitude rates controller.
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*/
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void control_attitude_rates(float dt);
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/**
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* Throttle PID attenuation.
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*/
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math::Vector<3> pid_attenuations(float tpa_breakpoint, float tpa_rate);
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};
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@@ -35,60 +35,21 @@
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* @file mc_att_control_main.cpp
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* @file mc_att_control_main.cpp
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* Multicopter attitude controller.
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* Multicopter attitude controller.
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*
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*
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* Publication documenting this type of Quaternion Attitude Control:
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* Nonlinear Quadrocopter Attitude Control (2013)
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* by Dario Brescianini, Markus Hehn and Raffaello D'Andrea
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* Institute for Dynamic Systems and Control (IDSC), ETH Zurich
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Sander Smeets <sander@droneslab.com>
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* @author Sander Smeets <sander@droneslab.com>
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* @author Matthias Grob <maetugr@gmail.com>
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* @author Matthias Grob <maetugr@gmail.com>
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* @author Beat Küng <beat-kueng@gmx.net>
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*
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*
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* The controller has two loops: P loop for angular error and PD loop for angular rate error.
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* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
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* For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
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* so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
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* These two approaches fused seamlessly with weight depending on angular error.
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* When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
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* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
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* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
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*/
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*/
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#include "mc_att_control.hpp"
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#include <conversion/rotation.h>
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#include <conversion/rotation.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_hrt.h>
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#include <lib/geo/geo.h>
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#include <lib/geo/geo.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/mixer/mixer.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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||||||
#include <px4_config.h>
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|
||||||
#include <px4_defines.h>
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|
||||||
#include <px4_posix.h>
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||||||
#include <px4_tasks.h>
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||||||
#include <systemlib/circuit_breaker.h>
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#include <systemlib/circuit_breaker.h>
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#include <systemlib/param/param.h>
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#include <systemlib/param/param.h>
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||||||
#include <systemlib/perf_counter.h>
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||||||
#include <uORB/topics/actuator_controls.h>
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||||||
#include <uORB/topics/battery_status.h>
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#include <uORB/topics/manual_control_setpoint.h>
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||||||
#include <uORB/topics/multirotor_motor_limits.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/rate_ctrl_status.h>
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#include <uORB/topics/sensor_bias.h>
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#include <uORB/topics/sensor_correction.h>
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#include <uORB/topics/sensor_gyro.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_control_mode.h>
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||||||
#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_status.h>
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||||||
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|
||||||
/**
|
|
||||||
* Multicopter attitude control app start / stop handling function
|
|
||||||
*
|
|
||||||
* @ingroup apps
|
|
||||||
*/
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|
||||||
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
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|
||||||
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|
||||||
#define MIN_TAKEOFF_THRUST 0.2f
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#define MIN_TAKEOFF_THRUST 0.2f
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#define TPA_RATE_LOWER_LIMIT 0.05f
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#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
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#define AXIS_INDEX_YAW 2
|
||||||
#define AXIS_COUNT 3
|
#define AXIS_COUNT 3
|
||||||
|
|
||||||
#define MAX_GYRO_COUNT 3
|
|
||||||
|
|
||||||
using namespace matrix;
|
using namespace matrix;
|
||||||
|
|
||||||
class MulticopterAttitudeControl
|
|
||||||
|
int MulticopterAttitudeControl::print_usage(const char *reason)
|
||||||
{
|
{
|
||||||
public:
|
if (reason) {
|
||||||
/**
|
PX4_WARN("%s\n", reason);
|
||||||
* Constructor
|
}
|
||||||
*/
|
|
||||||
MulticopterAttitudeControl();
|
|
||||||
|
|
||||||
/**
|
PRINT_MODULE_DESCRIPTION(
|
||||||
* Destructor, also kills the main task
|
R"DESCR_STR(
|
||||||
*/
|
### Description
|
||||||
~MulticopterAttitudeControl();
|
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.
|
||||||
|
|
||||||
/**
|
The controller has two loops: a P loop for angular error and a PID loop for angular rate error.
|
||||||
* Start the multicopter attitude control task.
|
|
||||||
*
|
|
||||||
* @return OK on success.
|
|
||||||
*/
|
|
||||||
int start();
|
|
||||||
|
|
||||||
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 */
|
https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
|
||||||
int _control_task; /**< task handle */
|
|
||||||
|
|
||||||
int _v_att_sub; /**< vehicle attitude subscription */
|
### Implementation
|
||||||
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
|
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
|
||||||
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;
|
)DESCR_STR");
|
||||||
int _selected_gyro;
|
|
||||||
|
|
||||||
orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
|
PRINT_MODULE_USAGE_NAME("mc_att_control", "controller");
|
||||||
orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
|
PRINT_MODULE_USAGE_COMMAND("start");
|
||||||
orb_advert_t _controller_status_pub; /**< controller status publication */
|
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||||
|
|
||||||
orb_id_t _rates_sp_id; /**< pointer to correct rates setpoint uORB metadata structure */
|
return 0;
|
||||||
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;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
MulticopterAttitudeControl::MulticopterAttitudeControl() :
|
MulticopterAttitudeControl::MulticopterAttitudeControl() :
|
||||||
|
|
||||||
_task_should_exit(false),
|
|
||||||
_control_task(-1),
|
|
||||||
|
|
||||||
/* subscriptions */
|
/* subscriptions */
|
||||||
_v_att_sub(-1),
|
_v_att_sub(-1),
|
||||||
_v_att_sp_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
|
void
|
||||||
MulticopterAttitudeControl::parameters_update()
|
MulticopterAttitudeControl::parameters_update()
|
||||||
{
|
{
|
||||||
@@ -1020,13 +767,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
|
|||||||
}
|
}
|
||||||
|
|
||||||
void
|
void
|
||||||
MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
|
MulticopterAttitudeControl::run()
|
||||||
{
|
|
||||||
mc_att_control::g_control->task_main();
|
|
||||||
}
|
|
||||||
|
|
||||||
void
|
|
||||||
MulticopterAttitudeControl::task_main()
|
|
||||||
{
|
{
|
||||||
|
|
||||||
/*
|
/*
|
||||||
@@ -1067,21 +808,21 @@ MulticopterAttitudeControl::task_main()
|
|||||||
float dt_accumulator = 0.f;
|
float dt_accumulator = 0.f;
|
||||||
int loop_counter = 0;
|
int loop_counter = 0;
|
||||||
|
|
||||||
while (!_task_should_exit) {
|
while (!should_exit()) {
|
||||||
|
|
||||||
poll_fds.fd = _sensor_gyro_sub[_selected_gyro];
|
poll_fds.fd = _sensor_gyro_sub[_selected_gyro];
|
||||||
|
|
||||||
/* wait for up to 100ms for data */
|
/* wait for up to 100ms for data */
|
||||||
int pret = px4_poll(&poll_fds, 1, 100);
|
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) {
|
if (pret == 0) {
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* this is undesirable but not much we can do - might want to flag unhappy status */
|
/* this is undesirable but not much we can do - might want to flag unhappy status */
|
||||||
if (pret < 0) {
|
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 */
|
/* sleep a bit before next try */
|
||||||
usleep(100000);
|
usleep(100000);
|
||||||
continue;
|
continue;
|
||||||
@@ -1276,83 +1017,36 @@ MulticopterAttitudeControl::task_main()
|
|||||||
perf_end(_loop_perf);
|
perf_end(_loop_perf);
|
||||||
}
|
}
|
||||||
|
|
||||||
_control_task = -1;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
int
|
int MulticopterAttitudeControl::task_spawn(int argc, char *argv[])
|
||||||
MulticopterAttitudeControl::start()
|
|
||||||
{
|
{
|
||||||
ASSERT(_control_task == -1);
|
_task_id = px4_task_spawn_cmd("mc_att_control",
|
||||||
|
|
||||||
/* start the task */
|
|
||||||
_control_task = px4_task_spawn_cmd("mc_att_control",
|
|
||||||
SCHED_DEFAULT,
|
SCHED_DEFAULT,
|
||||||
SCHED_PRIORITY_ATTITUDE_CONTROL,
|
SCHED_PRIORITY_ATTITUDE_CONTROL,
|
||||||
1700,
|
1700,
|
||||||
(px4_main_t)&MulticopterAttitudeControl::task_main_trampoline,
|
(px4_main_t)&run_trampoline,
|
||||||
nullptr);
|
(char *const *)argv);
|
||||||
|
|
||||||
if (_control_task < 0) {
|
if (_task_id < 0) {
|
||||||
warn("task start failed");
|
_task_id = -1;
|
||||||
return -errno;
|
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[])
|
int mc_att_control_main(int argc, char *argv[])
|
||||||
{
|
{
|
||||||
if (argc < 2) {
|
return MulticopterAttitudeControl::main(argc, argv);
|
||||||
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;
|
|
||||||
}
|
}
|
||||||
|
|||||||
Reference in New Issue
Block a user