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Untested, but fully implemented attitude and/or inner rate control

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This commit is contained in:
Lorenz Meier
2012-09-23 12:11:46 +02:00
parent de530d6ba1
commit 705172d302
3 changed files with 106 additions and 49 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+88 -42
View File
@@ -56,6 +56,7 @@
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include <uORB/uORB.h>
#include <drivers/drv_gyro.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -72,16 +73,66 @@
__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
static enum {
CONTROL_MODE_RATES = 0,
CONTROL_MODE_ATTITUDE = 1,
} control_mode;
static bool thread_should_exit;
static int mc_task;
static bool motor_test_mode = false;
static struct actuator_controls_s actuators;
static orb_advert_t actuator_pub;
/**
* Perform rate control right after gyro reading
*/
static void *rate_control_thread_main(void *arg)
{
prctl(PR_SET_NAME, "mc rate control", getpid());
int gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
struct pollfd fds = { .fd = gyro_sub, .events = POLLIN };
struct gyro_report gyro_report;
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
float gyro_lp[3] = {0.0f, 0.0f, 0.0f};
while (!thread_should_exit) {
/* rate control at maximum rate */
/* wait for a sensor update, check for exit condition every 1000 ms */
int ret = poll(&fds, 1, 1000);
if (ret < 0) {
/* XXX this is seriously bad - should be an emergency */
} else if (ret == 0) {
/* XXX this means no sensor data - should be critical or emergency */
printf("[mc att control] WARNING: Not getting gyro data, no rate control\n");
} else {
/* get data */
orb_copy(ORB_ID(sensor_gyro), gyro_sub, &gyro_report);
bool rates_sp_valid = false;
orb_check(rates_sp_sub, &rates_sp_valid);
if (rates_sp_valid) {
orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
}
/* perform local lowpass */
/* apply controller */
// if (state.flag_control_rates_enabled) {
/* lowpass gyros */
// XXX
gyro_lp[0] = gyro_report.x;
gyro_lp[1] = gyro_report.y;
gyro_lp[2] = gyro_report.z;
multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
// }
}
}
return NULL;
}
static int
mc_thread_main(int argc, char *argv[])
@@ -102,8 +153,6 @@ mc_thread_main(int argc, char *argv[])
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
struct actuator_controls_s actuators;
/* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
@@ -127,8 +176,9 @@ mc_thread_main(int argc, char *argv[])
actuators.control[i] = 0.0f;
}
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
/* register the perf counter */
perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control");
@@ -136,6 +186,13 @@ mc_thread_main(int argc, char *argv[])
/* welcome user */
printf("[multirotor_att_control] starting\n");
/* ready, spawn pthread */
pthread_attr_t rate_control_attr;
pthread_attr_init(&rate_control_attr);
pthread_attr_setstacksize(&rate_control_attr, 2048);
pthread_t rate_control_thread;
pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL);
while (!thread_should_exit) {
/* wait for a sensor update, check for exit condition every 500 ms */
@@ -170,16 +227,21 @@ mc_thread_main(int argc, char *argv[])
att_sp.yaw_body = manual.yaw; // XXX Hack, remove, switch to yaw rate controller
/* set yaw rate */
rates_sp.yaw = manual.yaw;
att_sp.thrust = manual.throttle;
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
if (motor_test_mode) {
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = 0.1f;
} else {
att_sp.thrust = manual.throttle;
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
} else if (state.flag_control_offboard_enabled) {
/* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
@@ -187,38 +249,32 @@ mc_thread_main(int argc, char *argv[])
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
/* decide wether we want rate or position input */
}
/** STEP 2: Identify the controller setup to run and set up the inputs correctly */
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
/* run attitude controller */
if (state.flag_control_attitude_enabled) {
multirotor_control_attitude(&att_sp, &att, &actuators);
if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
/* XXX could be also run in an independent loop */
if (state.flag_control_rates_enabled) {
/* lowpass gyros */
// XXX
static float gyro_lp[3] = {0, 0, 0};
gyro_lp[0] = raw.gyro_rad_s[0];
gyro_lp[1] = raw.gyro_rad_s[1];
gyro_lp[2] = raw.gyro_rad_s[2];
multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
}
/* STEP 3: publish the result to the vehicle actuators */
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
perf_end(mc_loop_perf);
}
@@ -240,6 +296,8 @@ mc_thread_main(int argc, char *argv[])
perf_print_counter(mc_loop_perf);
perf_free(mc_loop_perf);
pthread_join(rate_control_thread, NULL);
fflush(stdout);
exit(0);
}
@@ -258,22 +316,10 @@ usage(const char *reason)
int multirotor_att_control_main(int argc, char *argv[])
{
int ch;
control_mode = CONTROL_MODE_RATES;
unsigned int optioncount = 0;
while ((ch = getopt(argc, argv, "tm:")) != EOF) {
switch (ch) {
case 'm':
if (!strcmp(optarg, "rates")) {
control_mode = CONTROL_MODE_RATES;
} else if (!strcmp(optarg, "attitude")) {
control_mode = CONTROL_MODE_RATES;
} else {
usage("unrecognized -m value");
}
optioncount += 2;
break;
case 't':
motor_test_mode = true;
optioncount += 1;
apps/multirotor_att_control/multirotor_attitude_control.c
+15 -5
View File
@@ -188,7 +188,7 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
}
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct actuator_controls_s *actuators)
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators)
{
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
@@ -305,10 +305,20 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
roll_controller.saturated = 1;
}
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
actuators->control[2] = yaw_rate_control;
actuators->control[3] = motor_thrust;
if (actuators) {
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
actuators->control[2] = yaw_rate_control;
actuators->control[3] = motor_thrust;
}
// XXX change yaw rate to yaw pos controller
if (rates_sp) {
rates_sp->roll = roll_control;
rates_sp->pitch = pitch_control;
rates_sp->yaw = yaw_rate_control;
rates_sp->thrust = motor_thrust;
}
motor_skip_counter++;
}
apps/multirotor_att_control/multirotor_attitude_control.h
+3 -2
View File
@@ -48,9 +48,10 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_controls.h>
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
struct actuator_controls_s *actuators);
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators);
#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */