Mirrors_Framework/PX4-Autopilot
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Merge remote-tracking branch 'upstream/master' into new_state_machine

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Conflicts:
	src/examples/fixedwing_control/main.c
This commit is contained in:
Julian Oes
2013-06-12 12:24:52 +02:00
parent f5c157e74d 42ce3112ad
commit 7f90ebf537
329 changed files with 5893 additions and 121390 deletions
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src/examples/fixedwing_control/main.c
+109 -21
View File
@@ -33,10 +33,13 @@
****************************************************************************/
/**
* @file main.c
* Implementation of a fixed wing attitude controller. This file is a complete
* fixed wing controller flying manual attitude control or auto waypoint control.
*
* Example implementation of a fixed wing attitude controller. This file is a complete
* fixed wing controller for manual attitude control or auto waypoint control.
* There is no need to touch any other system components to extend / modify the
* complete control architecture.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
@@ -60,7 +63,6 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
@@ -73,8 +75,15 @@
#include "params.h"
/* Prototypes */
/**
* Daemon management function.
*
* This function allows to start / stop the background task (daemon).
* The purpose of it is to be able to start the controller on the
* command line, query its status and stop it, without giving up
* the command line to one particular process or the need for bg/fg
* ^Z support by the shell.
*/
__EXPORT int ex_fixedwing_control_main(int argc, char *argv[]);
@@ -88,10 +97,34 @@ int fixedwing_control_thread_main(int argc, char *argv[]);
*/
static void usage(const char *reason);
/**
* Control roll and pitch angle.
*
* This very simple roll and pitch controller takes the current roll angle
* of the system and compares it to a reference. Pitch is controlled to zero and yaw remains
* uncontrolled (tutorial code, not intended for flight).
*
* @param att_sp The current attitude setpoint - the values the system would like to reach.
* @param att The current attitude. The controller should make the attitude match the setpoint
* @param speed_body The velocity of the system. Currently unused.
* @param rates_sp The angular rate setpoint. This is the output of the controller.
*/
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
float speed_body[], float gyro[], struct vehicle_rates_setpoint_s *rates_sp,
float speed_body[], struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators);
/**
* Control heading.
*
* This very simple heading to roll angle controller outputs the desired roll angle based on
* the current position of the system, the desired position (the setpoint) and the current
* heading.
*
* @param pos The current position of the system
* @param sp The current position setpoint
* @param att The current attitude
* @param att_sp The attitude setpoint. This is the output of the controller
*/
void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
@@ -103,7 +136,7 @@ static struct params p;
static struct param_handles ph;
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
float speed_body[], float gyro[], struct vehicle_rates_setpoint_s *rates_sp,
float speed_body[], struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators)
{
@@ -148,13 +181,23 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v
* Calculate heading error of current position to desired position
*/
/* PX4 uses 1e7 scaled integers to represent global coordinates for max resolution */
/*
* PX4 uses 1e7 scaled integers to represent global coordinates for max resolution,
* so they need to be scaled by 1e7 and converted to IEEE double precision floating point.
*/
float bearing = get_bearing_to_next_waypoint(pos->lat/1e7d, pos->lon/1e7d, sp->lat/1e7d, sp->lon/1e7d);
/* calculate heading error */
float yaw_err = att->yaw - bearing;
/* apply control gain */
att_sp->roll_body = yaw_err * p.hdng_p;
float roll_command = yaw_err * p.hdng_p;
/* limit output, this commonly is a tuning parameter, too */
if (att_sp->roll_body < -0.6f) {
att_sp->roll_body = -0.6f;
} else if (att_sp->roll_body > 0.6f) {
att_sp->roll_body = 0.6f;
}
}
/* Main Thread */
@@ -176,7 +219,32 @@ int fixedwing_control_thread_main(int argc, char *argv[])
parameters_init(&ph);
parameters_update(&ph, &p);
/* declare and safely initialize all structs to zero */
/*
* PX4 uses a publish/subscribe design pattern to enable
* multi-threaded communication.
*
* The most elegant aspect of this is that controllers and
* other processes can either 'react' to new data, or run
* at their own pace.
*
* PX4 developer guide:
* https://pixhawk.ethz.ch/px4/dev/shared_object_communication
*
* Wikipedia description:
* http://en.wikipedia.org/wiki/Publish–subscribe_pattern
*
*/
/*
* Declare and safely initialize all structs to zero.
*
* These structs contain the system state and things
* like attitude, position, the current waypoint, etc.
*/
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
@@ -192,20 +260,24 @@ int fixedwing_control_thread_main(int argc, char *argv[])
struct vehicle_global_position_setpoint_s global_sp;
memset(&global_sp, 0, sizeof(global_sp));
/* output structs */
/* output structs - this is what is sent to the mixer */
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
/* publish actuator controls */
/* publish actuator controls with zero values */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
actuators.control[i] = 0.0f;
}
/*
* Advertise that this controller will publish actuator
* control values and the rate setpoint
*/
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
/* subscribe */
/* subscribe to topics. */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
@@ -215,8 +287,9 @@ int fixedwing_control_thread_main(int argc, char *argv[])
int param_sub = orb_subscribe(ORB_ID(parameter_update));
/* Setup of loop */
float gyro[3] = {0.0f, 0.0f, 0.0f};
float speed_body[3] = {0.0f, 0.0f, 0.0f};
/* RC failsafe check */
bool throttle_half_once = false;
struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN },
{ .fd = att_sub, .events = POLLIN }};
@@ -235,7 +308,10 @@ int fixedwing_control_thread_main(int argc, char *argv[])
int ret = poll(fds, 2, 500);
if (ret < 0) {
/* poll error, this will not really happen in practice */
/*
* Poll error, this will not really happen in practice,
* but its good design practice to make output an error message.
*/
warnx("poll error");
} else if (ret == 0) {
@@ -261,6 +337,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
orb_check(global_pos_sub, &pos_updated);
bool global_sp_updated;
orb_check(global_sp_sub, &global_sp_updated);
bool manual_sp_updated;
orb_check(manual_sp_sub, &manual_sp_updated);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
@@ -268,6 +346,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
if (global_sp_updated)
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_sp_sub, &global_sp);
/* currently speed in body frame is not used, but here for reference */
if (pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
@@ -285,12 +364,19 @@ int fixedwing_control_thread_main(int argc, char *argv[])
}
}
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
if (manual_sp_updated)
/* get the RC (or otherwise user based) input */
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
gyro[0] = att.rollspeed;
gyro[1] = att.pitchspeed;
gyro[2] = att.yawspeed;
/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
if (isfinite(manual_sp.throttle) &&
(manual_sp.throttle >= 0.6f) &&
(manual_sp.throttle <= 1.0f)) {
throttle_half_once = true;
}
/* get the system status and the flight mode we're in */
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
/* control */
@@ -307,7 +393,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
actuators.control[2] = 0.0f;
/* simple attitude control */
control_attitude(&att_sp, &att, speed_body, gyro, &rates_sp, &actuators);
control_attitude(&att_sp, &att, speed_body, &rates_sp, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
@@ -316,10 +402,12 @@ int fixedwing_control_thread_main(int argc, char *argv[])
actuators.control[4] = 0.0f;
} else if (vstatus.navigation_state == NAVIGATION_STATE_MANUAL) {
/* if in manual mode, decide between attitude stabilization (SAS) and full manual pass-through */
} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if (vstatus.rc_signal_lost) {
if (vstatus.rc_signal_lost && throttle_half_once) {
/* put plane into loiter */
att_sp.roll_body = 0.3f;
@@ -350,7 +438,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
att_sp.timestamp = hrt_absolute_time();
/* attitude control */
control_attitude(&att_sp, &att, speed_body, gyro, &rates_sp, &actuators);
control_attitude(&att_sp, &att, speed_body, &rates_sp, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
src/examples/fixedwing_control/params.c
+1 -1
View File
@@ -45,7 +45,7 @@
/**
*
*/
PARAM_DEFINE_FLOAT(EXFW_HDNG_P, 0.2f);
PARAM_DEFINE_FLOAT(EXFW_HDNG_P, 0.1f);
/**
*