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first version of yaw control loop, needs testing

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This commit is contained in:
Thomas Gubler
2012-11-11 19:10:26 +01:00
parent 403874d313
commit c1e28f5f13
6 changed files with 67 additions and 11 deletions
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apps/fixedwing_att_control/fixedwing_att_control_att.c
+3 -1
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@@ -113,6 +113,7 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att,
const float speed_body[],
struct vehicle_rates_setpoint_s *rates_sp)
{
static int counter = 0;
@@ -150,7 +151,8 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
/* Yaw (from coordinated turn constraint or lateral force) */
//TODO
rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch));
counter++;
apps/fixedwing_att_control/fixedwing_att_control_att.h
+2
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@@ -41,9 +41,11 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att,
const float speed_body[],
struct vehicle_rates_setpoint_s *rates_sp);
#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
apps/fixedwing_att_control/fixedwing_att_control_main.c
+39 -7
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@@ -58,6 +58,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#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 <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
@@ -135,28 +136,33 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
memset(&att_sp, 0, sizeof(att_sp));
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
// static struct debug_key_value_s debug_output;
// memset(&debug_output, 0, sizeof(debug_output));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
/* output structs */
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
static struct debug_key_value_s debug_output;
memset(&debug_output, 0, sizeof(debug_output));
/* publish actuator controls */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
actuators.control[i] = 0.0f;
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
// orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
// debug_output.key[0] = '1';
orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
debug_output.key[0] = '1';
/* subscribe */
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));
/* Setup of loop */
float gyro[3] = {0.0f, 0.0f, 0.0f};
float speed_body[3] = {0.0f, 0.0f, 0.0f};
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
while(!thread_should_exit)
@@ -164,10 +170,35 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
/* wait for a sensor update, check for exit condition every 500 ms */
poll(&fds, 1, 500);
/* Check if there is a new position measurement or attitude setpoint */
bool pos_updated;
orb_check(global_pos_sub, &pos_updated);
bool att_sp_updated;
orb_check(att_sp_sub, &att_sp_updated);
/*Get Local Copies */
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
if(att_sp_updated)
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
if(pos_updated)
{
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
if(att.R_valid)
{
speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
}
else
{
speed_body[0] = 0;
speed_body[1] = 0;
speed_body[2] = 0;
printf("FW ATT CONTROL: Did not get a valid R\n");
}
}
gyro[0] = att.rollspeed;
gyro[1] = att.pitchspeed;
@@ -178,6 +209,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
/* Attitude Control */
fixedwing_att_control_attitude(&att_sp,
&att,
&speed_body,
&rates_sp);
/* Attitude Rate Control */
@@ -187,8 +219,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
actuators.control[3] = 0.7f;
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
// debug_output.value = rates_sp.pitch;
// orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
debug_output.value = rates_sp.yaw;
orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
}
printf("[fixedwing_att_control] exiting, stopping all motors.\n");
apps/fixedwing_att_control/fixedwing_att_control_rate.c
+1 -1
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@@ -172,7 +172,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now
actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now
counter++;
apps/fixedwing_pos_control/fixedwing_pos_control_main.c
-1
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@@ -248,7 +248,6 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
/* Control */
/* Simple Horizontal Control */
if(global_sp_updated_set_once)
{
apps/mavlink/mavlink_receiver.c
+22 -1
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@@ -292,6 +292,26 @@ handle_message(mavlink_message_t *msg)
mavlink_hil_state_t hil_state;
mavlink_msg_hil_state_decode(msg, &hil_state);
/* Calculate Rotation Matrix */
//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
if(mavlink_system.type == MAV_TYPE_FIXED_WING) {
//TODO: asuming low pitch and roll for now
hil_attitude.R[0][0] = cosf(hil_state.yaw);
hil_attitude.R[0][1] = sinf(hil_state.yaw);
hil_attitude.R[0][2] = 0.0f;
hil_attitude.R[1][0] = -sinf(hil_state.yaw);
hil_attitude.R[1][1] = cosf(hil_state.yaw);
hil_attitude.R[1][2] = 0.0f;
hil_attitude.R[2][0] = 0.0f;
hil_attitude.R[2][1] = 0.0f;
hil_attitude.R[2][2] = 1.0f;
hil_attitude.R_valid = true;
}
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt / 1000.0f;
@@ -299,6 +319,7 @@ handle_message(mavlink_message_t *msg)
hil_global_pos.vy = hil_state.vy / 100.0f;
hil_global_pos.vz = hil_state.vz / 100.0f;
/* set timestamp and notify processes (broadcast) */
hil_global_pos.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
@@ -418,4 +439,4 @@ receive_start(int uart)
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
return thread;
}
}