px4-firmware/apps/multirotor_pos_control/position_control.c

// /****************************************************************************
//  *
//  *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
//  *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
//  *           @author Laurens Mackay <mackayl@student.ethz.ch>
//  *           @author Tobias Naegeli <naegelit@student.ethz.ch>
//  *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
//  *
//  * 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
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//  ****************************************************************************/

// /**
//  * @file multirotor_position_control.c
//  * Implementation of the position control for a multirotor VTOL
//  */

// #include <stdio.h>
// #include <stdlib.h>
// #include <stdio.h>
// #include <stdint.h>
// #include <math.h>
// #include <stdbool.h>
// #include <float.h>
// #include <systemlib/pid/pid.h>

// #include "multirotor_position_control.h"

// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
//  const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
//  const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp)
// {
// 	static PID_t distance_controller;

// 	static int read_ret;
// 	static global_data_position_t position_estimated;

// 	static uint16_t counter;

// 	static bool initialized;
// 	static uint16_t pm_counter;

// 	static float lat_next;
// 	static float lon_next;

// 	static float pitch_current;

// 	static float thrust_total;


// 	if (initialized == false) {

// 		pid_init(&distance_controller,
// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
// 			 global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
// 			 PID_MODE_DERIVATIV_CALC, 150);//150

// //		pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
// //		pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];

// 		thrust_total = 0.0f;

// 		/* Position initialization */
// 		/* Wait for new position estimate */
// 		do {
// 			read_ret = read_lock_position(&position_estimated);
// 		} while (read_ret != 0);

// 		lat_next = position_estimated.lat;
// 		lon_next = position_estimated.lon;

// 		/* attitude initialization */
// 		global_data_lock(&global_data_attitude->access_conf);
// 		pitch_current = global_data_attitude->pitch;
// 		global_data_unlock(&global_data_attitude->access_conf);

// 		initialized = true;
// 	}

// 	/* load new parameters with 10Hz */
// 	if (counter % 50 == 0) {
// 		if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
// 			/* check whether new parameters are available */
// 			if (global_data_parameter_storage->counter > pm_counter) {
// 				pid_set_parameters(&distance_controller,
// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
// 						   global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);

// //
// //				pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
// //				pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];

// 				pm_counter = global_data_parameter_storage->counter;
// 				printf("Position controller changed pid parameters\n");
// 			}
// 		}

// 		global_data_unlock(&global_data_parameter_storage->access_conf);
// 	}


// 	/* Wait for new position estimate */
// 	do {
// 		read_ret = read_lock_position(&position_estimated);
// 	} while (read_ret != 0);

// 	/* Get next waypoint */ //TODO: add local copy

// 	if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
// 		lat_next = global_data_position_setpoint->x;
// 		lon_next = global_data_position_setpoint->y;
// 		global_data_unlock(&global_data_position_setpoint->access_conf);
// 	}

// 	/* Get distance to waypoint */
// 	float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
// //	if(counter % 5 == 0)
// //		printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);

// 	/* Get bearing to waypoint (direction on earth surface to next waypoint) */
// 	float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);

// 	if (counter % 5 == 0)
// 		printf("bearing: %.4f\n", bearing);

// 	/* Calculate speed in direction of bearing (needed for controller) */
// 	float speed_norm = sqrtf(position_estimated.vx  * position_estimated.vx + position_estimated.vy * position_estimated.vy);
// //	if(counter % 5 == 0)
// //		printf("speed_norm: %.4f\n", speed_norm);
// 	float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller

// 	/* Control Thrust in bearing direction  */
// 	float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
// 				  CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else

// //	if(counter % 5 == 0)
// //		printf("horizontal thrust: %.4f\n", horizontal_thrust);

// 	/* Get total thrust (from remote for now) */
// 	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
// 		thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; 												//TODO: how should we use the RC_CHANNELS_FUNCTION enum?
// 		global_data_unlock(&global_data_rc_channels->access_conf);
// 	}

// 	const float max_gas = 500.0f;
// 	thrust_total *= max_gas / 20000.0f; //TODO: check this
// 	thrust_total += max_gas / 2.0f;


// 	if (horizontal_thrust > thrust_total) {
// 		horizontal_thrust = thrust_total;

// 	} else if (horizontal_thrust < -thrust_total) {
// 		horizontal_thrust = -thrust_total;
// 	}



// 	//TODO: maybe we want to add a speed controller later...

// 	/* Calclulate thrust in east and north direction */
// 	float thrust_north = cosf(bearing) * horizontal_thrust;
// 	float thrust_east = sinf(bearing) * horizontal_thrust;

// 	if (counter % 10 == 0) {
// 		printf("thrust north: %.4f\n", thrust_north);
// 		printf("thrust east: %.4f\n", thrust_east);
// 		fflush(stdout);
// 	}

// 	/* Get current attitude */
// 	if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
// 		pitch_current = global_data_attitude->pitch;
// 		global_data_unlock(&global_data_attitude->access_conf);
// 	}

// 	/* Get desired pitch & roll */
// 	float pitch_desired = 0.0f;
// 	float roll_desired = 0.0f;

// 	if (thrust_total != 0) {
// 		float pitch_fraction = -thrust_north / thrust_total;
// 		float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);

// 		if (roll_fraction < -1) {
// 			roll_fraction = -1;

// 		} else if (roll_fraction > 1) {
// 			roll_fraction = 1;
// 		}

// //		if(counter % 5 == 0)
// //		{
// //			printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
// //			fflush(stdout);
// //		}

// 		pitch_desired = asinf(pitch_fraction);
// 		roll_desired = asinf(roll_fraction);
// 	}

// 	att_sp.roll = roll_desired;
// 	att_sp.pitch = pitch_desired;

// 	counter++;
// }