forked from Archive/PX4-Autopilot
very much WIP, start to make mc att control p4 and ros compatible
This commit is contained in:
Thomas Gubler
parent
e622430460
commit
03ba38d0a4
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@ -71,17 +71,53 @@
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#include "mc_att_control_base.h"
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static bool thread_running = false; /**< Deamon status flag */
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static int daemon_task; /**< Handle of deamon task / thread */
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using namespace px4;
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/**
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* Multicopter attitude control app start / stop handling function
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*
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* @ingroup apps
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*/
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extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
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PX4_MAIN_FUNCTION(mc_att_control);
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int mc_attitude_thread_main(int argc, char *argv[]);
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#define YAW_DEADZONE 0.05f
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#define MIN_TAKEOFF_THRUST 0.2f
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#define RATES_I_LIMIT 0.3f
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void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) {
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PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
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}
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namespace px4
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{
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bool task_should_exit = false;
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}
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// PX4_MAIN_FUNCTION(mc_att_control) {
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// px4::init(argc, argv, "listener");
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// px4::NodeHandle n;
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// PX4_SUBSCRIBE(n, rc_channels, handle_vehicle_attitude2, 1000);
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/**
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* px4::spin() will enter a loop, pumping callbacks. With this version, all
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* callbacks will be called from within this thread (the main one). px4::spin()
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* will exit when Ctrl-C is pressed, or the node is shutdown by the master.
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*/
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// n.spin();
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// PX4_INFO("finished, returning");
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// return 0;
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// }
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class MulticopterAttitudeControl :
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public MulticopterAttitudeControlBase
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{
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@ -96,15 +132,10 @@ public:
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*/
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~MulticopterAttitudeControl();
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/**
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* Start the sensors task.
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*
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* @return OK on success.
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*/
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int start();
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void handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg);
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void spin() { n.spin(); }
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private:
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bool _task_should_exit; /**< if true, sensor task should exit */
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int _control_task; /**< task handle for sensor task */
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@ -123,6 +154,8 @@ private:
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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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px4::NodeHandle n;
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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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@ -184,15 +217,6 @@ private:
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*/
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void arming_status_poll();
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/**
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* Shim for calling task_main from task_create.
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*/
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static void task_main_trampoline(int argc, char *argv[]);
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/**
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* Main attitude control task.
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*/
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void task_main();
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};
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namespace mc_att_control
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@ -204,7 +228,6 @@ namespace mc_att_control
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#endif
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static const int ERROR = -1;
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MulticopterAttitudeControl *g_control;
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}
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MulticopterAttitudeControl::MulticopterAttitudeControl() :
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@ -224,6 +247,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
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_att_sp_pub(-1),
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_v_rates_sp_pub(-1),
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_actuators_0_pub(-1),
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n(),
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
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@ -252,6 +276,25 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
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/* fetch initial parameter values */
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parameters_update();
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/*
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* do subscriptions
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*/
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// _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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PX4_SUBSCRIBE(n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
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// _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, 0);
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// _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
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PX4_SUBSCRIBE(n, vehicle_rates_setpoint, 0);
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// _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
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PX4_SUBSCRIBE(n, vehicle_control_mode, 0);
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// _params_sub = orb_subscribe(ORB_ID(parameter_update));
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PX4_SUBSCRIBE(n, parameter_update, 0);
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// _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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PX4_SUBSCRIBE(n, manual_control_setpoint, 0);
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// _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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PX4_SUBSCRIBE(n, actuator_armed, 0);
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}
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MulticopterAttitudeControl::~MulticopterAttitudeControl()
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@ -275,7 +318,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
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} while (_control_task != -1);
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}
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mc_att_control::g_control = nullptr;
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// mc_att_control::g_control = nullptr;
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}
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int
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@ -415,200 +458,140 @@ MulticopterAttitudeControl::arming_status_poll()
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}
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}
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void
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MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
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{
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mc_att_control::g_control->task_main();
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}
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// void
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// MulticopterAttitudeControl::task_main()
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// {
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void
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MulticopterAttitudeControl::task_main()
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{
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px4::NodeHandle n;
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/*
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* do subscriptions
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*/
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_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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// PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, MulticopterAttitudeControl::handle_vehicle_attitude, this 0);
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_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
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_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
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_params_sub = orb_subscribe(ORB_ID(parameter_update));
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_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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// [> wakeup source: vehicle attitude <]
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// struct pollfd fds[1];
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/* initialize parameters cache */
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parameters_update();
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// fds[0].fd = _v_att_sub;
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// fds[0].events = POLLIN;
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/* wakeup source: vehicle attitude */
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struct pollfd fds[1];
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// while (!_task_should_exit) {
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fds[0].fd = _v_att_sub;
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fds[0].events = POLLIN;
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while (!_task_should_exit) {
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// perf_end(_loop_perf);
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// }
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/* wait for up to 100ms for data */
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int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
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// warnx("exit");
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/* timed out - periodic check for _task_should_exit */
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if (pret == 0) {
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continue;
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}
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/* this is undesirable but not much we can do - might want to flag unhappy status */
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if (pret < 0) {
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warn("poll error %d, %d", pret, errno);
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/* sleep a bit before next try */
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usleep(100000);
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continue;
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}
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perf_begin(_loop_perf);
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/* run controller on attitude changes */
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if (fds[0].revents & POLLIN) {
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static uint64_t last_run = 0;
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float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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/* guard against too small (< 2ms) and too large (> 20ms) dt's */
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if (dt < 0.002f) {
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dt = 0.002f;
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} else if (dt > 0.02f) {
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dt = 0.02f;
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}
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/* copy attitude topic */
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orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
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/* check for updates in other topics */
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parameter_update_poll();
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vehicle_control_mode_poll();
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arming_status_poll();
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vehicle_manual_poll();
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if (_v_control_mode.flag_control_attitude_enabled) {
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control_attitude(dt);
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/* publish the attitude setpoint if needed */
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if (_publish_att_sp) {
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_v_att_sp.timestamp = hrt_absolute_time();
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if (_att_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
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&_v_att_sp);
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} else {
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_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
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&_v_att_sp);
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}
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}
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/* publish attitude rates setpoint */
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_v_rates_sp.roll = _rates_sp(0);
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_v_rates_sp.pitch = _rates_sp(1);
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_v_rates_sp.yaw = _rates_sp(2);
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_v_rates_sp.thrust = _thrust_sp;
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_v_rates_sp.timestamp = hrt_absolute_time();
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if (_v_rates_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
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} else {
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_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
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}
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} else {
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/* attitude controller disabled, poll rates setpoint topic */
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if (_v_control_mode.flag_control_manual_enabled) {
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/* manual rates control - ACRO mode */
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_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
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_manual_control_sp.r).emult(_params.acro_rate_max);
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_thrust_sp = _manual_control_sp.z;
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/* reset yaw setpoint after ACRO */
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_reset_yaw_sp = true;
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/* publish attitude rates setpoint */
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_v_rates_sp.roll = _rates_sp(0);
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_v_rates_sp.pitch = _rates_sp(1);
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_v_rates_sp.yaw = _rates_sp(2);
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_v_rates_sp.thrust = _thrust_sp;
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_v_rates_sp.timestamp = hrt_absolute_time();
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if (_v_rates_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
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} else {
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_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
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}
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} else {
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/* attitude controller disabled, poll rates setpoint topic */
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vehicle_rates_setpoint_poll();
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_rates_sp(0) = _v_rates_sp.roll;
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_rates_sp(1) = _v_rates_sp.pitch;
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_rates_sp(2) = _v_rates_sp.yaw;
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_thrust_sp = _v_rates_sp.thrust;
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}
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}
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if (_v_control_mode.flag_control_rates_enabled) {
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control_attitude_rates(dt);
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/* publish actuator controls */
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_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
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_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
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_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
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_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
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_actuators.timestamp = hrt_absolute_time();
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if (!_actuators_0_circuit_breaker_enabled) {
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if (_actuators_0_pub > 0) {
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orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
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} else {
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_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
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}
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}
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}
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}
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perf_end(_loop_perf);
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}
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warnx("exit");
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_control_task = -1;
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_exit(0);
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}
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// _control_task = -1;
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// _exit(0);
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// }
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void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
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PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
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}
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int
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MulticopterAttitudeControl::start()
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{
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ASSERT(_control_task == -1);
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perf_begin(_loop_perf);
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/* start the task */
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_control_task = task_spawn_cmd("mc_att_control",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 5,
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2000,
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(main_t)&MulticopterAttitudeControl::task_main_trampoline,
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nullptr);
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/* run controller on attitude changes */
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static uint64_t last_run = 0;
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float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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if (_control_task < 0) {
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warn("task start failed");
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return -errno;
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/* guard against too small (< 2ms) and too large (> 20ms) dt's */
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if (dt < 0.002f) {
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dt = 0.002f;
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} else if (dt > 0.02f) {
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dt = 0.02f;
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}
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return OK;
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/* copy attitude topic */
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orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
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/* check for updates in other topics */
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parameter_update_poll();
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vehicle_control_mode_poll();
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arming_status_poll();
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vehicle_manual_poll();
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if (_v_control_mode.flag_control_attitude_enabled) {
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control_attitude(dt);
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/* publish the attitude setpoint if needed */
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if (_publish_att_sp) {
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_v_att_sp.timestamp = hrt_absolute_time();
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if (_att_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
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&_v_att_sp);
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} else {
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_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
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&_v_att_sp);
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}
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}
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/* publish attitude rates setpoint */
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_v_rates_sp.roll = _rates_sp(0);
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_v_rates_sp.pitch = _rates_sp(1);
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_v_rates_sp.yaw = _rates_sp(2);
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_v_rates_sp.thrust = _thrust_sp;
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_v_rates_sp.timestamp = hrt_absolute_time();
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if (_v_rates_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
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} else {
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_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
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}
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} else {
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/* attitude controller disabled, poll rates setpoint topic */
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if (_v_control_mode.flag_control_manual_enabled) {
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/* manual rates control - ACRO mode */
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_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
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_manual_control_sp.r).emult(_params.acro_rate_max);
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_thrust_sp = _manual_control_sp.z;
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/* reset yaw setpoint after ACRO */
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_reset_yaw_sp = true;
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/* publish attitude rates setpoint */
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_v_rates_sp.roll = _rates_sp(0);
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_v_rates_sp.pitch = _rates_sp(1);
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_v_rates_sp.yaw = _rates_sp(2);
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_v_rates_sp.thrust = _thrust_sp;
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_v_rates_sp.timestamp = hrt_absolute_time();
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if (_v_rates_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
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} else {
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_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
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}
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} else {
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/* attitude controller disabled, poll rates setpoint topic */
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vehicle_rates_setpoint_poll();
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_rates_sp(0) = _v_rates_sp.roll;
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_rates_sp(1) = _v_rates_sp.pitch;
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_rates_sp(2) = _v_rates_sp.yaw;
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_thrust_sp = _v_rates_sp.thrust;
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}
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}
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if (_v_control_mode.flag_control_rates_enabled) {
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control_attitude_rates(dt);
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/* publish actuator controls */
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_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
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_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
|
||||
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
|
||||
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
|
||||
_actuators.timestamp = hrt_absolute_time();
|
||||
|
||||
if (!_actuators_0_circuit_breaker_enabled) {
|
||||
if (_actuators_0_pub > 0) {
|
||||
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
|
||||
|
||||
} else {
|
||||
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
PX4_MAIN_FUNCTION(mc_att_control)
|
||||
|
|
@ -621,44 +604,67 @@ PX4_MAIN_FUNCTION(mc_att_control)
|
|||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (mc_att_control::g_control != nullptr) {
|
||||
errx(1, "already running");
|
||||
if (thread_running) {
|
||||
warnx("already running");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
mc_att_control::g_control = new MulticopterAttitudeControl;
|
||||
task_should_exit = false;
|
||||
|
||||
if (mc_att_control::g_control == nullptr) {
|
||||
errx(1, "alloc failed");
|
||||
}
|
||||
|
||||
if (OK != mc_att_control::g_control->start()) {
|
||||
delete mc_att_control::g_control;
|
||||
mc_att_control::g_control = nullptr;
|
||||
err(1, "start failed");
|
||||
}
|
||||
daemon_task = task_spawn_cmd("mc_att_control",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
2000,
|
||||
mc_attitude_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
if (mc_att_control::g_control == nullptr) {
|
||||
errx(1, "not running");
|
||||
}
|
||||
// if (!strcmp(argv[1], "stop")) {
|
||||
// if (mc_att_control::g_control == nullptr) {
|
||||
// errx(1, "not running");
|
||||
// }
|
||||
|
||||
delete mc_att_control::g_control;
|
||||
mc_att_control::g_control = nullptr;
|
||||
exit(0);
|
||||
}
|
||||
// delete mc_att_control::g_control;
|
||||
// mc_att_control::g_control = nullptr;
|
||||
// exit(0);
|
||||
// }
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (mc_att_control::g_control) {
|
||||
errx(0, "running");
|
||||
// if (!strcmp(argv[1], "status")) {
|
||||
// if (mc_att_control::g_control) {
|
||||
// errx(0, "running");
|
||||
|
||||
} else {
|
||||
errx(1, "not running");
|
||||
}
|
||||
}
|
||||
// } else {
|
||||
// errx(1, "not running");
|
||||
// }
|
||||
// }
|
||||
|
||||
warnx("unrecognized command");
|
||||
return 1;
|
||||
}
|
||||
|
||||
int mc_attitude_thread_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
warnx("starting");
|
||||
|
||||
MulticopterAttitudeControl attctl;
|
||||
|
||||
thread_running = true;
|
||||
|
||||
attctl.spin();
|
||||
|
||||
// while (!task_should_exit) {
|
||||
// attctl.update();
|
||||
// }
|
||||
|
||||
warnx("exiting.");
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue