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Merge remote-tracking branch 'upstream/mtecs' into navigator_rewrite

This commit is contained in:
Thomas Gubler 2014-06-28 17:20:44 +02:00
parent cc8f7f4c97 7b15a424f0
commit 045ee8c7c7
11 changed files with 66 additions and 67 deletions
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2
makefiles/config_aerocore_default.mk
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@ -80,8 +80,8 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter MODULES += lib/mathlib/math/filter
MODULES += lib/ecl MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion MODULES += lib/conversion
MODULES += lib/launchdetection MODULES += lib/launchdetection

2
makefiles/config_px4fmu-v1_default.mk
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@ -107,8 +107,8 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter MODULES += lib/mathlib/math/filter
MODULES += lib/ecl MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion MODULES += lib/conversion
MODULES += lib/launchdetection MODULES += lib/launchdetection

2
makefiles/config_px4fmu-v2_default.mk
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@ -120,8 +120,8 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter MODULES += lib/mathlib/math/filter
MODULES += lib/ecl MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion MODULES += lib/conversion
MODULES += lib/launchdetection MODULES += lib/launchdetection

2
src/lib/geo/geo.h
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@ -50,7 +50,7 @@
__BEGIN_DECLS __BEGIN_DECLS
#include "geo_mag_declination.h" #include "geo_lookup/geo_mag_declination.h"
#include <stdbool.h> #include <stdbool.h>

5
src/lib/geo/module.mk
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@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (C) 2012 PX4 Development Team. All rights reserved. # Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@ -35,5 +35,4 @@
# Geo library # Geo library
# #
SRCS = geo.c \ SRCS = geo.c
geo_mag_declination.c

0
src/lib/geo/geo_mag_declination.c → src/lib/geo_lookup/geo_mag_declination.c
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0
src/lib/geo/geo_mag_declination.h → src/lib/geo_lookup/geo_mag_declination.h
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40
src/lib/geo_lookup/module.mk Normal file
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@ -0,0 +1,40 @@
############################################################################
#
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
#
# 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
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Geo lookup table / data library
#
SRCS = geo_mag_declination.c
MAXOPTIMIZATION = -Os

4
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
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@ -1368,8 +1368,8 @@ FixedwingEstimator::task_main()
_wind.timestamp = _global_pos.timestamp; _wind.timestamp = _global_pos.timestamp;
_wind.windspeed_north = _ekf->states[14]; _wind.windspeed_north = _ekf->states[14];
_wind.windspeed_east = _ekf->states[15]; _wind.windspeed_east = _ekf->states[15];
_wind.covariance_north = 0.0f; // XXX get form filter _wind.covariance_north = _ekf->P[14][14];
_wind.covariance_east = 0.0f; _wind.covariance_east = _ekf->P[15][15];
/* lazily publish the wind estimate only once available */ /* lazily publish the wind estimate only once available */
if (_wind_pub > 0) { if (_wind_pub > 0) {

74
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -43,8 +43,8 @@
* Proceedings of the AIAA Guidance, Navigation and Control * Proceedings of the AIAA Guidance, Navigation and Control
* Conference, Aug 2004. AIAA-2004-4900. * Conference, Aug 2004. AIAA-2004-4900.
* *
* Original implementation for total energy control class: * Implementation for total energy control class:
* Paul Riseborough and Andrew Tridgell, 2013 (code in lib/external_lgpl) * Thomas Gubler
* *
* More details and acknowledgements in the referenced library headers. * More details and acknowledgements in the referenced library headers.
* *
@ -88,7 +88,6 @@
#include <mavlink/mavlink_log.h> #include <mavlink/mavlink_log.h>
#include <launchdetection/LaunchDetector.h> #include <launchdetection/LaunchDetector.h>
#include <ecl/l1/ecl_l1_pos_controller.h> #include <ecl/l1/ecl_l1_pos_controller.h>
#include <external_lgpl/tecs/tecs.h>
#include <drivers/drv_range_finder.h> #include <drivers/drv_range_finder.h>
#include "landingslope.h" #include "landingslope.h"
#include "mtecs/mTecs.h" #include "mtecs/mTecs.h"
@ -199,7 +198,6 @@ private:
math::Matrix<3, 3> _R_nb; ///< current attitude math::Matrix<3, 3> _R_nb; ///< current attitude
ECL_L1_Pos_Controller _l1_control; ECL_L1_Pos_Controller _l1_control;
TECS _tecs;
fwPosctrl::mTecs _mTecs; fwPosctrl::mTecs _mTecs;
bool _was_pos_control_mode; bool _was_pos_control_mode;
@ -565,23 +563,6 @@ FixedwingPositionControl::parameters_update()
_l1_control.set_l1_period(_parameters.l1_period); _l1_control.set_l1_period(_parameters.l1_period);
_l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit)); _l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit));
_tecs.set_time_const(_parameters.time_const);
_tecs.set_min_sink_rate(_parameters.min_sink_rate);
_tecs.set_max_sink_rate(_parameters.max_sink_rate);
_tecs.set_throttle_damp(_parameters.throttle_damp);
_tecs.set_integrator_gain(_parameters.integrator_gain);
_tecs.set_vertical_accel_limit(_parameters.vertical_accel_limit);
_tecs.set_height_comp_filter_omega(_parameters.height_comp_filter_omega);
_tecs.set_speed_comp_filter_omega(_parameters.speed_comp_filter_omega);
_tecs.set_roll_throttle_compensation(_parameters.roll_throttle_compensation);
_tecs.set_speed_weight(_parameters.speed_weight);
_tecs.set_pitch_damping(_parameters.pitch_damping);
_tecs.set_indicated_airspeed_min(_parameters.airspeed_min);
_tecs.set_indicated_airspeed_max(_parameters.airspeed_max);
_tecs.set_max_climb_rate(_parameters.max_climb_rate);
_tecs.set_heightrate_p(_parameters.heightrate_p);
_tecs.set_speedrate_p(_parameters.speedrate_p);
/* sanity check parameters */ /* sanity check parameters */
if (_parameters.airspeed_max < _parameters.airspeed_min || if (_parameters.airspeed_max < _parameters.airspeed_min ||
_parameters.airspeed_max < 5.0f || _parameters.airspeed_max < 5.0f ||
@ -653,9 +634,6 @@ FixedwingPositionControl::vehicle_airspeed_poll()
} }
} }
/* update TECS state */
_tecs.enable_airspeed(_airspeed_valid);
return airspeed_updated; return airspeed_updated;
} }
@ -835,10 +813,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2); math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
math::Vector<3> accel_earth = _R_nb * accel_body; math::Vector<3> accel_earth = _R_nb * accel_body;
if (!_mTecs.getEnabled()) {
_tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
}
float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt; float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
/* no throttle limit as default */ /* no throttle limit as default */
@ -863,9 +837,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* get circle mode */ /* get circle mode */
bool was_circle_mode = _l1_control.circle_mode(); bool was_circle_mode = _l1_control.circle_mode();
/* restore speed weight, in case changed intermittently (e.g. in landing handling) */
_tecs.set_speed_weight(_parameters.speed_weight);
/* current waypoint (the one currently heading for) */ /* current waypoint (the one currently heading for) */
math::Vector<2> next_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon); math::Vector<2> next_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon);
@ -1228,8 +1199,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* user switched off throttle */ /* user switched off throttle */
if (_manual.z < 0.1f) { if (_manual.z < 0.1f) {
throttle_max = 0.0f; throttle_max = 0.0f;
/* switch to pure pitch based altitude control, give up speed */
_tecs.set_speed_weight(0.0f);
} }
/* climb out control */ /* climb out control */
@ -1269,9 +1238,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.thrust = launchDetector.getThrottlePreTakeoff(); _att_sp.thrust = launchDetector.getThrottlePreTakeoff();
} }
else { else {
_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() :_tecs.get_throttle_demand(), throttle_max); _att_sp.thrust = math::min(_mTecs.getThrottleSetpoint(), throttle_max);
} }
_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand(); _att_sp.pitch_body = _mTecs.getPitchSetpoint();
if (_control_mode.flag_control_position_enabled) { if (_control_mode.flag_control_position_enabled) {
last_manual = false; last_manual = false;
@ -1455,29 +1424,20 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
const math::Vector<3> &ground_speed, const math::Vector<3> &ground_speed,
tecs_mode mode) tecs_mode mode)
{ {
if (_mTecs.getEnabled()) { /* Using mtecs library: prepare arguments for mtecs call */
/* Using mtecs library: prepare arguments for mtecs call */ float flightPathAngle = 0.0f;
float flightPathAngle = 0.0f; float ground_speed_length = ground_speed.length();
float ground_speed_length = ground_speed.length(); if (ground_speed_length > FLT_EPSILON) {
if (ground_speed_length > FLT_EPSILON) { flightPathAngle = -asinf(ground_speed(2)/ground_speed_length);
flightPathAngle = -asinf(ground_speed(2)/ground_speed_length);
}
fwPosctrl::LimitOverride limitOverride;
if (climbout_mode) {
limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
} else {
limitOverride.disablePitchMinOverride();
}
_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
limitOverride);
} else {
/* Using tecs library */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp,
_airspeed.indicated_airspeed_m_s, eas2tas,
climbout_mode, climbout_pitch_min_rad,
throttle_min, throttle_max, throttle_cruise,
pitch_min_rad, pitch_max_rad);
} }
fwPosctrl::LimitOverride limitOverride;
if (climbout_mode) {
limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
} else {
limitOverride.disablePitchMinOverride();
}
_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
limitOverride);
} }
int int

2
src/modules/systemlib/perf_counter.h
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@ -75,7 +75,7 @@ __EXPORT extern void perf_free(perf_counter_t handle);
/** /**
* Count a performance event. * Count a performance event.
* *
* This call only affects counters that take single events; PC_COUNT etc. * This call only affects counters that take single events; PC_COUNT, PC_INTERVAL etc.
* *
* @param handle The handle returned from perf_alloc. * @param handle The handle returned from perf_alloc.
*/ */