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Work in process - beginning of navigation/position control implementation. Compiles, but has not been tested.

This commit is contained in:
Doug Weibel 2012-10-30 11:01:56 -06:00
parent 09ec869ae9
commit 18831db444
2 changed files with 156 additions and 10 deletions
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73
apps/fixedwing_pos_control/fixedwing_pos_control.h Normal file
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@ -0,0 +1,73 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Doug Weibel <douglas.weibel@colorado.edu>
* @author Lorenz Meier <lm@inf.ethz.ch>
@author Thomas Gubler <thomasgubler@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
* 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.
*
****************************************************************************/
/*
* @file fixedwing_pos_control.h
* Position control for fixed wing airframes.
*/
#ifndef FIXEDWING_POS_CONTROL_H_
#define FIXEDWING_POS_CONTROL_H_
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#endif
struct planned_path_segments_s {
bool segment_type;
double start_lat; // Start of line or center of arc
double start_lon;
double end_lat;
double end_lon;
float radius; // Radius of arc
float arc_start_bearing; // Bearing from center to start of arc
float arc_sweep; // Angle (radians) swept out by arc around center.
// Positive for clockwise, negative for counter-clockwise
};
float _wrap180(float bearing);
float _wrap360(float bearing);
float _wrapPI(float bearing);
float _wrap2PI(float bearing);
/* FIXEDWING_CONTROL_H_ */

93
apps/fixedwing_pos_control/fixedwing_pos_control_main.c
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@ -67,6 +67,7 @@
*
*/
PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track
PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians
PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians
@ -74,6 +75,7 @@ PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians
struct fw_pos_control_params {
float heading_p;
float xtrack_p;
float altitude_p;
float roll_lim;
float pitch_lim;
@ -81,6 +83,7 @@ struct fw_pos_control_params {
struct fw_pos_control_param_handles {
param_t heading_p;
param_t xtrack_p;
param_t altitude_p;
param_t roll_lim;
param_t pitch_lim;
@ -121,6 +124,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
{
/* PID parameters */
h->heading_p = param_find("FW_HEADING_P");
h->xtrack_p = param_find("FW_XTRACK_P");
h->altitude_p = param_find("FW_ALT_P");
h->roll_lim = param_find("FW_ROLL_LIM");
h->pitch_lim = param_find("FW_PITCH_LIM");
@ -132,6 +136,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
{
param_get(h->heading_p, &(p->heading_p));
param_get(h->xtrack_p, &(p->xtrack_p));
param_get(h->altitude_p, &(p->altitude_p));
param_get(h->roll_lim, &(p->roll_lim));
param_get(h->pitch_lim, &(p->pitch_lim));
@ -158,11 +163,15 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
/* declare and safely initialize all structs */
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
struct vehicle_global_position_s start_pos; // Temporary variable, replace with
memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available
struct vehicle_global_position_setpoint_s global_setpoint;
memset(&global_setpoint, 0, sizeof(global_setpoint));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
crosstrack_error_s xtrack_err;
//memset(&xtrack_err, 0, sizeof(xtrack_err));
/* output structs */
struct vehicle_attitude_setpoint_s attitude_setpoint;
memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
@ -181,6 +190,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
/* Setup of loop */
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
bool global_sp_updated_set_once = false;
bool start_point_set = false; // This is a temporary flag till the
// previous waypoint is available for computations
while(!thread_should_exit)
{
@ -221,7 +232,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
orb_check(global_setpoint_sub, &global_sp_updated);
if(global_sp_updated)
global_sp_updated_set_once = true;
if(global_sp_updated_set_once && !start_point_set) {
start_pos = global_pos;
start_point_set = true;
}
/* Load local copies */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
@ -239,17 +253,18 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
/* calculate bearing error */
float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
/* calculate crosstrack error */
// Only the case of a straight line track following handled so far
xtrack_err = get_distance_to_line(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
start_pos.lat / (double)1e7d, start_pos.lon / (double)1e7d,
global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
/* shift error to prevent wrapping issues */
float bearing_error = target_bearing - att.yaw;
if (bearing_error < M_PI_F) {
bearing_error += 2.0f * M_PI_F;
}
if (bearing_error > M_PI_F) {
bearing_error -= 2.0f * M_PI_F;
}
if(!(xtrack_err.error || xtrack_err.past_end))
bearing_error -= p.xtrack_p * xtrack_err.distance;
bearing_error = _wrapPI(bearing_error);
/* calculate roll setpoint, do this artificially around zero */
attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f);
@ -344,4 +359,62 @@ int fixedwing_pos_control_main(int argc, char *argv[])
}
float _wrapPI(float bearing)
{
while (bearing > M_PI_F) {
bearing = bearing - M_TWOPI_F;
}
while (bearing <= -M_PI_F) {
bearing = bearing + M_TWOPI_F;
}
return bearing;
}
float _wrap2PI(float bearing)
{
while (bearing >= M_TWOPI_F) {
bearing = bearing - M_TWOPI_F;
}
while (bearing < 0.0f) {
bearing = bearing + M_TWOPI_F;
}
return bearing;
}
float _wrap180(float bearing)
{
while (bearing > 180.0f) {
bearing = bearing - 360.0f;
}
while (bearing <= -180.0f) {
bearing = bearing + 360.0f;
}
return bearing;
}
float _wrap360(float bearing)
{
while (bearing >= 360.0f) {
bearing = bearing - 360.0f;
}
while (bearing < 0.0f) {
bearing = bearing + 360.0f;
}
return bearing;
}