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px4-firmware
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Distinction between yaw position and yaw speed control, just messsed around in the code, untested

This commit is contained in:
Julian Oes 2012-11-18 14:12:02 -08:00
parent 9c8e031f6b
commit 2652b16d37
4 changed files with 56 additions and 40 deletions
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78
apps/multirotor_att_control/multirotor_att_control_main.c
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@ -105,6 +105,7 @@ mc_thread_main(int argc, char *argv[])
memset(&rates_sp, 0, sizeof(rates_sp)); memset(&rates_sp, 0, sizeof(rates_sp));
struct actuator_controls_s actuators; struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
/* subscribe to attitude, motor setpoints and system state */ /* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@ -151,10 +152,14 @@ mc_thread_main(int argc, char *argv[])
bool flag_control_attitude_enabled = false; bool flag_control_attitude_enabled = false;
bool flag_system_armed = false; bool flag_system_armed = false;
/* store if yaw position or yaw speed has been changed */
bool control_yaw_position = true;
/* prepare the handle for the failsafe throttle */ /* prepare the handle for the failsafe throttle */
param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR"); param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR");
float failsafe_throttle = 0.0f; float failsafe_throttle = 0.0f;
while (!thread_should_exit) { while (!thread_should_exit) {
/* wait for a sensor update, check for exit condition every 500 ms */ /* wait for a sensor update, check for exit condition every 500 ms */
@ -205,28 +210,27 @@ mc_thread_main(int argc, char *argv[])
/** STEP 1: Define which input is the dominating control input */ /** STEP 1: Define which input is the dominating control input */
if (state.flag_control_offboard_enabled) { if (state.flag_control_offboard_enabled) {
/* offboard inputs */ /* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
rates_sp.roll = offboard_sp.p1; rates_sp.roll = offboard_sp.p1;
rates_sp.pitch = offboard_sp.p2; rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3; rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4; rates_sp.thrust = offboard_sp.p4;
// printf("thrust_rate=%8.4f\n",offboard_sp.p4); // printf("thrust_rate=%8.4f\n",offboard_sp.p4);
rates_sp.timestamp = hrt_absolute_time(); rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1; att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2; att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3; att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4; att_sp.thrust = offboard_sp.p4;
// printf("thrust_att=%8.4f\n",offboard_sp.p4); // printf("thrust_att=%8.4f\n",offboard_sp.p4);
att_sp.timestamp = hrt_absolute_time(); att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */ /* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
} }
/* decide wether we want rate or position input */
/* decide wether we want rate or position input */ }
}
else if (state.flag_control_manual_enabled) { else if (state.flag_control_manual_enabled) {
/* manual inputs, from RC control or joystick */ /* manual inputs, from RC control or joystick */
@ -277,14 +281,29 @@ mc_thread_main(int argc, char *argv[])
att_sp.pitch_body = manual.pitch; att_sp.pitch_body = manual.pitch;
/* only move setpoint if manual input is != 0 */ /* only move setpoint if manual input is != 0 */
// XXX turn into param
if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { if(manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_POS) {
att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f; // XXX turn into param
} else if (manual.throttle <= 0.3f) { if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
att_sp.yaw_body = att.yaw; att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
} else if (manual.throttle <= 0.3f) {
att_sp.yaw_body = att.yaw;
}
control_yaw_position = true;
} else if (manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_RATE) {
if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
rates_sp.yaw = manual.yaw;
control_yaw_position = false;
} else {
att_sp.yaw_body = 0.0f;
control_yaw_position = true;
}
} }
att_sp.thrust = manual.throttle; att_sp.thrust = manual.throttle;
att_sp.timestamp = hrt_absolute_time(); att_sp.timestamp = hrt_absolute_time();
//rates_sp.yaw = manual.yaw;
} }
} }
/* STEP 2: publish the result to the vehicle actuators */ /* STEP 2: publish the result to the vehicle actuators */
@ -305,7 +324,10 @@ mc_thread_main(int argc, char *argv[])
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */ /** STEP 3: Identify the controller setup to run and set up the inputs correctly */
if (state.flag_control_attitude_enabled) { if (state.flag_control_attitude_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL, control_yaw_position);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} }

9
apps/multirotor_att_control/multirotor_attitude_control.c
View File

@ -158,7 +158,7 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
} }
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators) const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators, bool control_yaw_position)
{ {
static uint64_t last_run = 0; static uint64_t last_run = 0;
static uint64_t last_input = 0; static uint64_t last_input = 0;
@ -216,9 +216,10 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
att->roll, att->rollspeed, deltaT); att->roll, att->rollspeed, deltaT);
/* control yaw rate */ if(control_yaw_position) {
rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_body), sinf(att->yaw - att_sp->yaw_body)) - (p.yaw_d * att->yawspeed); /* control yaw rate */
rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_body), sinf(att->yaw - att_sp->yaw_body)) - (p.yaw_d * att->yawspeed);
}
rates_sp->thrust = att_sp->thrust; rates_sp->thrust = att_sp->thrust;
motor_skip_counter++; motor_skip_counter++;

2
apps/multirotor_att_control/multirotor_attitude_control.h
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@ -52,6 +52,6 @@
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators); const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *, bool control_yaw_position);
#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */ #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */

7
apps/uORB/topics/manual_control_setpoint.h
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@ -48,13 +48,6 @@
* @{ * @{
*/ */
/**
* Defines how RC channels map to control inputs.
*
* The default mode on quadrotors and fixed wing is
* roll and pitch position of the right stick and
* throttle and yaw rate on the left stick
*/
enum MANUAL_CONTROL_MODE enum MANUAL_CONTROL_MODE
{ {
MANUAL_CONTROL_MODE_DIRECT = 0, MANUAL_CONTROL_MODE_DIRECT = 0,