Merged with coordinated turn effort

apps/fixedwing_att_control/fixedwing_att_control_att.c

@@ -113,6 +113,7 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
 
 int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
 		const struct vehicle_attitude_s *att,
+		const float speed_body[],
 		struct vehicle_rates_setpoint_s *rates_sp)
 {
 	static int counter = 0;
@@ -148,13 +149,14 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	/* Pitch (P) */
 
 	/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
-	float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(att_sp->roll_body);
+	float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
 	/* set pitch plus feedforward roll compensation */
 	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + pitch_sp_rollcompensation,
 				 att->pitch, 0, 0);
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
-	//TODO
+	rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
+			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch));
 
 	counter++;
 

apps/fixedwing_att_control/fixedwing_att_control_att.h

@@ -41,9 +41,11 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_global_position.h>
 
 int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
 		const struct vehicle_attitude_s *att,
+		const float speed_body[],
 		struct vehicle_rates_setpoint_s *rates_sp);
 
 #endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */

apps/fixedwing_att_control/fixedwing_att_control_main.c

@@ -58,6 +58,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/debug_key_value.h>
 #include <systemlib/param/param.h>
 #include <systemlib/pid/pid.h>
@@ -135,13 +136,14 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		memset(&att_sp, 0, sizeof(att_sp));
 		struct vehicle_rates_setpoint_s rates_sp;
 		memset(&rates_sp, 0, sizeof(rates_sp));
+		struct vehicle_global_position_s global_pos;
+		memset(&global_pos, 0, sizeof(global_pos));
 		struct manual_control_setpoint_s manual_sp;
 		memset(&manual_sp, 0, sizeof(manual_sp));
 		struct vehicle_status_s vstatus;
 		memset(&vstatus, 0, sizeof(vstatus));
-
+		struct debug_key_value_s debug_output;
-//		static struct debug_key_value_s debug_output;
+		memset(&debug_output, 0, sizeof(debug_output));
-//		memset(&debug_output, 0, sizeof(debug_output));
 
 		/* output structs */
 		struct actuator_controls_s actuators;
@@ -154,18 +156,19 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		}
 		orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
 		orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-//		orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
+		orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
-//		debug_output.key[0] = '1';
+		strncpy(debug_output.key, "yaw_rate", sizeof(debug_output.key - 1));
-
 
 		/* subscribe */
 		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 		int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+		int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 		int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 		int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
 
 		/* Setup of loop */
 		float gyro[3] = {0.0f, 0.0f, 0.0f};
+		float speed_body[3] = {0.0f, 0.0f, 0.0f};
 		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
 
 		while(!thread_should_exit)
@@ -173,9 +176,35 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 			/* wait for a sensor update, check for exit condition every 500 ms */
 			poll(&fds, 1, 500);
 
+			/* Check if there is a new position measurement or  attitude setpoint */
+			bool pos_updated;
+			orb_check(global_pos_sub, &pos_updated);
+			bool att_sp_updated;
+			orb_check(att_sp_sub, &att_sp_updated);
+
 			/* get a local copy of attitude */
 			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
+			if(att_sp_updated)
+				orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
+			if(pos_updated)
+			{
+				orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
+				if(att.R_valid)
+				{
+					speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
+					speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
+					speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
+				}
+				else
+				{
+					speed_body[0] = 0;
+					speed_body[1] = 0;
+					speed_body[2] = 0;
+
+					printf("FW ATT CONTROL: Did not get a valid R\n");
+				}
+			}
+
 			orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
 			orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
 
@@ -184,10 +213,10 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 			gyro[2] = att.yawspeed;
 
 			/* Control */
-
 			if (vstatus.state_machine == SYSTEM_STATE_AUTO) {
+
 				/* attitude control */
-				fixedwing_att_control_attitude(&att_sp, &att, &rates_sp);
+				fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
 				/* publish rate setpoint */
 				orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
 
@@ -219,7 +248,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 					att_sp.timestamp = hrt_absolute_time();
 				}
 
-				fixedwing_att_control_attitude(&att_sp, &att, &rates_sp);
+				fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
 
 				/* publish rate setpoint */
 				orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
@@ -242,6 +271,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 
 			/* publish output */
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+			debug_output.value = rates_sp.yaw;
+			orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
 		}
 
 		printf("[fixedwing_att_control] exiting, stopping all motors.\n");

apps/fixedwing_att_control/fixedwing_att_control_rate.c

@@ -170,11 +170,12 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 
 	/* Roll Rate (PI) */
-	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
+	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
 
-
+	/* pitch rate (PI) */
-	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
+	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
-	actuators->control[2] = 0.0f;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); 	//XXX TODO disabled for now
+	/* yaw rate (PI) */
+	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
 
 	counter++;
 

apps/fixedwing_pos_control/fixedwing_pos_control_main.c

@@ -77,6 +77,8 @@ PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
 
 struct fw_pos_control_params {
 	float heading_p;
+	float headingr_p;
+	float headingr_i;
 	float xtrack_p;
 	float altitude_p;
 	float roll_lim;
@@ -85,6 +87,8 @@ struct fw_pos_control_params {
 
 struct fw_pos_control_param_handles {
 	param_t heading_p;
+	param_t headingr_p;
+	param_t headingr_i;
 	param_t xtrack_p;
 	param_t altitude_p;
 	param_t roll_lim;
@@ -139,6 +143,8 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
 {
 	/* PID parameters */
 	h->heading_p 	=	param_find("FW_HEADING_P");
+	h->headingr_p 	=	param_find("FW_HEADINGR_P");
+	h->headingr_i 	=	param_find("FW_HEADINGR_I");
 	h->xtrack_p 	=	param_find("FW_XTRACK_P");
 	h->altitude_p 	=	param_find("FW_ALT_P");
 	h->roll_lim 	=	param_find("FW_ROLL_LIM");
@@ -151,6 +157,8 @@ 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->headingr_p, &(p->headingr_p));
+	param_get(h->headingr_i, &(p->headingr_i));
 	param_get(h->xtrack_p, &(p->xtrack_p));
 	param_get(h->altitude_p, &(p->altitude_p));
 	param_get(h->roll_lim, &(p->roll_lim));
@@ -221,12 +229,16 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 		struct fw_pos_control_param_handles h;
 
 		PID_t heading_controller;
+		PID_t heading_rate_controller;
+		PID_t offtrack_controller;
 		PID_t altitude_controller;
 
 		parameters_init(&h);
 		parameters_update(&h, &p);
-		pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE);
+		pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
-		pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f,p.pitch_lim,PID_MODE_DERIVATIV_NONE);
+		pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
+		pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
+		pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f*M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
 
 		/* error and performance monitoring */
 		perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
@@ -252,8 +264,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 					/* update parameters from storage */
 					parameters_update(&h, &p);
-					pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim);
+					pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
+					pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
 					pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
+					pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value
 				}
 
 				/* only run controller if attitude changed */
@@ -268,6 +282,11 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 					/* load local copies */
 					orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
 
+					static uint64_t last_run = 0;
+					const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+					last_run = hrt_absolute_time();
+
+
 					if (pos_updated) {
 						orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
 					}
@@ -282,27 +301,21 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 						printf("psi_track: %0.4f\n", (double)psi_track);
 					}
 
-					/* simple horizontal control, execute if line between wps is known */
+					/* Simple Horizontal Control */
 					if(global_sp_updated_set_once)
 					{
 		//				if (counter % 100 == 0)
 		//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
-						
+
 						/* calculate crosstrack error */
 						// Only the case of a straight line track following handled so far
-						 int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+						int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
 								(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
 								(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
 
 						if(!(distance_res != OK || xtrack_err.past_end)) {
 
-							float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
+							float delta_psi_c = -pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
-
-							if(delta_psi_c > 60.0f*M_DEG_TO_RAD_F)
-								delta_psi_c = 60.0f*M_DEG_TO_RAD_F;
-
-							if(delta_psi_c < -60.0f*M_DEG_TO_RAD_F)
-								delta_psi_c = -60.0f*M_DEG_TO_RAD_F;
 
 							float psi_c = psi_track + delta_psi_c;
 
@@ -312,7 +325,18 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 							psi_e = _wrap_pi(psi_e);
 
 							/* calculate roll setpoint, do this artificially around zero */
-							attitude_setpoint.roll_body = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
+							//TODO: psi rate loop incomplete
+							float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
+							float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
+							float psi_rate_c = delta_psi_rate_c + psi_rate_track;
+
+							//TODO limit turn rate
+
+							float psi_rate_e = psi_rate_c - att.yawspeed;
+
+							float psi_rate_e_scaled = psi_rate_e * sqrtf(pow(global_pos.vx,2) + pow(global_pos.vy,2)) / 9.81f; //* V_gr / g
+
+							attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
 
 		//					if (counter % 100 == 0)
 		//						printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
@@ -322,10 +346,13 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 								printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
 						}
 
-						// XXX SIMPLE ALTITUDE, BUT NO SPEED CONTROL
+						/* Very simple Altitude Control */
-						if (pos_updated) {
+						if(pos_updated)
+						{
+
 							//TODO: take care of relative vs. ab. altitude
 							attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
+
 						}
 
 						// XXX need speed control

apps/mavlink/mavlink_receiver.c

@@ -296,6 +296,26 @@ handle_message(mavlink_message_t *msg)
 			mavlink_hil_state_t hil_state;
 			mavlink_msg_hil_state_decode(msg, &hil_state);
 
+			/* Calculate Rotation Matrix */
+			//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
+
+			if(mavlink_system.type == MAV_TYPE_FIXED_WING) {
+				//TODO: asuming low pitch and roll for now
+				hil_attitude.R[0][0] = cosf(hil_state.yaw);
+				hil_attitude.R[0][1] = sinf(hil_state.yaw);
+				hil_attitude.R[0][2] = 0.0f;
+
+				hil_attitude.R[1][0] = -sinf(hil_state.yaw);
+				hil_attitude.R[1][1] = cosf(hil_state.yaw);
+				hil_attitude.R[1][2] = 0.0f;
+
+				hil_attitude.R[2][0] = 0.0f;
+				hil_attitude.R[2][1] = 0.0f;
+				hil_attitude.R[2][2] = 1.0f;
+
+				hil_attitude.R_valid = true;
+			}
+
 			hil_global_pos.lat = hil_state.lat;
 			hil_global_pos.lon = hil_state.lon;
 			hil_global_pos.alt = hil_state.alt / 1000.0f;
@@ -303,6 +323,7 @@ handle_message(mavlink_message_t *msg)
 			hil_global_pos.vy = hil_state.vy / 100.0f;
 			hil_global_pos.vz = hil_state.vz / 100.0f;
 
+
 			/* set timestamp and notify processes (broadcast) */
 			hil_global_pos.timestamp = hrt_absolute_time();
 			orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
@@ -427,4 +448,4 @@ receive_start(int uart)
 	pthread_t thread;
 	pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
 	return thread;
-}
+}