forked from Archive/PX4-Autopilot
Merged with coordinated turn effort
This commit is contained in:
commit
2ca09ab3d1
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@ -113,6 +113,7 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
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int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
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const struct vehicle_attitude_s *att,
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const float speed_body[],
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struct vehicle_rates_setpoint_s *rates_sp)
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{
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static int counter = 0;
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@ -148,13 +149,14 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
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/* Pitch (P) */
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/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
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float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(att_sp->roll_body);
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float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
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/* set pitch plus feedforward roll compensation */
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rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + pitch_sp_rollcompensation,
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att->pitch, 0, 0);
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/* Yaw (from coordinated turn constraint or lateral force) */
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//TODO
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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))
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/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch));
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counter++;
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@ -41,9 +41,11 @@
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_global_position.h>
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int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
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const struct vehicle_attitude_s *att,
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const float speed_body[],
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struct vehicle_rates_setpoint_s *rates_sp);
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#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
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@ -58,6 +58,7 @@
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/debug_key_value.h>
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#include <systemlib/param/param.h>
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#include <systemlib/pid/pid.h>
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@ -135,13 +136,14 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
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memset(&att_sp, 0, sizeof(att_sp));
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struct vehicle_rates_setpoint_s rates_sp;
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memset(&rates_sp, 0, sizeof(rates_sp));
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struct vehicle_global_position_s global_pos;
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memset(&global_pos, 0, sizeof(global_pos));
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struct manual_control_setpoint_s manual_sp;
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memset(&manual_sp, 0, sizeof(manual_sp));
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struct vehicle_status_s vstatus;
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memset(&vstatus, 0, sizeof(vstatus));
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// static struct debug_key_value_s debug_output;
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// memset(&debug_output, 0, sizeof(debug_output));
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struct debug_key_value_s debug_output;
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memset(&debug_output, 0, sizeof(debug_output));
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/* output structs */
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struct actuator_controls_s actuators;
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@ -154,18 +156,19 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
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}
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orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
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orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
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// orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
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// debug_output.key[0] = '1';
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orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
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strncpy(debug_output.key, "yaw_rate", sizeof(debug_output.key - 1));
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/* subscribe */
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
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/* Setup of loop */
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float gyro[3] = {0.0f, 0.0f, 0.0f};
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float speed_body[3] = {0.0f, 0.0f, 0.0f};
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struct pollfd fds = { .fd = att_sub, .events = POLLIN };
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while(!thread_should_exit)
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@ -173,9 +176,35 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
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/* wait for a sensor update, check for exit condition every 500 ms */
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poll(&fds, 1, 500);
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/* Check if there is a new position measurement or attitude setpoint */
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bool pos_updated;
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orb_check(global_pos_sub, &pos_updated);
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bool att_sp_updated;
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orb_check(att_sp_sub, &att_sp_updated);
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/* get a local copy of attitude */
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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if(att_sp_updated)
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orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
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if(pos_updated)
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{
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orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
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if(att.R_valid)
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{
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speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
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speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
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speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
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}
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else
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{
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speed_body[0] = 0;
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speed_body[1] = 0;
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speed_body[2] = 0;
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printf("FW ATT CONTROL: Did not get a valid R\n");
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}
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}
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orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
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orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
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@ -184,10 +213,10 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
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gyro[2] = att.yawspeed;
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/* Control */
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if (vstatus.state_machine == SYSTEM_STATE_AUTO) {
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/* attitude control */
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fixedwing_att_control_attitude(&att_sp, &att, &rates_sp);
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fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
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/* publish rate setpoint */
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
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@ -219,7 +248,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
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att_sp.timestamp = hrt_absolute_time();
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}
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fixedwing_att_control_attitude(&att_sp, &att, &rates_sp);
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fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
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/* publish rate setpoint */
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
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@ -242,6 +271,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
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/* publish output */
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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debug_output.value = rates_sp.yaw;
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orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
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}
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printf("[fixedwing_att_control] exiting, stopping all motors.\n");
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@ -170,11 +170,12 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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/* Roll Rate (PI) */
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actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
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actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
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actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
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actuators->control[2] = 0.0f;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now
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/* pitch rate (PI) */
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actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
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/* yaw rate (PI) */
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actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
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counter++;
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@ -77,6 +77,8 @@ PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians
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struct fw_pos_control_params {
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float heading_p;
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float headingr_p;
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float headingr_i;
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float xtrack_p;
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float altitude_p;
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float roll_lim;
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@ -85,6 +87,8 @@ struct fw_pos_control_params {
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struct fw_pos_control_param_handles {
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param_t heading_p;
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param_t headingr_p;
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param_t headingr_i;
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param_t xtrack_p;
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param_t altitude_p;
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param_t roll_lim;
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@ -139,6 +143,8 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
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{
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/* PID parameters */
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h->heading_p = param_find("FW_HEADING_P");
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h->headingr_p = param_find("FW_HEADINGR_P");
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h->headingr_i = param_find("FW_HEADINGR_I");
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h->xtrack_p = param_find("FW_XTRACK_P");
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h->altitude_p = param_find("FW_ALT_P");
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h->roll_lim = param_find("FW_ROLL_LIM");
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@ -151,6 +157,8 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
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static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
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{
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param_get(h->heading_p, &(p->heading_p));
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param_get(h->headingr_p, &(p->headingr_p));
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param_get(h->headingr_i, &(p->headingr_i));
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param_get(h->xtrack_p, &(p->xtrack_p));
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param_get(h->altitude_p, &(p->altitude_p));
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param_get(h->roll_lim, &(p->roll_lim));
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@ -221,12 +229,16 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
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struct fw_pos_control_param_handles h;
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PID_t heading_controller;
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PID_t heading_rate_controller;
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PID_t offtrack_controller;
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PID_t altitude_controller;
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parameters_init(&h);
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parameters_update(&h, &p);
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pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE);
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pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
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pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
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pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
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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
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/* error and performance monitoring */
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perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
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@ -252,8 +264,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
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/* update parameters from storage */
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parameters_update(&h, &p);
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pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim);
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pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
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pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
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pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
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pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value
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}
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/* only run controller if attitude changed */
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@ -268,6 +282,11 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
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/* load local copies */
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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static uint64_t last_run = 0;
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const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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if (pos_updated) {
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orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
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}
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@ -282,7 +301,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
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printf("psi_track: %0.4f\n", (double)psi_track);
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}
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/* simple horizontal control, execute if line between wps is known */
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/* Simple Horizontal Control */
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if(global_sp_updated_set_once)
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{
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// if (counter % 100 == 0)
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@ -296,13 +315,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
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if(!(distance_res != OK || xtrack_err.past_end)) {
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float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
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if(delta_psi_c > 60.0f*M_DEG_TO_RAD_F)
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delta_psi_c = 60.0f*M_DEG_TO_RAD_F;
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if(delta_psi_c < -60.0f*M_DEG_TO_RAD_F)
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delta_psi_c = -60.0f*M_DEG_TO_RAD_F;
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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
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float psi_c = psi_track + delta_psi_c;
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@ -312,7 +325,18 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
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psi_e = _wrap_pi(psi_e);
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/* calculate roll setpoint, do this artificially around zero */
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attitude_setpoint.roll_body = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
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//TODO: psi rate loop incomplete
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float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
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float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
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float psi_rate_c = delta_psi_rate_c + psi_rate_track;
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//TODO limit turn rate
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float psi_rate_e = psi_rate_c - att.yawspeed;
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float psi_rate_e_scaled = psi_rate_e * sqrtf(pow(global_pos.vx,2) + pow(global_pos.vy,2)) / 9.81f; //* V_gr / g
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attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
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// if (counter % 100 == 0)
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// printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
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@ -322,10 +346,13 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
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printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
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}
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// XXX SIMPLE ALTITUDE, BUT NO SPEED CONTROL
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if (pos_updated) {
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/* Very simple Altitude Control */
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if(pos_updated)
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{
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//TODO: take care of relative vs. ab. altitude
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attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
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}
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// XXX need speed control
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@ -296,6 +296,26 @@ handle_message(mavlink_message_t *msg)
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mavlink_hil_state_t hil_state;
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mavlink_msg_hil_state_decode(msg, &hil_state);
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/* Calculate Rotation Matrix */
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//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
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if(mavlink_system.type == MAV_TYPE_FIXED_WING) {
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//TODO: asuming low pitch and roll for now
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hil_attitude.R[0][0] = cosf(hil_state.yaw);
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hil_attitude.R[0][1] = sinf(hil_state.yaw);
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hil_attitude.R[0][2] = 0.0f;
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hil_attitude.R[1][0] = -sinf(hil_state.yaw);
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hil_attitude.R[1][1] = cosf(hil_state.yaw);
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hil_attitude.R[1][2] = 0.0f;
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hil_attitude.R[2][0] = 0.0f;
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hil_attitude.R[2][1] = 0.0f;
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hil_attitude.R[2][2] = 1.0f;
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hil_attitude.R_valid = true;
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}
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hil_global_pos.lat = hil_state.lat;
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hil_global_pos.lon = hil_state.lon;
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hil_global_pos.alt = hil_state.alt / 1000.0f;
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@ -303,6 +323,7 @@ handle_message(mavlink_message_t *msg)
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hil_global_pos.vy = hil_state.vy / 100.0f;
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hil_global_pos.vz = hil_state.vz / 100.0f;
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/* set timestamp and notify processes (broadcast) */
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hil_global_pos.timestamp = hrt_absolute_time();
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orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
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