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Rover: Rewrote gnd_pos_control and removed gnd_att_control (#12239)

This commit is contained in:
Timothy Scott 2019-07-11 15:39:13 +02:00 committed by Daniel Agar
parent 3743e6d8fb
commit 2ed00c9cb6
55 changed files with 297 additions and 1068 deletions
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8
ROMFS/px4fmu_common/init.d-posix/1060_rover
View File

@ -19,10 +19,6 @@ then
param set GND_THR_IDLE 0
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set GND_WR_D 1.2
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_P 2
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
@ -30,6 +26,10 @@ then
param set NAV_LOITER_RAD 2
param set CBRK_AIRSPD_CHK 162128
param set GND_MAX_ANG 0.6
param set GND_WHEEL_BASE 2.0
fi
set MAV_TYPE 10

20
ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
View File

@ -15,7 +15,7 @@
# @board px4_fmu-v2 exclude
#
sh /etc/init.d/rc.ugv_defaults
sh /etc/init.d/rc.rover_defaults
if [ $AUTOCNF = yes ]
then
@ -29,15 +29,19 @@ then
param set FW_AIRSPD_TRIM 1
param set FW_AIRSPD_MAX 3
param set GND_WR_P 1
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_D 0.1
param set GND_SP_CTRL_MODE 1
param set GND_L1_DIST 10
param set GND_L1_DIST 5.0
param set GND_L1_PERIOD 3.0
param set GND_THR_IDLE 0
param set GND_THR_CRUISE 0
param set GND_THR_CRUISE 0.7
param set GND_THR_MAX 0.5
# Because this is differential drive, it can make a turn with radius 0.
# This corresponds to a turn angle of pi radians.
# If a special case is made for differential-drive, this will need to change.
param set GND_MAX_ANG 3.142
param set GND_WHEEL_BASE 0.3
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
param set GND_THR_MIN 0.0
@ -64,7 +68,7 @@ then
param set CBRK_AIRSPD_CHK 162128
fi
# Configure this as ugv
# Configure this as rover
set MAV_TYPE 10
# Set mixer

3
ROMFS/px4fmu_common/init.d/rc.rover_apps
View File

@ -16,8 +16,7 @@ ekf2 start
#
# Start attitude controllers.
#
gnd_att_control start
gnd_pos_control start
rover_pos_control start
#

3
boards/aerotenna/ocpoc/ubuntu.cmake
View File

@ -37,8 +37,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/airmind/mindpx-v2/default.cmake
View File

@ -58,8 +58,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/atlflight/eagle/default.cmake
View File

@ -72,8 +72,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/atlflight/eagle/qurt-default.cmake
View File

@ -66,8 +66,7 @@ px4_add_board(
ekf2
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
local_position_estimator

3
boards/atlflight/excelsior/default.cmake
View File

@ -72,8 +72,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/atlflight/excelsior/qurt-default.cmake
View File

@ -66,8 +66,7 @@ px4_add_board(
ekf2
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
local_position_estimator

3
boards/auav/x21/default.cmake
View File

@ -64,8 +64,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/av/x-v1/default.cmake
View File

@ -65,8 +65,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/beaglebone/blue/cross.cmake
View File

@ -36,8 +36,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/beaglebone/blue/native.cmake
View File

@ -34,8 +34,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/bitcraze/crazyflie/default.cmake
View File

@ -25,8 +25,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/emlid/navio2/cross.cmake
View File

@ -40,8 +40,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/emlid/navio2/native.cmake
View File

@ -38,8 +38,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/intel/aerofc-v1/default.cmake
View File

@ -41,8 +41,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/intel/aerofc-v1/rtps.cmake
View File

@ -44,8 +44,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/nxp/fmuk66-v3/default.cmake
View File

@ -60,8 +60,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/omnibus/f4sd/default.cmake
View File

@ -53,8 +53,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/parrot/bebop/default.cmake
View File

@ -28,8 +28,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v2/default.cmake
View File

@ -73,8 +73,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
#landing_target_estimator
load_mon

3
boards/px4/fmu-v2/lpe.cmake
View File

@ -69,8 +69,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v2/rover.cmake
View File

@ -42,8 +42,7 @@ px4_add_board(
dataman
ekf2
events
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
load_mon
logger

3
boards/px4/fmu-v2/test.cmake
View File

@ -69,8 +69,7 @@ px4_add_board(
events
#fw_att_control
#fw_pos_control_l1
#gnd_att_control
#gnd_pos_control
#rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v3/default.cmake
View File

@ -72,8 +72,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v3/rtps.cmake
View File

@ -71,8 +71,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v3/stackcheck.cmake
View File

@ -71,8 +71,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v4/default.cmake
View File

@ -56,8 +56,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v4/rtps.cmake
View File

@ -58,8 +58,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v4/stackcheck.cmake
View File

@ -56,8 +56,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v4pro/default.cmake
View File

@ -70,8 +70,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v4pro/rtps.cmake
View File

@ -69,8 +69,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v5/default.cmake
View File

@ -70,8 +70,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v5/rover.cmake
View File

@ -53,8 +53,7 @@ px4_add_board(
dataman
ekf2
events
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
load_mon
logger

3
boards/px4/fmu-v5/rtps.cmake
View File

@ -68,8 +68,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v5/stackcheck.cmake
View File

@ -68,8 +68,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/fmu-v5x/default.cmake
View File

@ -70,8 +70,6 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
land_detector
landing_target_estimator
load_mon
@ -81,6 +79,7 @@ px4_add_board(
mc_att_control
mc_pos_control
navigator
rover_pos_control
sensors
sih
vmount

3
boards/px4/fmu-v5x/rover.cmake
View File

@ -63,13 +63,12 @@ px4_add_board(
dataman
ekf2
events
gnd_att_control
gnd_pos_control
land_detector
load_mon
logger
mavlink
navigator
rover_pos_control
sensors
vmount

3
boards/px4/fmu-v5x/rtps.cmake
View File

@ -70,8 +70,6 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
land_detector
landing_target_estimator
load_mon
@ -82,6 +80,7 @@ px4_add_board(
mc_pos_control
micrortps_bridge
navigator
rover_pos_control
sensors
sih
vmount

3
boards/px4/fmu-v5x/stackcheck.cmake
View File

@ -70,8 +70,6 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
land_detector
landing_target_estimator
load_mon
@ -81,6 +79,7 @@ px4_add_board(
mc_att_control
mc_pos_control
navigator
rover_pos_control
sensors
sih
vmount

3
boards/px4/raspberrypi/cross.cmake
View File

@ -33,8 +33,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/raspberrypi/native.cmake
View File

@ -31,8 +31,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/sitl/default.cmake
View File

@ -30,8 +30,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/sitl/rtps.cmake
View File

@ -30,8 +30,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

3
boards/px4/sitl/test.cmake
View File

@ -30,8 +30,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
rover_pos_control
land_detector
landing_target_estimator
load_mon

40
src/modules/gnd_att_control/CMakeLists.txt
View File

@ -1,40 +0,0 @@
############################################################################
#
# Copyright (c) 2017 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.
#
############################################################################
px4_add_module(
MODULE modules__gnd_att_control
MAIN gnd_att_control
STACK_MAIN 1200
COMPILE_FLAGS
SRCS
GroundRoverAttitudeControl.cpp
)

439
src/modules/gnd_att_control/GroundRoverAttitudeControl.cpp
View File

@ -1,439 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/**
*
* This module is a modification of the fixed wing module and it is designed for ground rovers.
* It has been developed starting from the fw module, simplified and improved with dedicated items.
*
* All the acknowledgments and credits for the fw wing app are reported in those files.
*
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
#include "GroundRoverAttitudeControl.hpp"
/**
* GroundRover attitude control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int gnd_att_control_main(int argc, char *argv[]);
namespace att_gnd_control
{
GroundRoverAttitudeControl *g_control = nullptr;
}
GroundRoverAttitudeControl::GroundRoverAttitudeControl() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "gnda_dt")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "gnda_nani")),
_nonfinite_output_perf(perf_alloc(PC_COUNT, "gnda_nano"))
{
_parameter_handles.w_p = param_find("GND_WR_P");
_parameter_handles.w_i = param_find("GND_WR_I");
_parameter_handles.w_d = param_find("GND_WR_D");
_parameter_handles.w_imax = param_find("GND_WR_IMAX");
_parameter_handles.trim_yaw = param_find("TRIM_YAW");
_parameter_handles.man_yaw_scale = param_find("GND_MAN_Y_SC");
_parameter_handles.bat_scale_en = param_find("GND_BAT_SCALE_EN");
/* fetch initial parameter values */
parameters_update();
}
GroundRoverAttitudeControl::~GroundRoverAttitudeControl()
{
if (_control_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
px4_task_delete(_control_task);
break;
}
} while (_control_task != -1);
}
perf_free(_loop_perf);
perf_free(_nonfinite_input_perf);
perf_free(_nonfinite_output_perf);
att_gnd_control::g_control = nullptr;
}
void
GroundRoverAttitudeControl::parameters_update()
{
param_get(_parameter_handles.w_p, &(_parameters.w_p));
param_get(_parameter_handles.w_i, &(_parameters.w_i));
param_get(_parameter_handles.w_d, &(_parameters.w_d));
param_get(_parameter_handles.w_imax, &(_parameters.w_imax));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.man_yaw_scale, &(_parameters.man_yaw_scale));
param_get(_parameter_handles.bat_scale_en, &_parameters.bat_scale_en);
/* Steering pid parameters*/
pid_init(&_steering_ctrl, PID_MODE_DERIVATIV_SET, 0.01f);
pid_set_parameters(&_steering_ctrl,
_parameters.w_p,
_parameters.w_i,
_parameters.w_d,
_parameters.w_imax,
1.0f);
}
void
GroundRoverAttitudeControl::vehicle_control_mode_poll()
{
bool updated = false;
orb_check(_vcontrol_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
}
}
void
GroundRoverAttitudeControl::manual_control_setpoint_poll()
{
bool updated = false;
orb_check(_manual_sub, &updated);
if (updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
}
}
void
GroundRoverAttitudeControl::vehicle_attitude_setpoint_poll()
{
bool updated = false;
orb_check(_att_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
}
}
void
GroundRoverAttitudeControl::battery_status_poll()
{
/* check if there is a new message */
bool updated;
orb_check(_battery_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(battery_status), _battery_status_sub, &_battery_status);
}
}
int
GroundRoverAttitudeControl::task_main_trampoline(int argc, char *argv[])
{
att_gnd_control::g_control->task_main();
return 0;
}
void
GroundRoverAttitudeControl::task_main()
{
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
parameters_update();
/* get an initial update for all sensor and status data */
vehicle_attitude_setpoint_poll();
vehicle_control_mode_poll();
manual_control_setpoint_poll();
battery_status_poll();
/* wakeup source */
px4_pollfd_struct_t fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _att_sub;
fds[1].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
PX4_ERR("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f ||
fabsf(deltaT) < 0.00001f ||
!PX4_ISFINITE(deltaT)) {
deltaT = 0.01f;
}
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
vehicle_attitude_setpoint_poll();
vehicle_control_mode_poll();
manual_control_setpoint_poll();
battery_status_poll();
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_rates_enabled) {
/* Run attitude controllers */
if (_vcontrol_mode.flag_control_attitude_enabled) {
Eulerf euler_angles(matrix::Quatf(_att.q));
/* Calculate the control output for the steering as yaw */
float yaw_u = pid_calculate(&_steering_ctrl, _att_sp.yaw_body, euler_angles.psi(), _att.yawspeed, deltaT);
float angle_diff = 0.0f;
if (_att_sp.yaw_body * euler_angles.psi() < 0.0f) {
if (_att_sp.yaw_body < 0.0f) {
angle_diff = euler_angles.psi() - _att_sp.yaw_body ;
} else {
angle_diff = _att_sp.yaw_body - euler_angles.psi();
}
// a switch might have happened
if ((double)angle_diff > M_PI) {
yaw_u = -yaw_u;
}
}
math::constrain(yaw_u, -1.0f, 1.0f);
if (PX4_ISFINITE(yaw_u)) {
_actuators.control[actuator_controls_s::INDEX_YAW] = yaw_u + _parameters.trim_yaw;
} else {
_actuators.control[actuator_controls_s::INDEX_YAW] = _parameters.trim_yaw;
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
PX4_INFO("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through if it is finite and if no engine failure was detected */
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _att_sp.thrust_body[0];
/* scale effort by battery status */
if (_parameters.bat_scale_en && _battery_status.scale > 0.0f &&
_actuators.control[actuator_controls_s::INDEX_THROTTLE] > 0.1f) {
_actuators.control[actuator_controls_s::INDEX_THROTTLE] *= _battery_status.scale;
}
}
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r * _parameters.man_yaw_scale + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _att.timestamp;
/* Only publish if any of the proper modes are enabled */
if (_vcontrol_mode.flag_control_attitude_enabled ||
_vcontrol_mode.flag_control_manual_enabled) {
/* publish the actuator controls */
if (_actuators_0_pub != nullptr) {
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _actuators_0_pub, &_actuators);
} else {
_actuators_0_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &_actuators);
}
}
}
loop_counter++;
perf_end(_loop_perf);
}
PX4_INFO("exiting.");
_control_task = -1;
_task_running = false;
}
int
GroundRoverAttitudeControl::start()
{
/* start the task */
_control_task = px4_task_spawn_cmd("gnd_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1500,
(px4_main_t)&GroundRoverAttitudeControl::task_main_trampoline,
nullptr);
if (_control_task < 0) {
PX4_ERR("task start failed");
return -errno;
}
return PX4_OK;
}
int gnd_att_control_main(int argc, char *argv[])
{
if (argc < 2) {
PX4_INFO("usage: gnd_att_control {start|stop|status}");
return 1;
}
if (!strcmp(argv[1], "start")) {
if (att_gnd_control::g_control != nullptr) {
PX4_WARN("already running");
return 1;
}
att_gnd_control::g_control = new GroundRoverAttitudeControl;
if (att_gnd_control::g_control == nullptr) {
PX4_ERR("alloc failed");
return 1;
}
if (PX4_OK != att_gnd_control::g_control->start()) {
delete att_gnd_control::g_control;
att_gnd_control::g_control = nullptr;
PX4_ERR("start failed");
return 1;
}
/* check if the waiting is necessary at all */
if (att_gnd_control::g_control == nullptr || !att_gnd_control::g_control->task_running()) {
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (att_gnd_control::g_control == nullptr || !att_gnd_control::g_control->task_running()) {
px4_usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
}
return 0;
}
if (!strcmp(argv[1], "stop")) {
if (att_gnd_control::g_control == nullptr) {
PX4_WARN("not running");
return 1;
}
delete att_gnd_control::g_control;
att_gnd_control::g_control = nullptr;
return 0;
}
if (!strcmp(argv[1], "status")) {
if (att_gnd_control::g_control) {
PX4_INFO("running");
return 0;
} else {
PX4_INFO("not running");
return 1;
}
}
PX4_WARN("unrecognized command");
return 1;
}

143
src/modules/gnd_att_control/GroundRoverAttitudeControl.hpp
View File

@ -1,143 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/**
*
* This module is a modification of the fixed wing module and it is designed for ground rovers.
* It has been developed starting from the fw module, simplified and improved with dedicated items.
*
* All the acknowledgments and credits for the fw wing app are reported in those files.
*
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <drivers/drv_hrt.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <parameters/param.h>
#include <pid/pid.h>
#include <perf/perf_counter.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/uORB.h>
using matrix::Eulerf;
using matrix::Quatf;
class GroundRoverAttitudeControl
{
public:
GroundRoverAttitudeControl();
~GroundRoverAttitudeControl();
int start();
bool task_running() { return _task_running; }
private:
bool _task_should_exit{false}; /**< if true, attitude control task should exit */
bool _task_running{false}; /**< if true, task is running in its mainloop */
int _control_task{-1}; /**< task handle */
int _att_sp_sub{-1}; /**< vehicle attitude setpoint */
int _battery_status_sub{-1}; /**< battery status subscription */
int _att_sub{-1}; /**< control state subscription */
int _manual_sub{-1}; /**< notification of manual control updates */
int _params_sub{-1}; /**< notification of parameter updates */
int _vcontrol_mode_sub{-1}; /**< vehicle status subscription */
orb_advert_t _actuators_0_pub{nullptr}; /**< actuator control group 0 setpoint */
actuator_controls_s _actuators {}; /**< actuator control inputs */
battery_status_s _battery_status {}; /**< battery status */
manual_control_setpoint_s _manual {}; /**< r/c channel data */
vehicle_attitude_s _att {}; /**< control state */
vehicle_attitude_setpoint_s _att_sp {}; /**< vehicle attitude setpoint */
vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
bool _debug{false}; /**< if set to true, print debug output */
struct {
float w_p; /**< Proportional gain of the steering controller */
float w_i; /**< Integral gain of the steering controller */
float w_d; /**< Derivative of the steering controller */
float w_imax; /**< maximum integrator level of the steering controller */
float trim_yaw;
float man_yaw_scale; /**< scale factor applied to yaw actuator control in pure manual mode */
int32_t bat_scale_en; /**< Battery scaling enabled */
} _parameters{}; /**< local copies of interesting parameters */
struct {
param_t w_p;
param_t w_i;
param_t w_d;
param_t w_imax;
param_t trim_yaw;
param_t man_yaw_scale;
param_t bat_scale_en;
} _parameter_handles{}; /**< handles for interesting parameters */
PID_t _steering_ctrl{};
void parameters_update();
void vehicle_control_mode_poll();
void manual_control_setpoint_poll();
void vehicle_attitude_setpoint_poll();
void battery_status_poll();
static int task_main_trampoline(int argc, char *argv[]);
void task_main();
};

195
src/modules/gnd_att_control/gnd_att_control_params.c
View File

@ -1,195 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013-2017 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.
*
****************************************************************************/
/**
* @file gnd_att_control_params.c
*
* Parameters defined by the attitude control task for ground rovers
*
* This is a modification of the fixed wing params and it is designed for ground rovers.
* It has been developed starting from the fw module, simplified and improved with dedicated items.
*
* All the ackowledgments and credits for the fw wing app are reported in those files.
*
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
/*
* Controller parameters, accessible via MAVLink
*
*/
/**
* Attitude Wheel Time Constant
*
* This defines the latency between a steering step input and the achieved setpoint
* (inverse to a P gain). Half a second is a good start value and fits for
* most average systems. Smaller systems may require smaller values, but as
* this will wear out servos faster, the value should only be decreased as
* needed.
*
* @unit s
* @min 0.4
* @max 1.0
* @decimal 2
* @increment 0.05
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_TC, 0.4f);
/**
* Wheel steering rate proportional gain
*
* This defines how much the wheel steering input will be commanded depending on the
* current body angular rate error.
*
* @unit %/rad/s
* @min 0.005
* @max 1.0
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_P, 1.0f);
/**
* Wheel steering rate integrator gain
*
* This gain defines how much control response will result out of a steady
* state error. It trims any constant error.
*
* @unit %/rad
* @min 0.00
* @max 0.5
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_I, 0.00f);
/**
* Wheel steering rate integrator gain
*
*
* @unit %/rad
* @min 0.00
* @max 30
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_D, 0.00f);
/**
* Wheel steering rate integrator limit
*
* The portion of the integrator part in the control surface deflection is
* limited to this value
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_IMAX, 0.0f);
/**
* Maximum wheel steering rate
*
* This limits the maximum wheel steering rate the controller will output (in degrees per
* second). Setting a value of zero disables the limit.
*
* @unit deg/s
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_W_RMAX, 90.0f);
/**
* Wheel steering rate feed forward
*
* Direct feed forward from rate setpoint to control surface output
*
* @unit %/rad/s
* @min 0.0
* @max 10.0
* @decimal 2
* @increment 0.05
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_WR_FF, 0.0f);
/**
* Manual yaw scale
*
* Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows
* to adjust the throws of the control surfaces.
*
* @unit norm
* @min 0.0
* @decimal 2
* @increment 0.01
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_MAN_Y_SC, 1.0f);
/**
* Groundspeed speed trim
*
* This allows to scale the turning radius depending on the speed.
*
* @unit norm
* @min 0.0
* @decimal 2
* @increment 0.1
* @group GND Attitude Control
*/
PARAM_DEFINE_FLOAT(GND_GSPD_SP_TRIM, 1.0f);
/**
* Whether to scale throttle by battery power level
*
* This compensates for voltage drop of the battery over time by attempting to
* normalize performance across the operating range of the battery. The fixed wing
* should constantly behave as if it was fully charged with reduced max thrust
* at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery,
* it will still be 0.5 at 60% battery.
*
* @boolean
* @group GND Attitude Control
*/
PARAM_DEFINE_INT32(GND_BAT_SCALE_EN, 0);

3
src/modules/navigator/navigator_main.cpp
View File

@ -753,6 +753,9 @@ Navigator::get_default_altitude_acceptance_radius()
if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return _param_nav_fw_alt_rad.get();
} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
return INFINITY;
} else {
float alt_acceptance_radius = _param_nav_mc_alt_rad.get();

6
src/modules/gnd_pos_control/CMakeLists.txt → src/modules/rover_pos_control/CMakeLists.txt
View File

@ -31,10 +31,10 @@
#
############################################################################
px4_add_module(
MODULE modules__gnd_pos_control
MAIN gnd_pos_control
MODULE modules__rover_pos_control
MAIN rover_pos_control
SRCS
GroundRoverPositionControl.cpp
RoverPositionControl.cpp
DEPENDS
git_ecl
ecl_l1

254
src/modules/gnd_pos_control/GroundRoverPositionControl.cpp → src/modules/rover_pos_control/RoverPositionControl.cpp
View File

@ -42,7 +42,10 @@
*/
#include "GroundRoverPositionControl.hpp"
#include "RoverPositionControl.hpp"
#include <lib/ecl/geo/geo.h>
#define ACTUATOR_PUBLISH_PERIOD_MS 4
static int _control_task = -1; /**< task handle for sensor task */
@ -55,17 +58,16 @@ using matrix::Vector3f;
*
* @ingroup apps
*/
extern "C" __EXPORT int gnd_pos_control_main(int argc, char *argv[]);
extern "C" __EXPORT int rover_pos_control_main(int argc, char *argv[]);
namespace gnd_control
{
GroundRoverPositionControl *g_control = nullptr;
RoverPositionControl *g_control = nullptr;
}
GroundRoverPositionControl::GroundRoverPositionControl() :
RoverPositionControl::RoverPositionControl() :
/* performance counters */
_sub_attitude(ORB_ID(vehicle_attitude)),
_sub_sensors(ORB_ID(sensor_bias)),
_loop_perf(perf_alloc(PC_ELAPSED, "rover position control")) // TODO : do we even need these perf counters
{
@ -87,11 +89,14 @@ GroundRoverPositionControl::GroundRoverPositionControl() :
_parameter_handles.throttle_max = param_find("GND_THR_MAX");
_parameter_handles.throttle_cruise = param_find("GND_THR_CRUISE");
_parameter_handles.wheel_base = param_find("GND_WHEEL_BASE");
_parameter_handles.max_turn_angle = param_find("GND_MAX_ANG");
/* fetch initial parameter values */
parameters_update();
}
GroundRoverPositionControl::~GroundRoverPositionControl()
RoverPositionControl::~RoverPositionControl()
{
if (_control_task != -1) {
@ -117,7 +122,7 @@ GroundRoverPositionControl::~GroundRoverPositionControl()
}
int
GroundRoverPositionControl::parameters_update()
RoverPositionControl::parameters_update()
{
/* L1 control parameters */
param_get(_parameter_handles.l1_damping, &(_parameters.l1_damping));
@ -138,6 +143,9 @@ GroundRoverPositionControl::parameters_update()
param_get(_parameter_handles.throttle_max, &(_parameters.throttle_max));
param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
param_get(_parameter_handles.wheel_base, &(_parameters.wheel_base));
param_get(_parameter_handles.max_turn_angle, &(_parameters.max_turn_angle));
_gnd_control.set_l1_damping(_parameters.l1_damping);
_gnd_control.set_l1_period(_parameters.l1_period);
_gnd_control.set_l1_roll_limit(math::radians(0.0f));
@ -154,7 +162,7 @@ GroundRoverPositionControl::parameters_update()
}
void
GroundRoverPositionControl::vehicle_control_mode_poll()
RoverPositionControl::vehicle_control_mode_poll()
{
bool updated;
orb_check(_control_mode_sub, &updated);
@ -165,7 +173,7 @@ GroundRoverPositionControl::vehicle_control_mode_poll()
}
void
GroundRoverPositionControl::manual_control_setpoint_poll()
RoverPositionControl::manual_control_setpoint_poll()
{
bool manual_updated;
orb_check(_manual_control_sub, &manual_updated);
@ -176,7 +184,7 @@ GroundRoverPositionControl::manual_control_setpoint_poll()
}
void
GroundRoverPositionControl::position_setpoint_triplet_poll()
RoverPositionControl::position_setpoint_triplet_poll()
{
bool pos_sp_triplet_updated;
orb_check(_pos_sp_triplet_sub, &pos_sp_triplet_updated);
@ -186,8 +194,19 @@ GroundRoverPositionControl::position_setpoint_triplet_poll()
}
}
void
RoverPositionControl::vehicle_attitude_poll()
{
bool att_updated;
orb_check(_vehicle_attitude_sub, &att_updated);
if (att_updated) {
orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &_vehicle_att);
}
}
bool
GroundRoverPositionControl::control_position(const matrix::Vector2f &current_position,
RoverPositionControl::control_position(const matrix::Vector2f &current_position,
const matrix::Vector3f &ground_speed, const position_setpoint_triplet_s &pos_sp_triplet)
{
float dt = 0.01; // Using non zero value to a avoid division by zero
@ -206,7 +225,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f &current_pos
_control_mode_current = UGV_POSCTRL_MODE_AUTO;
/* get circle mode */
bool was_circle_mode = _gnd_control.circle_mode();
//bool was_circle_mode = _gnd_control.circle_mode();
/* current waypoint (the one currently heading for) */
matrix::Vector2f curr_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon);
@ -235,7 +254,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f &current_pos
}
// Velocity in body frame
const Dcmf R_to_body(Quatf(_sub_attitude.get().q).inversed());
const Dcmf R_to_body(Quatf(_vehicle_att.q).inversed());
const Vector3f vel = R_to_body * Vector3f(ground_speed(0), ground_speed(1), ground_speed(2));
const float x_vel = vel(0);
@ -257,51 +276,54 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f &current_pos
}
}
if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_att_sp.roll_body = 0.0f;
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = 0.0f;
_att_sp.thrust_body[0] = 0.0f;
float dist = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon,
pos_sp_triplet.current.lat, pos_sp_triplet.current.lon);
} else if ((pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION)
|| (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
bool should_idle = true;
if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
// Because of noise in measurements, if the rover was always trying to reach an exact point, it would
// move around when it should be parked. So, I try to get the rover within loiter_radius/2, but then
// once I reach that point, I don't move until I'm outside of loiter_radius.
// TODO: Find out if there's a better measurement to use than loiter_radius.
if (dist > pos_sp_triplet.current.loiter_radius) {
_waypoint_reached = false;
} else if (dist <= pos_sp_triplet.current.loiter_radius / 2) {
_waypoint_reached = true;
}
should_idle = _waypoint_reached;
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION ||
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF ||
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
should_idle = false;
}
if (should_idle) {
_act_controls.control[actuator_controls_s::INDEX_YAW] = 0.0f;
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = 0.0f;
} else {
/* waypoint is a plain navigation waypoint or the takeoff waypoint, does not matter */
_gnd_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
_att_sp.roll_body = _gnd_control.get_roll_setpoint();
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = _gnd_control.nav_bearing();
_att_sp.fw_control_yaw = true;
_att_sp.thrust_body[0] = mission_throttle;
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = mission_throttle;
/* waypoint is a loiter waypoint so we want to stop*/
_gnd_control.navigate_loiter(curr_wp, current_position, pos_sp_triplet.current.loiter_radius,
pos_sp_triplet.current.loiter_direction, ground_speed_2d);
float desired_r = ground_speed_2d.norm_squared() / math::abs_t(_gnd_control.nav_lateral_acceleration_demand());
float desired_theta = (0.5f * M_PI_F) - atan2f(desired_r, _parameters.wheel_base);
float control_effort = (desired_theta / _parameters.max_turn_angle) * math::sign(
_gnd_control.nav_lateral_acceleration_demand());
control_effort = math::constrain(control_effort, -1.0f, 1.0f);
_act_controls.control[actuator_controls_s::INDEX_YAW] = control_effort;
_att_sp.roll_body = _gnd_control.get_roll_setpoint();
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = _gnd_control.nav_bearing();
_att_sp.fw_control_yaw = true;
_att_sp.thrust_body[0] = 0.0f;
}
if (was_circle_mode && !_gnd_control.circle_mode()) {
/* just kicked out of loiter, reset integrals */
_att_sp.yaw_reset_integral = true;
}
} else {
_control_mode_current = UGV_POSCTRL_MODE_OTHER;
_att_sp.roll_body = 0.0f;
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = 0.0f;
_att_sp.fw_control_yaw = true;
_att_sp.thrust_body[0] = 0.0f;
/* do not publish the setpoint */
setpoint = false;
}
@ -309,13 +331,14 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f &current_pos
}
void
GroundRoverPositionControl::task_main()
RoverPositionControl::task_main()
{
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
/* rate limit control mode updates to 5Hz */
orb_set_interval(_control_mode_sub, 200);
@ -331,25 +354,33 @@ GroundRoverPositionControl::task_main()
}
/* wakeup source(s) */
px4_pollfd_struct_t fds[2];
px4_pollfd_struct_t fds[3];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _global_pos_sub;
fds[1].events = POLLIN;
fds[2].fd = _manual_control_sub;
fds[2].events = POLLIN;
_task_running = true;
// Absolute time (in us) at which the actuators were last published
long actuators_last_published = 0;
// Timeout for poll in ms
int timeout = 0;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
// The +500 is to round to the nearest millisecond, instead of to the smallest millisecond.
timeout = ACTUATOR_PUBLISH_PERIOD_MS - (hrt_absolute_time() - actuators_last_published) / 1000 - 1;
timeout = timeout > 0 ? timeout : 0;
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
//PX4_INFO("TIMEOUT: %d", timeout);
/* wait for up to 500ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), timeout);
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
@ -359,11 +390,16 @@ GroundRoverPositionControl::task_main()
/* check vehicle control mode for changes to publication state */
vehicle_control_mode_poll();
//manual_control_setpoint_poll();
_sub_sensors.update();
bool manual_mode = _control_mode.flag_control_manual_enabled;
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
@ -377,51 +413,19 @@ GroundRoverPositionControl::task_main()
/* load local copies */
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
// handle estimator reset events. we only adjust setpoins for manual modes
if (_control_mode.flag_control_manual_enabled) {
// adjust navigation waypoints in position control mode
if (_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_velocity_enabled
&& _global_pos.lat_lon_reset_counter != _pos_reset_counter) {
}
}
position_setpoint_triplet_poll();
vehicle_attitude_poll();
// update the reset counters in any case
_pos_reset_counter = _global_pos.lat_lon_reset_counter;
manual_control_setpoint_poll();
position_setpoint_triplet_poll();
_sub_attitude.update();
_sub_sensors.update();
matrix::Vector3f ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d);
matrix::Vector2f current_position((float)_global_pos.lat, (float)_global_pos.lon);
/*
* Attempt to control position, on success (= sensors present and not in manual mode),
* publish setpoint.
*/
if (control_position(current_position, ground_speed, _pos_sp_triplet)) {
_att_sp.timestamp = hrt_absolute_time();
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
q.copyTo(_att_sp.q_d);
_att_sp.q_d_valid = true;
if (!_control_mode.flag_control_offboard_enabled ||
_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_acceleration_enabled) {
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &_att_sp);
} else {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}
// This if statement depends upon short-circuiting: If !manual_mode, then control_position(...)
// should not be called.
// It doesn't really matter if it is called, it will just be bad for performance.
if (!manual_mode && control_position(current_position, ground_speed, _pos_sp_triplet)) {
/* XXX check if radius makes sense here */
float turn_distance = _parameters.l1_distance; //_gnd_control.switch_distance(100.0f);
@ -429,7 +433,7 @@ GroundRoverPositionControl::task_main()
// publish status
position_controller_status_s pos_ctrl_status = {};
pos_ctrl_status.nav_roll = _gnd_control.get_roll_setpoint();
pos_ctrl_status.nav_roll = 0.0f;
pos_ctrl_status.nav_pitch = 0.0f;
pos_ctrl_status.nav_bearing = _gnd_control.nav_bearing();
@ -450,12 +454,54 @@ GroundRoverPositionControl::task_main()
} else {
_pos_ctrl_status_pub = orb_advertise(ORB_ID(position_controller_status), &pos_ctrl_status);
}
}
}
perf_end(_loop_perf);
}
if (fds[2].revents & POLLIN) {
// This should be copied even if not in manual mode. Otherwise, the poll(...) call will keep
// returning immediately and this loop will eat up resources.
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
if (manual_mode) {
/* manual/direct control */
//PX4_INFO("Manual mode!");
_act_controls.control[actuator_controls_s::INDEX_ROLL] = _manual.y;
_act_controls.control[actuator_controls_s::INDEX_PITCH] = -_manual.x;
_act_controls.control[actuator_controls_s::INDEX_YAW] = _manual.r; //TODO: Readd yaw scale param
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
}
if (pret == 0) {
//orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &_vehicle_att);
_act_controls.timestamp = hrt_absolute_time();
if (_actuator_controls_pub != nullptr) {
//PX4_INFO("Publishing actuator from pos control");
orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &_act_controls);
} else {
_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &_act_controls);
}
actuators_last_published = hrt_absolute_time();
}
}
orb_unsubscribe(_control_mode_sub);
orb_unsubscribe(_global_pos_sub);
orb_unsubscribe(_manual_control_sub);
orb_unsubscribe(_params_sub);
orb_unsubscribe(_pos_sp_triplet_sub);
orb_unsubscribe(_vehicle_attitude_sub);
_task_running = false;
@ -465,9 +511,9 @@ GroundRoverPositionControl::task_main()
}
int
GroundRoverPositionControl::task_main_trampoline(int argc, char *argv[])
RoverPositionControl::task_main_trampoline(int argc, char *argv[])
{
gnd_control::g_control = new GroundRoverPositionControl();
gnd_control::g_control = new RoverPositionControl();
if (gnd_control::g_control == nullptr) {
warnx("OUT OF MEM");
@ -482,14 +528,14 @@ GroundRoverPositionControl::task_main_trampoline(int argc, char *argv[])
}
int
GroundRoverPositionControl::start()
RoverPositionControl::start()
{
/* start the task */
_control_task = px4_task_spawn_cmd("gnd_pos_ctrl",
_control_task = px4_task_spawn_cmd("rover_pos_ctrl",
SCHED_DEFAULT,
SCHED_PRIORITY_POSITION_CONTROL,
1700,
(px4_main_t)&GroundRoverPositionControl::task_main_trampoline,
(px4_main_t)&RoverPositionControl::task_main_trampoline,
nullptr);
if (_control_task < 0) {
@ -500,10 +546,10 @@ GroundRoverPositionControl::start()
return OK;
}
int gnd_pos_control_main(int argc, char *argv[])
int rover_pos_control_main(int argc, char *argv[])
{
if (argc < 2) {
warnx("usage: gnd_pos_control {start|stop|status}");
warnx("usage: rover_pos_control {start|stop|status}");
return 1;
}
@ -514,7 +560,7 @@ int gnd_pos_control_main(int argc, char *argv[])
return 1;
}
if (OK != GroundRoverPositionControl::start()) {
if (OK != RoverPositionControl::start()) {
warn("start failed");
return 1;
}

27
src/modules/gnd_pos_control/GroundRoverPositionControl.hpp → src/modules/rover_pos_control/RoverPositionControl.hpp
View File

@ -63,19 +63,21 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/uORB.h>
using matrix::Dcmf;
using uORB::SubscriptionData;
class GroundRoverPositionControl
class RoverPositionControl
{
public:
GroundRoverPositionControl();
~GroundRoverPositionControl();
GroundRoverPositionControl(const GroundRoverPositionControl &) = delete;
GroundRoverPositionControl operator=(const GroundRoverPositionControl &other) = delete;
RoverPositionControl();
~RoverPositionControl();
RoverPositionControl(const RoverPositionControl &) = delete;
RoverPositionControl operator=(const RoverPositionControl &other) = delete;
/**
* Start the sensors task.
@ -92,8 +94,8 @@ public:
bool task_running() { return _task_running; }
private:
orb_advert_t _attitude_sp_pub{nullptr}; /**< attitude setpoint */
orb_advert_t _pos_ctrl_status_pub{nullptr}; /**< navigation capabilities publication */
orb_advert_t _actuator_controls_pub{nullptr}; /**< actuator controls publication */
bool _task_should_exit{false}; /**< if true, sensor task should exit */
bool _task_running{false}; /**< if true, task is running in its mainloop */
@ -103,14 +105,15 @@ private:
int _manual_control_sub{-1}; /**< notification of manual control updates */
int _params_sub{-1}; /**< notification of parameter updates */
int _pos_sp_triplet_sub{-1};
int _vehicle_attitude_sub{-1};
manual_control_setpoint_s _manual{}; /**< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet{}; /**< triplet of mission items */
vehicle_attitude_setpoint_s _att_sp{}; /**< vehicle attitude setpoint */
vehicle_control_mode_s _control_mode{}; /**< control mode */
vehicle_global_position_s _global_pos{}; /**< global vehicle position */
actuator_controls_s _act_controls{}; /**< direct control of actuators */
vehicle_attitude_s _vehicle_att{};
SubscriptionData<vehicle_attitude_s> _sub_attitude;
SubscriptionData<sensor_bias_s> _sub_sensors;
perf_counter_t _loop_perf; /**< loop performance counter */
@ -126,6 +129,8 @@ private:
ECL_L1_Pos_Controller _gnd_control;
bool _waypoint_reached;
enum UGV_POSCTRL_MODE {
UGV_POSCTRL_MODE_AUTO,
UGV_POSCTRL_MODE_OTHER
@ -151,6 +156,9 @@ private:
float throttle_cruise;
float throttle_slew_max;
float wheel_base;
float max_turn_angle;
} _parameters{}; /**< local copies of interesting parameters */
struct {
@ -174,6 +182,8 @@ private:
param_t throttle_cruise;
param_t throttle_slew_max;
param_t wheel_base;
param_t max_turn_angle;
} _parameter_handles{}; /**< handles for interesting parameters */
@ -185,6 +195,7 @@ private:
void manual_control_setpoint_poll();
void position_setpoint_triplet_poll();
void vehicle_control_mode_poll();
void vehicle_attitude_poll();
/**
* Control position.

58
src/modules/gnd_pos_control/gnd_pos_control_params.c → src/modules/rover_pos_control/rover_pos_control_params.c
View File

@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file gnd_pos_control_params.c
* @file rover_pos_control_params.c
*
* Parameters defined by the position control task for ground rovers
*
@ -59,7 +59,7 @@
* @max 100.0
* @decimal 1
* @increment 0.1
* @group GND POS Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_L1_DIST, 5.0f);
@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(GND_L1_DIST, 5.0f);
* @max 50.0
* @decimal 1
* @increment 0.5
* @group GND POS Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_L1_PERIOD, 10.0f);
@ -89,7 +89,7 @@ PARAM_DEFINE_FLOAT(GND_L1_PERIOD, 10.0f);
* @max 0.9
* @decimal 2
* @increment 0.05
* @group GND POS Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_L1_DAMPING, 0.75f);
@ -104,7 +104,7 @@ PARAM_DEFINE_FLOAT(GND_L1_DAMPING, 0.75f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group GND POS Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_THR_CRUISE, 0.1f);
@ -119,7 +119,7 @@ PARAM_DEFINE_FLOAT(GND_THR_CRUISE, 0.1f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group GND POS Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_THR_MAX, 0.3f);
@ -134,7 +134,7 @@ PARAM_DEFINE_FLOAT(GND_THR_MAX, 0.3f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group GND POS Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_THR_MIN, 0.0f);
@ -149,7 +149,7 @@ PARAM_DEFINE_FLOAT(GND_THR_MIN, 0.0f);
* @max 0.4
* @decimal 2
* @increment 0.01
* @group GND POS Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_THR_IDLE, 0.0f);
@ -161,7 +161,7 @@ PARAM_DEFINE_FLOAT(GND_THR_IDLE, 0.0f);
* @max 1
* @value 0 open loop control
* @value 1 close the loop with gps speed
* @group GND Attitude Control
* @group Rover Position Control
*/
PARAM_DEFINE_INT32(GND_SP_CTRL_MODE, 1);
@ -175,7 +175,7 @@ PARAM_DEFINE_INT32(GND_SP_CTRL_MODE, 1);
* @max 50.0
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_SPEED_P, 2.0f);
@ -189,7 +189,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_P, 2.0f);
* @max 50.0
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_SPEED_I, 0.1f);
@ -203,7 +203,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_I, 0.1f);
* @max 50.0
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_SPEED_D, 0.0f);
@ -217,7 +217,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_D, 0.0f);
* @max 50.0
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_SPEED_IMAX, 1.0f);
@ -231,7 +231,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_IMAX, 1.0f);
* @max 50.0
* @decimal 3
* @increment 0.005
* @group GND Attitude Control
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_SPEED_THR_SC, 1.0f);
@ -244,7 +244,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_THR_SC, 1.0f);
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_SPEED_TRIM, 3.0f);
@ -257,6 +257,32 @@ PARAM_DEFINE_FLOAT(GND_SPEED_TRIM, 3.0f);
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_SPEED_MAX, 10.0f);
/**
* Distance from front axle to rear axle
*
*
* @unit m
* @min 0.0
* @decimal 3
* @increment 0.01
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_WHEEL_BASE, 2.0f);
/**
* Maximum turn angle for Ackerman steering.
* At a control output of 0, the steering wheels are at 0 radians.
* At a control output of 1, the steering wheels are at GND_MAX_ANG radians.
*
* @unit rad
* @min 0.0
* @max 3.14159
* @decimal 3
* @increment 0.01
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_MAX_ANG, 0.7854f);