dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

mc att control: ran fix code style script

This commit is contained in:
Thomas Gubler 2014-12-05 09:02:06 +01:00
parent 4c950eb76b
commit 2f646e7082
5 changed files with 71 additions and 53 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
src/modules/mc_att_control/mc_att_control_base.cpp
View File

@ -83,10 +83,12 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
_I.identity(); _I.identity();
} }
MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() { MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase()
{
} }
void MulticopterAttitudeControlBase::control_attitude(float dt) { void MulticopterAttitudeControlBase::control_attitude(float dt)
{
float yaw_sp_move_rate = 0.0f; float yaw_sp_move_rate = 0.0f;
_publish_att_sp = false; _publish_att_sp = false;
@ -94,7 +96,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* manual input, set or modify attitude setpoint */ /* manual input, set or modify attitude setpoint */
if (_v_control_mode.flag_control_velocity_enabled if (_v_control_mode.flag_control_velocity_enabled
|| _v_control_mode.flag_control_climb_rate_enabled) { || _v_control_mode.flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
vehicle_attitude_setpoint_poll(); vehicle_attitude_setpoint_poll();
} }
@ -121,15 +123,17 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* move yaw setpoint */ /* move yaw setpoint */
yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max; yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
_v_att_sp.yaw_body = _wrap_pi( _v_att_sp.yaw_body = _wrap_pi(
_v_att_sp.yaw_body + yaw_sp_move_rate * dt); _v_att_sp.yaw_body + yaw_sp_move_rate * dt);
float yaw_offs_max = _params.man_yaw_max / _params.att_p(2); float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw); float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
if (yaw_offs < -yaw_offs_max) { if (yaw_offs < -yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max); _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
} else if (yaw_offs > yaw_offs_max) { } else if (yaw_offs > yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max); _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
} }
_v_att_sp.R_valid = false; _v_att_sp.R_valid = false;
_publish_att_sp = true; _publish_att_sp = true;
} }
@ -146,7 +150,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* update attitude setpoint if not in position control mode */ /* update attitude setpoint if not in position control mode */
_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max; _v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
_v_att_sp.pitch_body = -_manual_control_sp.x _v_att_sp.pitch_body = -_manual_control_sp.x
* _params.man_pitch_max; * _params.man_pitch_max;
_v_att_sp.R_valid = false; _v_att_sp.R_valid = false;
_publish_att_sp = true; _publish_att_sp = true;
} }
@ -175,7 +179,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* copy rotation matrix back to setpoint struct */ /* copy rotation matrix back to setpoint struct */
memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0],
sizeof(_v_att_sp.R_body)); sizeof(_v_att_sp.R_body));
_v_att_sp.R_valid = true; _v_att_sp.R_valid = true;
} }
@ -221,8 +225,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* rotation matrix for roll/pitch only rotation */ /* rotation matrix for roll/pitch only rotation */
R_rp = R R_rp = R
* (_I + e_R_cp * e_R_z_sin * (_I + e_R_cp * e_R_z_sin
+ e_R_cp * e_R_cp * (1.0f - e_R_z_cos)); + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
} else { } else {
/* zero roll/pitch rotation */ /* zero roll/pitch rotation */
@ -253,13 +257,14 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* limit yaw rate */ /* limit yaw rate */
_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max,
_params.yaw_rate_max); _params.yaw_rate_max);
/* feed forward yaw setpoint rate */ /* feed forward yaw setpoint rate */
_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff; _rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
} }
void MulticopterAttitudeControlBase::control_attitude_rates(float dt) { void MulticopterAttitudeControlBase::control_attitude_rates(float dt)
{
/* reset integral if disarmed */ /* reset integral if disarmed */
if (!_armed.armed) { if (!_armed.armed) {
_rates_int.zero(); _rates_int.zero();
@ -274,7 +279,7 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
/* angular rates error */ /* angular rates error */
math::Vector < 3 > rates_err = _rates_sp - rates; math::Vector < 3 > rates_err = _rates_sp - rates;
_att_control = _params.rate_p.emult(rates_err) _att_control = _params.rate_p.emult(rates_err)
+ _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int; + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
_rates_prev = rates; _rates_prev = rates;
/* update integral only if not saturated on low limit */ /* update integral only if not saturated on low limit */
@ -282,11 +287,11 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
if (fabsf(_att_control(i)) < _thrust_sp) { if (fabsf(_att_control(i)) < _thrust_sp) {
float rate_i = _rates_int(i) float rate_i = _rates_int(i)
+ _params.rate_i(i) * rates_err(i) * dt; + _params.rate_i(i) * rates_err(i) * dt;
if (isfinite( if (isfinite(
rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) { _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
_rates_int(i) = rate_i; _rates_int(i) = rate_i;
} }
} }
@ -295,7 +300,8 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
} }
void MulticopterAttitudeControlBase::set_actuator_controls() { void MulticopterAttitudeControlBase::set_actuator_controls()
{
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f; _actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f; _actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f; _actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;

3
src/modules/mc_att_control/mc_att_control_base.h
View File

@ -64,7 +64,8 @@
#define MIN_TAKEOFF_THRUST 0.2f #define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f #define RATES_I_LIMIT 0.3f
class MulticopterAttitudeControlBase { class MulticopterAttitudeControlBase
{
public: public:
/** /**
* Constructor * Constructor

23
src/modules/mc_att_control/mc_att_control_main.cpp
View File

@ -477,8 +477,9 @@ MulticopterAttitudeControl::task_main()
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit */ /* timed out - periodic check for _task_should_exit */
if (pret == 0) if (pret == 0) {
continue; continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */ /* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) { if (pret < 0) {
@ -522,10 +523,11 @@ MulticopterAttitudeControl::task_main()
if (_att_sp_pub > 0) { if (_att_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
&_v_att_sp); &_v_att_sp);
} else { } else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
&_v_att_sp); &_v_att_sp);
} }
} }
@ -547,7 +549,8 @@ MulticopterAttitudeControl::task_main()
/* attitude controller disabled, poll rates setpoint topic */ /* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode.flag_control_manual_enabled) { if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */ /* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max); _rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
_manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z; _thrust_sp = _manual_control_sp.z;
/* reset yaw setpoint after ACRO */ /* reset yaw setpoint after ACRO */
@ -630,18 +633,21 @@ MulticopterAttitudeControl::start()
int mc_att_control_main(int argc, char *argv[]) int mc_att_control_main(int argc, char *argv[])
{ {
if (argc < 1) if (argc < 1) {
errx(1, "usage: mc_att_control {start|stop|status}"); errx(1, "usage: mc_att_control {start|stop|status}");
}
if (!strcmp(argv[1], "start")) { if (!strcmp(argv[1], "start")) {
if (mc_att_control::g_control != nullptr) if (mc_att_control::g_control != nullptr) {
errx(1, "already running"); errx(1, "already running");
}
mc_att_control::g_control = new MulticopterAttitudeControl; mc_att_control::g_control = new MulticopterAttitudeControl;
if (mc_att_control::g_control == nullptr) if (mc_att_control::g_control == nullptr) {
errx(1, "alloc failed"); errx(1, "alloc failed");
}
if (OK != mc_att_control::g_control->start()) { if (OK != mc_att_control::g_control->start()) {
delete mc_att_control::g_control; delete mc_att_control::g_control;
@ -653,8 +659,9 @@ int mc_att_control_main(int argc, char *argv[])
} }
if (!strcmp(argv[1], "stop")) { if (!strcmp(argv[1], "stop")) {
if (mc_att_control::g_control == nullptr) if (mc_att_control::g_control == nullptr) {
errx(1, "not running"); errx(1, "not running");
}
delete mc_att_control::g_control; delete mc_att_control::g_control;
mc_att_control::g_control = nullptr; mc_att_control::g_control = nullptr;

56
src/modules/mc_att_control/mc_att_control_sim.cpp
View File

@ -46,7 +46,8 @@
using namespace std; using namespace std;
#endif #endif
void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude) { void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude)
{
math::Quaternion quat; math::Quaternion quat;
quat(0) = (float)attitude.w(); quat(0) = (float)attitude.w();
quat(1) = (float)attitude.x(); quat(1) = (float)attitude.x();
@ -58,48 +59,51 @@ void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double>
_v_att.q[2] = quat(2); _v_att.q[2] = quat(2);
_v_att.q[3] = quat(3); _v_att.q[3] = quat(3);
math::Matrix<3,3> Rot = quat.to_dcm(); math::Matrix<3, 3> Rot = quat.to_dcm();
_v_att.R[0][0] = Rot(0,0); _v_att.R[0][0] = Rot(0, 0);
_v_att.R[1][0] = Rot(1,0); _v_att.R[1][0] = Rot(1, 0);
_v_att.R[2][0] = Rot(2,0); _v_att.R[2][0] = Rot(2, 0);
_v_att.R[0][1] = Rot(0,1); _v_att.R[0][1] = Rot(0, 1);
_v_att.R[1][1] = Rot(1,1); _v_att.R[1][1] = Rot(1, 1);
_v_att.R[2][1] = Rot(2,1); _v_att.R[2][1] = Rot(2, 1);
_v_att.R[0][2] = Rot(0,2); _v_att.R[0][2] = Rot(0, 2);
_v_att.R[1][2] = Rot(1,2); _v_att.R[1][2] = Rot(1, 2);
_v_att.R[2][2] = Rot(2,2); _v_att.R[2][2] = Rot(2, 2);
_v_att.R_valid = true; _v_att.R_valid = true;
} }
void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d& angular_rate) { void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d &angular_rate)
{
// check if this is consistent !!! // check if this is consistent !!!
_v_att.rollspeed = angular_rate(0); _v_att.rollspeed = angular_rate(0);
_v_att.pitchspeed = angular_rate(1); _v_att.pitchspeed = angular_rate(1);
_v_att.yawspeed = angular_rate(2); _v_att.yawspeed = angular_rate(2);
} }
void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) { void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference)
{
_v_att_sp.roll_body = control_attitude_thrust_reference(0); _v_att_sp.roll_body = control_attitude_thrust_reference(0);
_v_att_sp.pitch_body = control_attitude_thrust_reference(1); _v_att_sp.pitch_body = control_attitude_thrust_reference(1);
_v_att_sp.yaw_body = control_attitude_thrust_reference(2); _v_att_sp.yaw_body = control_attitude_thrust_reference(2);
_v_att_sp.thrust = (control_attitude_thrust_reference(3) -30)*(-1)/30; _v_att_sp.thrust = (control_attitude_thrust_reference(3) - 30) * (-1) / 30;
// setup rotation matrix // setup rotation matrix
math::Matrix<3,3> Rot_sp; math::Matrix<3, 3> Rot_sp;
Rot_sp.from_euler(_v_att_sp.roll_body,_v_att_sp.pitch_body,_v_att_sp.yaw_body); Rot_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
_v_att_sp.R_body[0][0] = Rot_sp(0,0); _v_att_sp.R_body[0][0] = Rot_sp(0, 0);
_v_att_sp.R_body[1][0] = Rot_sp(1,0); _v_att_sp.R_body[1][0] = Rot_sp(1, 0);
_v_att_sp.R_body[2][0] = Rot_sp(2,0); _v_att_sp.R_body[2][0] = Rot_sp(2, 0);
_v_att_sp.R_body[0][1] = Rot_sp(0,1); _v_att_sp.R_body[0][1] = Rot_sp(0, 1);
_v_att_sp.R_body[1][1] = Rot_sp(1,1); _v_att_sp.R_body[1][1] = Rot_sp(1, 1);
_v_att_sp.R_body[2][1] = Rot_sp(2,1); _v_att_sp.R_body[2][1] = Rot_sp(2, 1);
_v_att_sp.R_body[0][2] = Rot_sp(0,2); _v_att_sp.R_body[0][2] = Rot_sp(0, 2);
_v_att_sp.R_body[1][2] = Rot_sp(1,2); _v_att_sp.R_body[1][2] = Rot_sp(1, 2);
_v_att_sp.R_body[2][2] = Rot_sp(2,2); _v_att_sp.R_body[2][2] = Rot_sp(2, 2);
} }
void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d& motor_inputs) { void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d &motor_inputs)
{
motor_inputs(0) = _actuators.control[0]; motor_inputs(0) = _actuators.control[0];
motor_inputs(1) = _actuators.control[1]; motor_inputs(1) = _actuators.control[1];
motor_inputs(2) = _actuators.control[2]; motor_inputs(2) = _actuators.control[2];

6
src/modules/mc_att_control/mc_att_control_sim.h
View File

@ -82,9 +82,9 @@ public:
/* setters and getters for interface with euroc-gazebo simulator */ /* setters and getters for interface with euroc-gazebo simulator */
void set_attitude(const Eigen::Quaternion<double> attitude); void set_attitude(const Eigen::Quaternion<double> attitude);
void set_attitude_rates(const Eigen::Vector3d& angular_rate); void set_attitude_rates(const Eigen::Vector3d &angular_rate);
void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference); void set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference);
void get_mixer_input(Eigen::Vector4d& motor_inputs); void get_mixer_input(Eigen::Vector4d &motor_inputs);
protected: protected:
void vehicle_attitude_setpoint_poll() {}; void vehicle_attitude_setpoint_poll() {};