forked from Archive/PX4-Autopilot
mc att control: make the main app use the base class, move euroc functions into own class
This commit is contained in:
Thomas Gubler
parent
33647c494e
commit
4c950eb76b
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@ -31,7 +31,7 @@
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/**
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* @file mc_att_control_base.h
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*
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*
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* @author Roman Bapst <bapstr@ethz.ch>
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*
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*/
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@ -47,13 +47,12 @@ using namespace std;
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#endif
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MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
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_task_should_exit(false),
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_control_task(-1),
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_task_should_exit(false), _control_task(-1),
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_actuators_0_circuit_breaker_enabled(false),
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_actuators_0_circuit_breaker_enabled(false),
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
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_publish_att_sp(false)
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{
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memset(&_v_att, 0, sizeof(_v_att));
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@ -82,38 +81,14 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
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_att_control.zero();
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_I.identity();
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// setup standard gains
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_params.att_p(0) = 5.0;
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_params.rate_p(0) = 0.05;
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_params.rate_i(0) = 0.0;
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_params.rate_d(0) = 0.003;
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/* pitch gains */
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_params.att_p(1) = 5.0;
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_params.rate_p(1) = 0.05;
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_params.rate_i(1) = 0.0;
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_params.rate_d(1) = 0.003;
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/* yaw gains */
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_params.att_p(2) = 2.8;
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_params.rate_p(2) = 0.2;
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_params.rate_i(2) = 0.1;
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_params.rate_d(2) = 0.0;
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_params.yaw_rate_max = 0.5;
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_params.yaw_ff = 0.5;
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_params.man_roll_max = 0.6;
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_params.man_pitch_max = 0.6;
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_params.man_yaw_max = 0.6;
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}
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MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() {
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}
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void MulticopterAttitudeControlBase::vehicle_attitude_setpoint_poll() {
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}
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void MulticopterAttitudeControlBase::control_attitude(float dt) {
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float yaw_sp_move_rate = 0.0f;
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bool publish_att_sp = false;
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_publish_att_sp = false;
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if (_v_control_mode.flag_control_manual_enabled) {
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/* manual input, set or modify attitude setpoint */
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@ -127,7 +102,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
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if (!_v_control_mode.flag_control_climb_rate_enabled) {
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/* pass throttle directly if not in altitude stabilized mode */
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_v_att_sp.thrust = _manual_control_sp.z;
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publish_att_sp = true;
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_publish_att_sp = true;
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}
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if (!_armed.armed) {
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@ -156,7 +131,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
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_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
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}
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_v_att_sp.R_valid = false;
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publish_att_sp = true;
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_publish_att_sp = true;
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}
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/* reset yaw setpint to current position if needed */
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@ -164,7 +139,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
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_reset_yaw_sp = false;
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_v_att_sp.yaw_body = _v_att.yaw;
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_v_att_sp.R_valid = false;
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publish_att_sp = true;
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_publish_att_sp = true;
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}
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if (!_v_control_mode.flag_control_velocity_enabled) {
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@ -173,7 +148,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
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_v_att_sp.pitch_body = -_manual_control_sp.x
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* _params.man_pitch_max;
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_v_att_sp.R_valid = false;
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publish_att_sp = true;
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_publish_att_sp = true;
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}
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} else {
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@ -204,20 +179,6 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
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_v_att_sp.R_valid = true;
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}
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// /* publish the attitude setpoint if needed */
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// if (publish_att_sp) {
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// _v_att_sp.timestamp = hrt_absolute_time();
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//
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// if (_att_sp_pub > 0) {
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// orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
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// &_v_att_sp);
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//
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// } else {
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// _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
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// &_v_att_sp);
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// }
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// }
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/* rotation matrix for current state */
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math::Matrix<3, 3> R;
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R.set(_v_att.R);
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@ -340,64 +301,3 @@ void MulticopterAttitudeControlBase::set_actuator_controls() {
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_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
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_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
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}
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void MulticopterAttitudeControlBase::set_attitude(const Eigen::Quaternion<double> attitude) {
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math::Quaternion quat;
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quat(0) = (float)attitude.w();
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quat(1) = (float)attitude.x();
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quat(2) = (float)attitude.y();
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quat(3) = (float)attitude.z();
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_v_att.q[0] = quat(0);
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_v_att.q[1] = quat(1);
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_v_att.q[2] = quat(2);
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_v_att.q[3] = quat(3);
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math::Matrix<3,3> Rot = quat.to_dcm();
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_v_att.R[0][0] = Rot(0,0);
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_v_att.R[1][0] = Rot(1,0);
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_v_att.R[2][0] = Rot(2,0);
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_v_att.R[0][1] = Rot(0,1);
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_v_att.R[1][1] = Rot(1,1);
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_v_att.R[2][1] = Rot(2,1);
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_v_att.R[0][2] = Rot(0,2);
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_v_att.R[1][2] = Rot(1,2);
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_v_att.R[2][2] = Rot(2,2);
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_v_att.R_valid = true;
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}
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void MulticopterAttitudeControlBase::set_attitude_rates(const Eigen::Vector3d& angular_rate) {
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// check if this is consistent !!!
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_v_att.rollspeed = angular_rate(0);
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_v_att.pitchspeed = angular_rate(1);
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_v_att.yawspeed = angular_rate(2);
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}
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void MulticopterAttitudeControlBase::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) {
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_v_att_sp.roll_body = control_attitude_thrust_reference(0);
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_v_att_sp.pitch_body = control_attitude_thrust_reference(1);
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_v_att_sp.yaw_body = control_attitude_thrust_reference(2);
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_v_att_sp.thrust = (control_attitude_thrust_reference(3) -30)*(-1)/30;
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// setup rotation matrix
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math::Matrix<3,3> Rot_sp;
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Rot_sp.from_euler(_v_att_sp.roll_body,_v_att_sp.pitch_body,_v_att_sp.yaw_body);
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_v_att_sp.R_body[0][0] = Rot_sp(0,0);
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_v_att_sp.R_body[1][0] = Rot_sp(1,0);
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_v_att_sp.R_body[2][0] = Rot_sp(2,0);
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_v_att_sp.R_body[0][1] = Rot_sp(0,1);
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_v_att_sp.R_body[1][1] = Rot_sp(1,1);
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_v_att_sp.R_body[2][1] = Rot_sp(2,1);
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_v_att_sp.R_body[0][2] = Rot_sp(0,2);
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_v_att_sp.R_body[1][2] = Rot_sp(1,2);
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_v_att_sp.R_body[2][2] = Rot_sp(2,2);
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}
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void MulticopterAttitudeControlBase::get_mixer_input(Eigen::Vector4d& motor_inputs) {
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motor_inputs(0) = _actuators.control[0];
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motor_inputs(1) = _actuators.control[1];
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motor_inputs(2) = _actuators.control[2];
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motor_inputs(3) = _actuators.control[3];
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}
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@ -34,7 +34,7 @@
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/**
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* @file mc_att_control_base.h
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*
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*
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* @author Roman Bapst <bapstr@ethz.ch>
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*
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*/
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@ -83,12 +83,7 @@ public:
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*/
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void control_attitude(float dt);
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void control_attitude_rates(float dt);
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// setters and getters for interface with euroc-gazebo simulator
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void set_attitude(const Eigen::Quaternion<double> attitude);
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void set_attitude_rates(const Eigen::Vector3d& angular_rate);
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void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
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void get_mixer_input(Eigen::Vector4d& motor_inputs);
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void set_actuator_controls();
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protected:
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@ -105,8 +100,6 @@ protected:
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struct actuator_controls_s _actuators; /**< actuator controls */
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struct actuator_armed_s _armed; /**< actuator arming status */
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perf_counter_t _loop_perf; /**< loop performance counter */
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math::Vector<3> _rates_prev; /**< angular rates on previous step */
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math::Vector<3> _rates_sp; /**< angular rates setpoint */
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math::Vector<3> _rates_int; /**< angular rates integral error */
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@ -130,8 +123,10 @@ protected:
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float man_yaw_max;
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math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
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} _params;
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void vehicle_attitude_setpoint_poll(); //provisional
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bool _publish_att_sp;
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virtual void vehicle_attitude_setpoint_poll() = 0;
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};
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@ -75,6 +75,7 @@
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#include <systemlib/circuit_breaker.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/geo/geo.h>
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#include "mc_att_control_base.h"
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/**
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* Multicopter attitude control app start / stop handling function
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@ -87,7 +88,8 @@ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
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#define MIN_TAKEOFF_THRUST 0.2f
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#define RATES_I_LIMIT 0.3f
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class MulticopterAttitudeControl
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class MulticopterAttitudeControl :
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public MulticopterAttitudeControlBase
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{
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public:
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/**
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@ -108,7 +110,6 @@ public:
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int start();
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private:
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bool _task_should_exit; /**< if true, sensor task should exit */
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int _control_task; /**< task handle for sensor task */
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@ -124,28 +125,6 @@ private:
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orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
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orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
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bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
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struct vehicle_attitude_s _v_att; /**< vehicle attitude */
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struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
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struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
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struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
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struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
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struct actuator_controls_s _actuators; /**< actuator controls */
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struct actuator_armed_s _armed; /**< actuator arming status */
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perf_counter_t _loop_perf; /**< loop performance counter */
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math::Vector<3> _rates_prev; /**< angular rates on previous step */
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math::Vector<3> _rates_sp; /**< angular rates setpoint */
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math::Vector<3> _rates_int; /**< angular rates integral error */
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float _thrust_sp; /**< thrust setpoint */
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math::Vector<3> _att_control; /**< attitude control vector */
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math::Matrix<3, 3> _I; /**< identity matrix */
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bool _reset_yaw_sp; /**< reset yaw setpoint flag */
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struct {
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param_t roll_p;
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param_t roll_rate_p;
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@ -170,19 +149,7 @@ private:
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param_t acro_yaw_max;
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} _params_handles; /**< handles for interesting parameters */
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struct {
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math::Vector<3> att_p; /**< P gain for angular error */
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math::Vector<3> rate_p; /**< P gain for angular rate error */
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math::Vector<3> rate_i; /**< I gain for angular rate error */
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math::Vector<3> rate_d; /**< D gain for angular rate error */
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float yaw_ff; /**< yaw control feed-forward */
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float yaw_rate_max; /**< max yaw rate */
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float man_roll_max;
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float man_pitch_max;
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float man_yaw_max;
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math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
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} _params;
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perf_counter_t _loop_perf; /**< loop performance counter */
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/**
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* Update our local parameter cache.
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@ -219,16 +186,6 @@ private:
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*/
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void arming_status_poll();
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/**
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* Attitude controller.
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*/
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void control_attitude(float dt);
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/**
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* Attitude rates controller.
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*/
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void control_attitude_rates(float dt);
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/**
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* Shim for calling task_main from task_create.
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*/
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@ -253,11 +210,8 @@ MulticopterAttitudeControl *g_control;
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}
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MulticopterAttitudeControl::MulticopterAttitudeControl() :
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_task_should_exit(false),
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_control_task(-1),
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/* subscriptions */
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MulticopterAttitudeControlBase(),
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/* subscriptions */
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_v_att_sub(-1),
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_v_att_sp_sub(-1),
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_v_control_mode_sub(-1),
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@ -265,14 +219,12 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
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_manual_control_sp_sub(-1),
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_armed_sub(-1),
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/* publications */
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/* publications */
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_att_sp_pub(-1),
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_v_rates_sp_pub(-1),
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_actuators_0_pub(-1),
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_actuators_0_circuit_breaker_enabled(false),
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/* performance counters */
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
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{
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@ -489,229 +441,6 @@ MulticopterAttitudeControl::arming_status_poll()
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}
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}
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/*
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* Attitude controller.
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* Input: 'manual_control_setpoint' and 'vehicle_attitude_setpoint' topics (depending on mode)
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* Output: '_rates_sp' vector, '_thrust_sp', 'vehicle_attitude_setpoint' topic (for manual modes)
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*/
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void
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MulticopterAttitudeControl::control_attitude(float dt)
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{
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float yaw_sp_move_rate = 0.0f;
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bool publish_att_sp = false;
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if (_v_control_mode.flag_control_manual_enabled) {
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/* manual input, set or modify attitude setpoint */
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if (_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_climb_rate_enabled) {
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/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
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vehicle_attitude_setpoint_poll();
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}
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if (!_v_control_mode.flag_control_climb_rate_enabled) {
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/* pass throttle directly if not in altitude stabilized mode */
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_v_att_sp.thrust = _manual_control_sp.z;
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publish_att_sp = true;
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}
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if (!_armed.armed) {
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/* reset yaw setpoint when disarmed */
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_reset_yaw_sp = true;
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}
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/* move yaw setpoint in all modes */
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if (_v_att_sp.thrust < 0.1f) {
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// TODO
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//if (_status.condition_landed) {
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/* reset yaw setpoint if on ground */
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// reset_yaw_sp = true;
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//}
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} else {
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/* move yaw setpoint */
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yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
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_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
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float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
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float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
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if (yaw_offs < - yaw_offs_max) {
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_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
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} else if (yaw_offs > yaw_offs_max) {
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_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
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}
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_v_att_sp.R_valid = false;
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publish_att_sp = true;
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}
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/* reset yaw setpint to current position if needed */
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if (_reset_yaw_sp) {
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_reset_yaw_sp = false;
|
||||
_v_att_sp.yaw_body = _v_att.yaw;
|
||||
_v_att_sp.R_valid = false;
|
||||
publish_att_sp = true;
|
||||
}
|
||||
|
||||
if (!_v_control_mode.flag_control_velocity_enabled) {
|
||||
/* 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.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
|
||||
_v_att_sp.R_valid = false;
|
||||
publish_att_sp = true;
|
||||
}
|
||||
|
||||
} else {
|
||||
/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
|
||||
vehicle_attitude_setpoint_poll();
|
||||
|
||||
/* reset yaw setpoint after non-manual control mode */
|
||||
_reset_yaw_sp = true;
|
||||
}
|
||||
|
||||
_thrust_sp = _v_att_sp.thrust;
|
||||
|
||||
/* construct attitude setpoint rotation matrix */
|
||||
math::Matrix<3, 3> R_sp;
|
||||
|
||||
if (_v_att_sp.R_valid) {
|
||||
/* rotation matrix in _att_sp is valid, use it */
|
||||
R_sp.set(&_v_att_sp.R_body[0][0]);
|
||||
|
||||
} else {
|
||||
/* rotation matrix in _att_sp is not valid, use euler angles instead */
|
||||
R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
|
||||
|
||||
/* copy rotation matrix back to setpoint struct */
|
||||
memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], sizeof(_v_att_sp.R_body));
|
||||
_v_att_sp.R_valid = true;
|
||||
}
|
||||
|
||||
/* publish the attitude setpoint if needed */
|
||||
if (publish_att_sp) {
|
||||
_v_att_sp.timestamp = hrt_absolute_time();
|
||||
|
||||
if (_att_sp_pub > 0) {
|
||||
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_v_att_sp);
|
||||
|
||||
} else {
|
||||
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_v_att_sp);
|
||||
}
|
||||
}
|
||||
|
||||
/* rotation matrix for current state */
|
||||
math::Matrix<3, 3> R;
|
||||
R.set(_v_att.R);
|
||||
|
||||
/* all input data is ready, run controller itself */
|
||||
|
||||
/* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
|
||||
math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2));
|
||||
math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
|
||||
|
||||
/* axis and sin(angle) of desired rotation */
|
||||
math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z);
|
||||
|
||||
/* calculate angle error */
|
||||
float e_R_z_sin = e_R.length();
|
||||
float e_R_z_cos = R_z * R_sp_z;
|
||||
|
||||
/* calculate weight for yaw control */
|
||||
float yaw_w = R_sp(2, 2) * R_sp(2, 2);
|
||||
|
||||
/* calculate rotation matrix after roll/pitch only rotation */
|
||||
math::Matrix<3, 3> R_rp;
|
||||
|
||||
if (e_R_z_sin > 0.0f) {
|
||||
/* get axis-angle representation */
|
||||
float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos);
|
||||
math::Vector<3> e_R_z_axis = e_R / e_R_z_sin;
|
||||
|
||||
e_R = e_R_z_axis * e_R_z_angle;
|
||||
|
||||
/* cross product matrix for e_R_axis */
|
||||
math::Matrix<3, 3> e_R_cp;
|
||||
e_R_cp.zero();
|
||||
e_R_cp(0, 1) = -e_R_z_axis(2);
|
||||
e_R_cp(0, 2) = e_R_z_axis(1);
|
||||
e_R_cp(1, 0) = e_R_z_axis(2);
|
||||
e_R_cp(1, 2) = -e_R_z_axis(0);
|
||||
e_R_cp(2, 0) = -e_R_z_axis(1);
|
||||
e_R_cp(2, 1) = e_R_z_axis(0);
|
||||
|
||||
/* rotation matrix for roll/pitch only rotation */
|
||||
R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
|
||||
|
||||
} else {
|
||||
/* zero roll/pitch rotation */
|
||||
R_rp = R;
|
||||
}
|
||||
|
||||
/* R_rp and R_sp has the same Z axis, calculate yaw error */
|
||||
math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
|
||||
math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
|
||||
e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
|
||||
|
||||
if (e_R_z_cos < 0.0f) {
|
||||
/* for large thrust vector rotations use another rotation method:
|
||||
* calculate angle and axis for R -> R_sp rotation directly */
|
||||
math::Quaternion q;
|
||||
q.from_dcm(R.transposed() * R_sp);
|
||||
math::Vector<3> e_R_d = q.imag();
|
||||
e_R_d.normalize();
|
||||
e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0));
|
||||
|
||||
/* use fusion of Z axis based rotation and direct rotation */
|
||||
float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;
|
||||
e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w;
|
||||
}
|
||||
|
||||
/* calculate angular rates setpoint */
|
||||
_rates_sp = _params.att_p.emult(e_R);
|
||||
|
||||
/* limit yaw rate */
|
||||
_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
|
||||
|
||||
/* feed forward yaw setpoint rate */
|
||||
_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
|
||||
}
|
||||
|
||||
/*
|
||||
* Attitude rates controller.
|
||||
* Input: '_rates_sp' vector, '_thrust_sp'
|
||||
* Output: '_att_control' vector
|
||||
*/
|
||||
void
|
||||
MulticopterAttitudeControl::control_attitude_rates(float dt)
|
||||
{
|
||||
/* reset integral if disarmed */
|
||||
if (!_armed.armed) {
|
||||
_rates_int.zero();
|
||||
}
|
||||
|
||||
/* current body angular rates */
|
||||
math::Vector<3> rates;
|
||||
rates(0) = _v_att.rollspeed;
|
||||
rates(1) = _v_att.pitchspeed;
|
||||
rates(2) = _v_att.yawspeed;
|
||||
|
||||
/* angular rates error */
|
||||
math::Vector<3> rates_err = _rates_sp - rates;
|
||||
_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
|
||||
_rates_prev = rates;
|
||||
|
||||
/* update integral only if not saturated on low limit */
|
||||
if (_thrust_sp > MIN_TAKEOFF_THRUST) {
|
||||
for (int i = 0; i < 3; i++) {
|
||||
if (fabsf(_att_control(i)) < _thrust_sp) {
|
||||
float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
|
||||
|
||||
if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
|
||||
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
|
||||
_rates_int(i) = rate_i;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
|
||||
{
|
||||
|
|
@ -787,6 +516,19 @@ MulticopterAttitudeControl::task_main()
|
|||
if (_v_control_mode.flag_control_attitude_enabled) {
|
||||
control_attitude(dt);
|
||||
|
||||
/* publish the attitude setpoint if needed */
|
||||
if (_publish_att_sp) {
|
||||
_v_att_sp.timestamp = hrt_absolute_time();
|
||||
|
||||
if (_att_sp_pub > 0) {
|
||||
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
|
||||
&_v_att_sp);
|
||||
} else {
|
||||
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
|
||||
&_v_att_sp);
|
||||
}
|
||||
}
|
||||
|
||||
/* publish attitude rates setpoint */
|
||||
_v_rates_sp.roll = _rates_sp(0);
|
||||
_v_rates_sp.pitch = _rates_sp(1);
|
||||
|
|
|
|||
|
|
@ -0,0 +1,107 @@
|
|||
/* Copyright (c) 2014 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 mc_att_control_base.h
|
||||
*
|
||||
* @author Roman Bapst <bapstr@ethz.ch>
|
||||
*
|
||||
*/
|
||||
|
||||
#include "mc_att_control_sim.h"
|
||||
#include <geo/geo.h>
|
||||
#include <math.h>
|
||||
|
||||
#ifdef CONFIG_ARCH_ARM
|
||||
#else
|
||||
#include <cmath>
|
||||
using namespace std;
|
||||
#endif
|
||||
|
||||
void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude) {
|
||||
math::Quaternion quat;
|
||||
quat(0) = (float)attitude.w();
|
||||
quat(1) = (float)attitude.x();
|
||||
quat(2) = (float)attitude.y();
|
||||
quat(3) = (float)attitude.z();
|
||||
|
||||
_v_att.q[0] = quat(0);
|
||||
_v_att.q[1] = quat(1);
|
||||
_v_att.q[2] = quat(2);
|
||||
_v_att.q[3] = quat(3);
|
||||
|
||||
math::Matrix<3,3> Rot = quat.to_dcm();
|
||||
_v_att.R[0][0] = Rot(0,0);
|
||||
_v_att.R[1][0] = Rot(1,0);
|
||||
_v_att.R[2][0] = Rot(2,0);
|
||||
_v_att.R[0][1] = Rot(0,1);
|
||||
_v_att.R[1][1] = Rot(1,1);
|
||||
_v_att.R[2][1] = Rot(2,1);
|
||||
_v_att.R[0][2] = Rot(0,2);
|
||||
_v_att.R[1][2] = Rot(1,2);
|
||||
_v_att.R[2][2] = Rot(2,2);
|
||||
|
||||
_v_att.R_valid = true;
|
||||
}
|
||||
|
||||
void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d& angular_rate) {
|
||||
// check if this is consistent !!!
|
||||
_v_att.rollspeed = angular_rate(0);
|
||||
_v_att.pitchspeed = angular_rate(1);
|
||||
_v_att.yawspeed = angular_rate(2);
|
||||
}
|
||||
|
||||
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.pitch_body = control_attitude_thrust_reference(1);
|
||||
_v_att_sp.yaw_body = control_attitude_thrust_reference(2);
|
||||
_v_att_sp.thrust = (control_attitude_thrust_reference(3) -30)*(-1)/30;
|
||||
|
||||
// setup rotation matrix
|
||||
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);
|
||||
_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[2][0] = Rot_sp(2,0);
|
||||
_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[2][1] = Rot_sp(2,1);
|
||||
_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[2][2] = Rot_sp(2,2);
|
||||
}
|
||||
|
||||
void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d& motor_inputs) {
|
||||
motor_inputs(0) = _actuators.control[0];
|
||||
motor_inputs(1) = _actuators.control[1];
|
||||
motor_inputs(2) = _actuators.control[2];
|
||||
motor_inputs(3) = _actuators.control[3];
|
||||
}
|
||||
|
|
@ -0,0 +1,95 @@
|
|||
#ifndef MC_ATT_CONTROL_BASE_H_
|
||||
#define MC_ATT_CONTROL_BASE_H_
|
||||
|
||||
/* Copyright (c) 2014 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 mc_att_control_base.h
|
||||
*
|
||||
* @author Roman Bapst <bapstr@ethz.ch>
|
||||
*
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
#inlcude "mc_att_control_base.h"
|
||||
|
||||
|
||||
|
||||
#define YAW_DEADZONE 0.05f
|
||||
#define MIN_TAKEOFF_THRUST 0.2f
|
||||
#define RATES_I_LIMIT 0.3f
|
||||
|
||||
class MulticopterAttitudeControlSim :
|
||||
public MulticopterAttitudeControlBase
|
||||
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
MulticopterAttitudeControlSim();
|
||||
|
||||
/**
|
||||
* Destructor
|
||||
*/
|
||||
~MulticopterAttitudeControlSim();
|
||||
|
||||
/* setters and getters for interface with euroc-gazebo simulator */
|
||||
void set_attitude(const Eigen::Quaternion<double> attitude);
|
||||
void set_attitude_rates(const Eigen::Vector3d& angular_rate);
|
||||
void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
|
||||
void get_mixer_input(Eigen::Vector4d& motor_inputs);
|
||||
|
||||
protected:
|
||||
void vehicle_attitude_setpoint_poll() {};
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif /* MC_ATT_CONTROL_BASE_H_ */
|
||||
|
|
@ -38,4 +38,5 @@
|
|||
MODULE_COMMAND = mc_att_control
|
||||
|
||||
SRCS = mc_att_control_main.cpp \
|
||||
mc_att_control_params.c
|
||||
mc_att_control_base.cpp \
|
||||
mc_att_control_params.c
|
||||
|
|
|
|||
Loading…
Reference in New Issue