diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp index baf2bfe65c..d21deb7157 100644 --- a/src/modules/mc_att_control/mc_att_control_base.cpp +++ b/src/modules/mc_att_control/mc_att_control_base.cpp @@ -31,7 +31,7 @@ /** * @file mc_att_control_base.h - * + * * @author Roman Bapst * */ @@ -47,13 +47,12 @@ using namespace std; #endif MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() : + _task_should_exit(false), + _control_task(-1), - _task_should_exit(false), _control_task(-1), + _actuators_0_circuit_breaker_enabled(false), - _actuators_0_circuit_breaker_enabled(false), - - /* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) + _publish_att_sp(false) { memset(&_v_att, 0, sizeof(_v_att)); @@ -82,38 +81,14 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() : _att_control.zero(); _I.identity(); - - // setup standard gains - _params.att_p(0) = 5.0; - _params.rate_p(0) = 0.05; - _params.rate_i(0) = 0.0; - _params.rate_d(0) = 0.003; - /* pitch gains */ - _params.att_p(1) = 5.0; - _params.rate_p(1) = 0.05; - _params.rate_i(1) = 0.0; - _params.rate_d(1) = 0.003; - /* yaw gains */ - _params.att_p(2) = 2.8; - _params.rate_p(2) = 0.2; - _params.rate_i(2) = 0.1; - _params.rate_d(2) = 0.0; - _params.yaw_rate_max = 0.5; - _params.yaw_ff = 0.5; - _params.man_roll_max = 0.6; - _params.man_pitch_max = 0.6; - _params.man_yaw_max = 0.6; } MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() { } -void MulticopterAttitudeControlBase::vehicle_attitude_setpoint_poll() { -} - void MulticopterAttitudeControlBase::control_attitude(float dt) { float yaw_sp_move_rate = 0.0f; - bool publish_att_sp = false; + _publish_att_sp = false; if (_v_control_mode.flag_control_manual_enabled) { /* manual input, set or modify attitude setpoint */ @@ -127,7 +102,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { if (!_v_control_mode.flag_control_climb_rate_enabled) { /* pass throttle directly if not in altitude stabilized mode */ _v_att_sp.thrust = _manual_control_sp.z; - publish_att_sp = true; + _publish_att_sp = true; } if (!_armed.armed) { @@ -156,7 +131,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max); } _v_att_sp.R_valid = false; - publish_att_sp = true; + _publish_att_sp = true; } /* reset yaw setpint to current position if needed */ @@ -164,7 +139,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { _reset_yaw_sp = false; _v_att_sp.yaw_body = _v_att.yaw; _v_att_sp.R_valid = false; - publish_att_sp = true; + _publish_att_sp = true; } if (!_v_control_mode.flag_control_velocity_enabled) { @@ -173,7 +148,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { _v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max; _v_att_sp.R_valid = false; - publish_att_sp = true; + _publish_att_sp = true; } } else { @@ -204,20 +179,6 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { _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); @@ -340,64 +301,3 @@ void MulticopterAttitudeControlBase::set_actuator_controls() { _actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f; _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; } - -void MulticopterAttitudeControlBase::set_attitude(const Eigen::Quaternion 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 MulticopterAttitudeControlBase::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 MulticopterAttitudeControlBase::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 MulticopterAttitudeControlBase::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]; -} - diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h index 515fb0c14a..009f762689 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -34,7 +34,7 @@ /** * @file mc_att_control_base.h - * + * * @author Roman Bapst * */ @@ -83,12 +83,7 @@ public: */ void control_attitude(float dt); void control_attitude_rates(float dt); - - // setters and getters for interface with euroc-gazebo simulator - void set_attitude(const Eigen::Quaternion 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); + void set_actuator_controls(); protected: @@ -105,8 +100,6 @@ protected: struct actuator_controls_s _actuators; /**< actuator controls */ struct actuator_armed_s _armed; /**< actuator arming status */ - perf_counter_t _loop_perf; /**< loop performance counter */ - math::Vector<3> _rates_prev; /**< angular rates on previous step */ math::Vector<3> _rates_sp; /**< angular rates setpoint */ math::Vector<3> _rates_int; /**< angular rates integral error */ @@ -130,8 +123,10 @@ protected: float man_yaw_max; math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */ } _params; - - void vehicle_attitude_setpoint_poll(); //provisional + + bool _publish_att_sp; + + virtual void vehicle_attitude_setpoint_poll() = 0; }; diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 81a13edb8f..7bc638e5d2 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -75,6 +75,7 @@ #include #include #include +#include "mc_att_control_base.h" /** * Multicopter attitude control app start / stop handling function @@ -87,7 +88,8 @@ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]); #define MIN_TAKEOFF_THRUST 0.2f #define RATES_I_LIMIT 0.3f -class MulticopterAttitudeControl +class MulticopterAttitudeControl : + public MulticopterAttitudeControlBase { public: /** @@ -108,7 +110,6 @@ public: int start(); private: - bool _task_should_exit; /**< if true, sensor task should exit */ int _control_task; /**< task handle for sensor task */ @@ -124,28 +125,6 @@ private: orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */ orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */ - bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ - - struct vehicle_attitude_s _v_att; /**< vehicle attitude */ - struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */ - struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */ - struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */ - struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */ - struct actuator_controls_s _actuators; /**< actuator controls */ - struct actuator_armed_s _armed; /**< actuator arming status */ - - perf_counter_t _loop_perf; /**< loop performance counter */ - - math::Vector<3> _rates_prev; /**< angular rates on previous step */ - math::Vector<3> _rates_sp; /**< angular rates setpoint */ - math::Vector<3> _rates_int; /**< angular rates integral error */ - float _thrust_sp; /**< thrust setpoint */ - math::Vector<3> _att_control; /**< attitude control vector */ - - math::Matrix<3, 3> _I; /**< identity matrix */ - - bool _reset_yaw_sp; /**< reset yaw setpoint flag */ - struct { param_t roll_p; param_t roll_rate_p; @@ -170,19 +149,7 @@ private: param_t acro_yaw_max; } _params_handles; /**< handles for interesting parameters */ - struct { - math::Vector<3> att_p; /**< P gain for angular error */ - math::Vector<3> rate_p; /**< P gain for angular rate error */ - math::Vector<3> rate_i; /**< I gain for angular rate error */ - math::Vector<3> rate_d; /**< D gain for angular rate error */ - float yaw_ff; /**< yaw control feed-forward */ - float yaw_rate_max; /**< max yaw rate */ - - float man_roll_max; - float man_pitch_max; - float man_yaw_max; - math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */ - } _params; + perf_counter_t _loop_perf; /**< loop performance counter */ /** * Update our local parameter cache. @@ -219,16 +186,6 @@ private: */ void arming_status_poll(); - /** - * Attitude controller. - */ - void control_attitude(float dt); - - /** - * Attitude rates controller. - */ - void control_attitude_rates(float dt); - /** * Shim for calling task_main from task_create. */ @@ -253,11 +210,8 @@ MulticopterAttitudeControl *g_control; } MulticopterAttitudeControl::MulticopterAttitudeControl() : - - _task_should_exit(false), - _control_task(-1), - -/* subscriptions */ + MulticopterAttitudeControlBase(), + /* subscriptions */ _v_att_sub(-1), _v_att_sp_sub(-1), _v_control_mode_sub(-1), @@ -265,14 +219,12 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _manual_control_sp_sub(-1), _armed_sub(-1), -/* publications */ + /* publications */ _att_sp_pub(-1), _v_rates_sp_pub(-1), _actuators_0_pub(-1), - _actuators_0_circuit_breaker_enabled(false), - -/* performance counters */ + /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) { @@ -489,229 +441,6 @@ MulticopterAttitudeControl::arming_status_poll() } } -/* - * Attitude controller. - * Input: 'manual_control_setpoint' and 'vehicle_attitude_setpoint' topics (depending on mode) - * Output: '_rates_sp' vector, '_thrust_sp', 'vehicle_attitude_setpoint' topic (for manual modes) - */ -void -MulticopterAttitudeControl::control_attitude(float dt) -{ - float yaw_sp_move_rate = 0.0f; - bool publish_att_sp = false; - - if (_v_control_mode.flag_control_manual_enabled) { - /* manual input, set or modify attitude setpoint */ - - if (_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_climb_rate_enabled) { - /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ - vehicle_attitude_setpoint_poll(); - } - - if (!_v_control_mode.flag_control_climb_rate_enabled) { - /* pass throttle directly if not in altitude stabilized mode */ - _v_att_sp.thrust = _manual_control_sp.z; - publish_att_sp = true; - } - - if (!_armed.armed) { - /* reset yaw setpoint when disarmed */ - _reset_yaw_sp = true; - } - - /* move yaw setpoint in all modes */ - if (_v_att_sp.thrust < 0.1f) { - // TODO - //if (_status.condition_landed) { - /* reset yaw setpoint if on ground */ - // reset_yaw_sp = true; - //} - } else { - /* move yaw setpoint */ - yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max; - _v_att_sp.yaw_body = _wrap_pi(_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 = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw); - if (yaw_offs < - yaw_offs_max) { - _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - 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.R_valid = false; - publish_att_sp = true; - } - - /* reset yaw setpint to current position if needed */ - if (_reset_yaw_sp) { - _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); diff --git a/src/modules/mc_att_control/mc_att_control_sim.cpp b/src/modules/mc_att_control/mc_att_control_sim.cpp new file mode 100644 index 0000000000..61a4237fc5 --- /dev/null +++ b/src/modules/mc_att_control/mc_att_control_sim.cpp @@ -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 + * + */ + +#include "mc_att_control_sim.h" +#include +#include + +#ifdef CONFIG_ARCH_ARM +#else +#include +using namespace std; +#endif + +void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion 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]; +} diff --git a/src/modules/mc_att_control/mc_att_control_sim.h b/src/modules/mc_att_control/mc_att_control_sim.h new file mode 100644 index 0000000000..20752b054d --- /dev/null +++ b/src/modules/mc_att_control/mc_att_control_sim.h @@ -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 + * + */ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#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 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_ */ diff --git a/src/modules/mc_att_control/module.mk b/src/modules/mc_att_control/module.mk index 64b876f69b..ecd251d45c 100644 --- a/src/modules/mc_att_control/module.mk +++ b/src/modules/mc_att_control/module.mk @@ -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