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px4-firmware
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working offboard

This commit is contained in:
tnaegeli 2012-10-09 16:31:04 +02:00
parent f292b03772
commit 613e12fcac
7 changed files with 79 additions and 62 deletions
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1
ROMFS/scripts/rcS
View File

@ -33,6 +33,7 @@ fi
usleep 500
#
# Look for an init script on the microSD card.
#

6
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
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@ -389,9 +389,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
// }
printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
//printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
//printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
//printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
// printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
// (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
// (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));

6
apps/commander/state_machine_helper.c
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@ -503,7 +503,7 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->flag_control_manual_enabled = true; //XXX
/* enable attitude control per default */
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
@ -518,7 +518,7 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
@ -533,7 +533,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);

51
apps/mavlink/mavlink.c
View File

@ -889,7 +889,7 @@ static void *uorb_receiveloop(void *arg)
/* copy rc channels into local buffer */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi);
}
@ -1272,7 +1272,8 @@ void handleMessage(mavlink_message_t *msg)
if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
// printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", quad_motors_setpoint.target_system, mavlink_system.sysid);
//printf("got message\n");
//printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode);
if (mavlink_system.sysid < 4) {
/*
@ -1282,19 +1283,28 @@ void handleMessage(mavlink_message_t *msg)
uint8_t ml_mode = 0;
bool ml_armed = false;
if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
ml_armed = true;
}
// if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
// ml_armed = true;
// }
switch (quad_motors_setpoint.mode) {
case 0:
ml_armed = false;
break;
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
break;
ml_armed = true;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
break;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
break;
@ -1306,7 +1316,14 @@ void handleMessage(mavlink_message_t *msg)
offboard_control_sp.p1 = quad_motors_setpoint.roll[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p4 = quad_motors_setpoint.thrust[mavlink_system.sysid] / (float)UINT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
//offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid] ;
if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
ml_armed = false;
}
offboard_control_sp.armed = ml_armed;
offboard_control_sp.mode = ml_mode;
@ -1720,14 +1737,6 @@ int mavlink_thread_main(int argc, char *argv[])
/* all subscriptions are now active, set up initial guess about rate limits */
if (baudrate >= 460800) {
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 5);
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 3);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
/* 5 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
} else if (baudrate >= 230400) {
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
@ -1741,13 +1750,13 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
} else if (baudrate >= 115200) {
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
/* 10 Hz / 100 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 100);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
/* 1 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000);
} else if (baudrate >= 57600) {

60
apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -165,8 +165,30 @@ mc_thread_main(int argc, char *argv[])
/** STEP 1: Define which input is the dominating control input */
if (state.flag_control_offboard_enabled) {
/* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
rates_sp.roll = offboard_sp.p1;
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
printf("thrust_rate=%8.4f\n",offboard_sp.p4);
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
printf("thrust_att=%8.4f\n",offboard_sp.p4);
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
if (state.flag_control_manual_enabled) {
/* decide wether we want rate or position input */
}
else if (state.flag_control_manual_enabled) {
/* manual inputs, from RC control or joystick */
if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) {
@ -188,7 +210,7 @@ mc_thread_main(int argc, char *argv[])
}
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
if (motor_test_mode) {
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
@ -199,39 +221,19 @@ mc_thread_main(int argc, char *argv[])
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
} else if (state.flag_control_offboard_enabled) {
/* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
rates_sp.roll = offboard_sp.p1;
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
/* decide wether we want rate or position input */
}
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
/* run attitude controller */
// if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
// multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
// orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
// } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
// multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
// orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
// }
if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
if (state.flag_control_rates_enabled) {

11
apps/multirotor_att_control/multirotor_rate_control.c
View File

@ -144,6 +144,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators)
{
static float roll_control_last=0;
static float pitch_control_last=0;
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
@ -172,10 +174,13 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* calculate current control outputs */
/* control pitch (forward) output */
float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch-rates[1]);
/* control roll (left/right) output */
float roll_control = p.attrate_p * deltaT * (rate_sp->roll-rates[0] );
float pitch_control = p.attrate_p * deltaT *(rate_sp->pitch-rates[1])-p.attrate_d*(pitch_control_last);
pitch_control_last=pitch_control;
/* control roll (left/right) output */
float roll_control = p.attrate_p * deltaT * (rate_sp->roll-rates[0])-p.attrate_d*(roll_control_last);
roll_control_last=roll_control;
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw-rates[2] );

6
apps/sensors/sensor_params.c
View File

@ -56,9 +56,9 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);