forked from Archive/PX4-Autopilot
actuator_controls_effective topic removed
This commit is contained in:
Anton Babushkin
parent
8f559c73e9
commit
63d81ba415
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@ -46,7 +46,6 @@
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_controls_effective.h>
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#include <systemlib/err.h>
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#include "ardrone_motor_control.h"
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@ -384,9 +383,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
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const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */
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static bool initialized = false;
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/* publish effective outputs */
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static struct actuator_controls_effective_s actuator_controls_effective;
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static orb_advert_t actuator_controls_effective_pub;
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/* linearly scale the control inputs from 0 to startpoint_full_control */
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if (motor_thrust < startpoint_full_control) {
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@ -430,25 +426,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
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motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control);
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}
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/* publish effective outputs */
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actuator_controls_effective.control_effective[0] = roll_control;
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actuator_controls_effective.control_effective[1] = pitch_control;
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/* yaw output after limiting */
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actuator_controls_effective.control_effective[2] = yaw_control;
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/* possible motor thrust limiting */
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actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f;
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if (!initialized) {
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/* advertise and publish */
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actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective);
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initialized = true;
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} else {
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/* already initialized, just publishing */
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective);
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}
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/* set the motor values */
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/* scale up from 0..1 to 10..500) */
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@ -73,7 +73,6 @@
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#include <drivers/drv_mixer.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_controls_effective.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/esc_status.h>
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@ -143,7 +142,6 @@ private:
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int _frametype;
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orb_advert_t _t_outputs;
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orb_advert_t _t_actuators_effective;
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orb_advert_t _t_esc_status;
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unsigned int _num_outputs;
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@ -252,7 +250,6 @@ MK::MK(int bus) :
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_t_actuators(-1),
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_t_actuator_armed(-1),
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_t_outputs(0),
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_t_actuators_effective(0),
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_t_esc_status(0),
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_num_outputs(0),
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_motortest(false),
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@ -525,13 +522,6 @@ MK::task_main()
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_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
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&outputs);
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/* advertise the effective control inputs */
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actuator_controls_effective_s controls_effective;
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memset(&controls_effective, 0, sizeof(controls_effective));
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/* advertise the effective control inputs */
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_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
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&controls_effective);
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/* advertise the blctrl status */
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esc_status_s esc;
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memset(&esc, 0, sizeof(esc));
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@ -595,9 +585,6 @@ MK::task_main()
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outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
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outputs.timestamp = hrt_absolute_time();
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// XXX output actual limited values
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memcpy(&controls_effective, &_controls, sizeof(controls_effective));
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/* iterate actuators */
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for (unsigned int i = 0; i < _num_outputs; i++) {
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@ -701,7 +688,6 @@ MK::task_main()
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//::close(_t_esc_status);
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::close(_t_actuators);
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::close(_t_actuators_effective);
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::close(_t_actuator_armed);
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@ -69,7 +69,6 @@
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#include <drivers/drv_rc_input.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_controls_effective.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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@ -123,7 +122,6 @@ private:
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int _t_actuators;
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int _t_actuator_armed;
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orb_advert_t _t_outputs;
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orb_advert_t _t_actuators_effective;
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unsigned _num_outputs;
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bool _primary_pwm_device;
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@ -219,7 +217,6 @@ PX4FMU::PX4FMU() :
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_t_actuators(-1),
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_t_actuator_armed(-1),
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_t_outputs(0),
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_t_actuators_effective(0),
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_num_outputs(0),
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_primary_pwm_device(false),
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_task_should_exit(false),
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@ -466,13 +463,6 @@ PX4FMU::task_main()
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_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
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&outputs);
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/* advertise the effective control inputs */
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actuator_controls_effective_s controls_effective;
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memset(&controls_effective, 0, sizeof(controls_effective));
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/* advertise the effective control inputs */
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_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
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&controls_effective);
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pollfd fds[2];
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fds[0].fd = _t_actuators;
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fds[0].events = POLLIN;
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@ -588,13 +578,6 @@ PX4FMU::task_main()
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pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
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/* output actual limited values */
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// XXX copy control values as is, need to do backward mixing of actual limited values properly
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
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controls_effective.control_effective[i] = _controls.control[i];
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}
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orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
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/* output to the servos */
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for (unsigned i = 0; i < num_outputs; i++) {
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up_pwm_servo_set(i, pwm_limited[i]);
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@ -651,7 +634,6 @@ PX4FMU::task_main()
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}
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::close(_t_actuators);
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::close(_t_actuators_effective);
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::close(_t_actuator_armed);
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/* make sure servos are off */
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@ -72,7 +72,6 @@
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#include <systemlib/param/param.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_controls_effective.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/safety.h>
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@ -257,14 +256,12 @@ private:
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/* advertised topics */
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orb_advert_t _to_input_rc; ///< rc inputs from io
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orb_advert_t _to_actuators_effective; ///< effective actuator controls topic
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orb_advert_t _to_outputs; ///< mixed servo outputs topic
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orb_advert_t _to_battery; ///< battery status / voltage
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orb_advert_t _to_servorail; ///< servorail status
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orb_advert_t _to_safety; ///< status of safety
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actuator_outputs_s _outputs; ///<mixed outputs
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actuator_controls_effective_s _controls_effective; ///<effective controls
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bool _primary_pwm_device; ///<true if we are the default PWM output
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@ -327,11 +324,6 @@ private:
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*/
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int io_publish_raw_rc();
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/**
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* Fetch and publish the mixed control values.
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*/
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int io_publish_mixed_controls();
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/**
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* Fetch and publish the PWM servo outputs.
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*/
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@ -472,7 +464,6 @@ PX4IO::PX4IO(device::Device *interface) :
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_t_param(-1),
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_t_vehicle_command(-1),
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_to_input_rc(0),
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_to_actuators_effective(0),
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_to_outputs(0),
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_to_battery(0),
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_to_servorail(0),
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@ -840,8 +831,7 @@ PX4IO::task_main()
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/* get raw R/C input from IO */
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io_publish_raw_rc();
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/* fetch mixed servo controls and PWM outputs from IO */
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io_publish_mixed_controls();
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/* fetch PWM outputs from IO */
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io_publish_pwm_outputs();
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}
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@ -1363,61 +1353,6 @@ PX4IO::io_publish_raw_rc()
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return OK;
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}
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int
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PX4IO::io_publish_mixed_controls()
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{
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/* if no FMU comms(!) just don't publish */
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if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
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return OK;
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/* if not taking raw PPM from us, must be mixing */
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if (_status & PX4IO_P_STATUS_FLAGS_RAW_PWM)
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return OK;
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/* data we are going to fetch */
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actuator_controls_effective_s controls_effective;
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controls_effective.timestamp = hrt_absolute_time();
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// XXX PX4IO_PAGE_ACTUATORS page contains actuator outputs, not inputs
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// need to implement backward mixing in IO's mixed and add another page
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// by now simply use control inputs here
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/* get actuator outputs from IO */
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//uint16_t act[_max_actuators];
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//int ret = io_reg_get(PX4IO_PAGE_ACTUATORS, 0, act, _max_actuators);
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//if (ret != OK)
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// return ret;
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/* convert from register format to float */
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//for (unsigned i = 0; i < _max_actuators; i++)
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// controls_effective.control_effective[i] = REG_TO_FLOAT(act[i]);
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actuator_controls_s controls;
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orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
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ORB_ID(actuator_controls_1), _t_actuators, &controls);
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for (unsigned i = 0; i < _max_actuators; i++)
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controls_effective.control_effective[i] = controls.control[i];
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/* lazily advertise on first publication */
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if (_to_actuators_effective == 0) {
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_to_actuators_effective =
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orb_advertise((_primary_pwm_device ?
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ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
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ORB_ID(actuator_controls_effective_1)),
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&controls_effective);
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} else {
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orb_publish((_primary_pwm_device ?
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ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
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ORB_ID(actuator_controls_effective_1)),
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_to_actuators_effective, &controls_effective);
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}
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return OK;
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}
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int
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PX4IO::io_publish_pwm_outputs()
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{
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@ -72,7 +72,6 @@ struct vehicle_status_s v_status;
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struct rc_channels_s rc;
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struct rc_input_values rc_raw;
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struct actuator_armed_s armed;
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struct actuator_controls_effective_s actuators_effective_0;
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struct actuator_controls_s actuators_0;
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struct vehicle_attitude_s att;
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struct airspeed_s airspeed;
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@ -119,7 +118,6 @@ static void l_attitude_setpoint(const struct listener *l);
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static void l_actuator_outputs(const struct listener *l);
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static void l_actuator_armed(const struct listener *l);
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static void l_manual_control_setpoint(const struct listener *l);
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static void l_vehicle_attitude_controls_effective(const struct listener *l);
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static void l_vehicle_attitude_controls(const struct listener *l);
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static void l_debug_key_value(const struct listener *l);
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static void l_optical_flow(const struct listener *l);
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@ -147,7 +145,6 @@ static const struct listener listeners[] = {
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{l_actuator_armed, &mavlink_subs.armed_sub, 0},
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{l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0},
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{l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0},
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{l_vehicle_attitude_controls_effective, &mavlink_subs.actuators_effective_sub, 0},
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{l_debug_key_value, &mavlink_subs.debug_key_value, 0},
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{l_optical_flow, &mavlink_subs.optical_flow, 0},
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{l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0},
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@ -249,7 +246,7 @@ l_vehicle_attitude(const struct listener *l)
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last_sent_vfr = t;
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float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
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uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f;
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float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1);
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float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f;
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mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz);
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}
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}
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@ -603,32 +600,6 @@ l_manual_control_setpoint(const struct listener *l)
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0);
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}
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void
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l_vehicle_attitude_controls_effective(const struct listener *l)
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{
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orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_effective_sub, &actuators_effective_0);
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if (gcs_link) {
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/* send, add spaces so that string buffer is at least 10 chars long */
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mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
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last_sensor_timestamp / 1000,
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"eff ctrl0 ",
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actuators_effective_0.control_effective[0]);
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mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
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last_sensor_timestamp / 1000,
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"eff ctrl1 ",
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actuators_effective_0.control_effective[1]);
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mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
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last_sensor_timestamp / 1000,
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"eff ctrl2 ",
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actuators_effective_0.control_effective[2]);
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mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
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last_sensor_timestamp / 1000,
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"eff ctrl3 ",
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actuators_effective_0.control_effective[3]);
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}
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}
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void
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l_vehicle_attitude_controls(const struct listener *l)
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{
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@ -839,9 +810,6 @@ uorb_receive_start(void)
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orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */
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/* --- ACTUATOR CONTROL VALUE --- */
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mavlink_subs.actuators_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
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orb_set_interval(mavlink_subs.actuators_effective_sub, 100); /* 10Hz updates */
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mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
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orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */
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@ -68,7 +68,6 @@
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_controls_effective.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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@ -691,7 +690,6 @@ int sdlog2_thread_main(int argc, char *argv[])
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struct vehicle_rates_setpoint_s rates_sp;
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struct actuator_outputs_s act_outputs;
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struct actuator_controls_s act_controls;
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struct actuator_controls_effective_s act_controls_effective;
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struct vehicle_local_position_s local_pos;
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struct vehicle_local_position_setpoint_s local_pos_sp;
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struct vehicle_global_position_s global_pos;
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@ -717,7 +715,6 @@ int sdlog2_thread_main(int argc, char *argv[])
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int rates_sp_sub;
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int act_outputs_sub;
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int act_controls_sub;
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int act_controls_effective_sub;
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int local_pos_sub;
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int local_pos_sp_sub;
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int global_pos_sub;
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@ -763,9 +760,9 @@ int sdlog2_thread_main(int argc, char *argv[])
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memset(&log_msg.body, 0, sizeof(log_msg.body));
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/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
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/* number of messages */
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const ssize_t fdsc = 20;
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||||
/* Sanity check variable and index */
|
||||
/* number of subscriptions */
|
||||
const ssize_t fdsc = 19;
|
||||
/* sanity check variable and index */
|
||||
ssize_t fdsc_count = 0;
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||||
/* file descriptors to wait for */
|
||||
struct pollfd fds[fdsc];
|
||||
|
|
@ -824,12 +821,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
fds[fdsc_count].events = POLLIN;
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||||
fdsc_count++;
|
||||
|
||||
/* --- ACTUATOR CONTROL EFFECTIVE --- */
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||||
subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
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||||
fds[fdsc_count].fd = subs.act_controls_effective_sub;
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||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- LOCAL POSITION --- */
|
||||
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
|
||||
fds[fdsc_count].fd = subs.local_pos_sub;
|
||||
|
|
@ -1114,12 +1105,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
LOGBUFFER_WRITE_AND_COUNT(ATTC);
|
||||
}
|
||||
|
||||
/* --- ACTUATOR CONTROL EFFECTIVE --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective);
|
||||
// TODO not implemented yet
|
||||
}
|
||||
|
||||
/* --- LOCAL POSITION --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
|
||||
|
|
|
|||
|
|
@ -169,13 +169,6 @@ ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
|
|||
#include "topics/actuator_armed.h"
|
||||
ORB_DEFINE(actuator_armed, struct actuator_armed_s);
|
||||
|
||||
/* actuator controls, as set by actuators / mixers after limiting */
|
||||
#include "topics/actuator_controls_effective.h"
|
||||
ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
|
||||
ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
|
||||
ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
|
||||
ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
|
||||
|
||||
#include "topics/actuator_outputs.h"
|
||||
ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
|
||||
ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
|
||||
|
|
|
|||
|
|
@ -46,34 +46,34 @@
|
|||
#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
|
||||
#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
#include "actuator_controls.h"
|
||||
//#include <stdint.h>
|
||||
//#include "../uORB.h"
|
||||
//#include "actuator_controls.h"
|
||||
//
|
||||
//#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
|
||||
//#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
|
||||
//
|
||||
///**
|
||||
// * @addtogroup topics
|
||||
// * @{
|
||||
// */
|
||||
//
|
||||
//struct actuator_controls_effective_s {
|
||||
// uint64_t timestamp;
|
||||
// float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
|
||||
//};
|
||||
//
|
||||
///**
|
||||
// * @}
|
||||
// */
|
||||
//
|
||||
///* actuator control sets; this list can be expanded as more controllers emerge */
|
||||
//ORB_DECLARE(actuator_controls_effective_0);
|
||||
//ORB_DECLARE(actuator_controls_effective_1);
|
||||
//ORB_DECLARE(actuator_controls_effective_2);
|
||||
//ORB_DECLARE(actuator_controls_effective_3);
|
||||
//
|
||||
///* control sets with pre-defined applications */
|
||||
//#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0)
|
||||
|
||||
#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
|
||||
#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct actuator_controls_effective_s {
|
||||
uint64_t timestamp;
|
||||
float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* actuator control sets; this list can be expanded as more controllers emerge */
|
||||
ORB_DECLARE(actuator_controls_effective_0);
|
||||
ORB_DECLARE(actuator_controls_effective_1);
|
||||
ORB_DECLARE(actuator_controls_effective_2);
|
||||
ORB_DECLARE(actuator_controls_effective_3);
|
||||
|
||||
/* control sets with pre-defined applications */
|
||||
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0)
|
||||
|
||||
#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
|
||||
#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
|
||||
|
|
|
|||
Loading…
Reference in New Issue