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mc att: correctly handle topics which are simultaneously subscribed and published

This commit is contained in:
Thomas Gubler 2014-12-12 11:21:43 +01:00
parent c0d386bce0
commit 75a8701537
3 changed files with 51 additions and 51 deletions
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37
src/modules/mc_att_control/mc_att_control.cpp
View File

@ -219,10 +219,10 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
/* publish the attitude setpoint if needed */
if (_publish_att_sp) {
_v_att_sp.timestamp = hrt_absolute_time();
_v_att_sp_mod.timestamp = hrt_absolute_time();
if (_att_sp_pub != nullptr) {
_att_sp_pub->publish(_v_att_sp);
_att_sp_pub->publish(_v_att_sp_mod);
} else {
_att_sp_pub = PX4_ADVERTISE(_n, vehicle_attitude_setpoint);
@ -230,15 +230,14 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
}
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
_v_rates_sp_mod.roll = _rates_sp(0);
_v_rates_sp_mod.pitch = _rates_sp(1);
_v_rates_sp_mod.yaw = _rates_sp(2);
_v_rates_sp_mod.thrust = _thrust_sp;
_v_rates_sp_mod.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub != nullptr) {
_v_rates_sp_pub->publish(_v_rates_sp);
_v_rates_sp_pub->publish(_v_rates_sp_mod);
} else {
_v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint);
}
@ -255,14 +254,14 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
_reset_yaw_sp = true;
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
_v_rates_sp_mod.roll = _rates_sp(0);
_v_rates_sp_mod.pitch = _rates_sp(1);
_v_rates_sp_mod.yaw = _rates_sp(2);
_v_rates_sp_mod.thrust = _thrust_sp;
_v_rates_sp_mod.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub != nullptr) {
_v_rates_sp_pub->publish(_v_rates_sp);
_v_rates_sp_pub->publish(_v_rates_sp_mod);
} else {
_v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint);
@ -271,10 +270,10 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
} else {
/* attitude controller disabled, poll rates setpoint topic */
//XXX vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
_rates_sp(0) = _v_rates_sp->get().roll;
_rates_sp(1) = _v_rates_sp->get().pitch;
_rates_sp(2) = _v_rates_sp->get().yaw;
_thrust_sp = _v_rates_sp->get().thrust;
}
}

57
src/modules/mc_att_control/mc_att_control_base.cpp
View File

@ -58,13 +58,9 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
_publish_att_sp(false)
{
// memset(&_v_att, 0, sizeof(_v_att));
// memset(&_v_att_sp, 0, sizeof(_v_att_sp));
// memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
// memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
// memset(&_v_control_mode, 0, sizeof(_v_control_mode));
// memset(&_actuators, 0, sizeof(_actuators));
// memset(&_armed, 0, sizeof(_armed));
memset(&_v_rates_sp, 0, sizeof(_v_att_sp_mod));
memset(&_v_rates_sp, 0, sizeof(_v_rates_sp_mod));
memset(&_actuators, 0, sizeof(_actuators));
_params.att_p.zero();
_params.rate_p.zero();
@ -95,18 +91,19 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
float yaw_sp_move_rate = 0.0f;
_publish_att_sp = false;
if (_v_control_mode->get().flag_control_manual_enabled) {
/* manual input, set or modify attitude setpoint */
if (_v_control_mode->get().flag_control_velocity_enabled
|| _v_control_mode->get().flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
//XXX vehicle_attitude_setpoint_poll();
_v_att_sp_mod = _v_att_sp->get();
}
if (!_v_control_mode->get().flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude stabilized mode */
_v_att_sp.thrust = _manual_control_sp->get().z;
_v_att_sp_mod.thrust = _manual_control_sp->get().z;
_publish_att_sp = true;
}
@ -116,7 +113,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
}
/* move yaw setpoint in all modes */
if (_v_att_sp.thrust < 0.1f) {
if (_v_att_sp_mod.thrust < 0.1f) {
// TODO
//if (_status.condition_landed) {
/* reset yaw setpoint if on ground */
@ -125,65 +122,65 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
} else {
/* move yaw setpoint */
yaw_sp_move_rate = _manual_control_sp->get().r * _params.man_yaw_max;
_v_att_sp.yaw_body = _wrap_pi(
_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
_v_att_sp_mod.yaw_body = _wrap_pi(
_v_att_sp_mod.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->get().yaw);
float yaw_offs = _wrap_pi(_v_att_sp_mod.yaw_body - _v_att->get().yaw);
if (yaw_offs < -yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att->get().yaw - yaw_offs_max);
_v_att_sp_mod.yaw_body = _wrap_pi(_v_att->get().yaw - yaw_offs_max);
} else if (yaw_offs > yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att->get().yaw + yaw_offs_max);
_v_att_sp_mod.yaw_body = _wrap_pi(_v_att->get().yaw + yaw_offs_max);
}
_v_att_sp.R_valid = false;
_v_att_sp_mod.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->get().yaw;
_v_att_sp.R_valid = false;
_v_att_sp_mod.yaw_body = _v_att->get().yaw;
_v_att_sp_mod.R_valid = false;
_publish_att_sp = true;
}
if (!_v_control_mode->get().flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
_v_att_sp.roll_body = _manual_control_sp->get().y * _params.man_roll_max;
_v_att_sp.pitch_body = -_manual_control_sp->get().x
_v_att_sp_mod.roll_body = _manual_control_sp->get().y * _params.man_roll_max;
_v_att_sp_mod.pitch_body = -_manual_control_sp->get().x
* _params.man_pitch_max;
_v_att_sp.R_valid = false;
_v_att_sp_mod.R_valid = false;
_publish_att_sp = true;
}
} else {
/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
//XXX vehicle_attitude_setpoint_poll();
_v_att_sp_mod = _v_att_sp->get();
/* reset yaw setpoint after non-manual control mode */
_reset_yaw_sp = true;
}
_thrust_sp = _v_att_sp.thrust;
_thrust_sp = _v_att_sp_mod.thrust;
/* construct attitude setpoint rotation matrix */
math::Matrix<3, 3> R_sp;
if (_v_att_sp.R_valid) {
if (_v_att_sp_mod.R_valid) {
/* rotation matrix in _att_sp is valid, use it */
R_sp.set(&_v_att_sp.R_body[0]);
R_sp.set(&_v_att_sp_mod.R_body[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);
R_sp.from_euler(_v_att_sp_mod.roll_body, _v_att_sp_mod.pitch_body,
_v_att_sp_mod.yaw_body);
/* copy rotation matrix back to setpoint struct */
memcpy(&_v_att_sp.R_body[0], &R_sp.data[0][0],
sizeof(_v_att_sp.R_body));
_v_att_sp.R_valid = true;
memcpy(&_v_att_sp_mod.R_body[0], &R_sp.data[0][0],
sizeof(_v_att_sp_mod.R_body));
_v_att_sp_mod.R_valid = true;
}
/* rotation matrix for current state */

8
src/modules/mc_att_control/mc_att_control_base.h
View File

@ -90,9 +90,13 @@ protected:
px4::PX4_SUBSCRIBER(manual_control_setpoint) *_manual_control_sp; /**< manual control setpoint */
px4::PX4_SUBSCRIBER(vehicle_control_mode) *_v_control_mode; /**< vehicle control mode */
px4::PX4_SUBSCRIBER(actuator_armed) *_armed; /**< actuator arming status */
px4::PX4_SUBSCRIBER(vehicle_attitude_setpoint) * _v_att_sp; /**< vehicle attitude setpoint */
px4::PX4_SUBSCRIBER(vehicle_rates_setpoint) * _v_rates_sp; /**< vehicle rates setpoint */
PX4_TOPIC_T(vehicle_attitude_setpoint) _v_att_sp; /**< vehicle attitude setpoint */
PX4_TOPIC_T(vehicle_rates_setpoint) _v_rates_sp; /**< vehicle rates setpoint */
PX4_TOPIC_T(vehicle_attitude_setpoint) _v_att_sp_mod; /**< modified vehicle attitude setpoint
that gets published eventually */
PX4_TOPIC_T(vehicle_rates_setpoint) _v_rates_sp_mod; /**< vehicle rates setpoint
that gets published eventually*/
PX4_TOPIC_T(actuator_controls) _actuators; /**< actuator controls */
math::Vector<3> _rates_prev; /**< angular rates on previous step */