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multiplatform port of #1741: remove attitude sp generation from mc_att_control_multiplatform

This commit is contained in:
Thomas Gubler 2015-02-22 12:49:20 +01:00
parent e91dabd3d5
commit 7b57092a9d
3 changed files with 4 additions and 108 deletions
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12
src/modules/mc_att_control_multiplatform/mc_att_control.cpp
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@ -186,18 +186,6 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const px4_vehicle_atti
if (_v_control_mode->data().flag_control_attitude_enabled) {
control_attitude(dt);
/* publish the attitude setpoint if needed */
if (_publish_att_sp && _v_status->data().is_rotary_wing) {
_v_att_sp_mod.data().timestamp = px4::get_time_micros();
if (_att_sp_pub != nullptr) {
_att_sp_pub->publish(_v_att_sp_mod);
} else {
_att_sp_pub = _n.advertise<px4_vehicle_attitude_setpoint>();
}
}
/* publish attitude rates setpoint */
_v_rates_sp_mod.data().roll = _rates_sp(0);
_v_rates_sp_mod.data().pitch = _rates_sp(1);

98
src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp
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@ -55,7 +55,6 @@ using namespace std;
#endif
MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
_v_att_sp_mod(),
_v_rates_sp_mod(),
_actuators(),
_publish_att_sp(false)
@ -87,101 +86,11 @@ MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase()
void MulticopterAttitudeControlBase::control_attitude(float dt)
{
float yaw_sp_move_rate = 0.0f;
_publish_att_sp = false;
if (_v_control_mode->data().flag_control_manual_enabled) {
/* manual input, set or modify attitude setpoint */
if (_v_control_mode->data().flag_control_velocity_enabled
|| _v_control_mode->data().flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
//XXX get rid of memcpy
memcpy(&(_v_att_sp_mod.data()), &_v_att_sp->data(), sizeof(_v_att_sp_mod.data()));
}
if (!_v_control_mode->data().flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude stabilized mode */
_v_att_sp_mod.data().thrust = _manual_control_sp->data().z;
_publish_att_sp = true;
}
if (!_armed->data().armed) {
/* reset yaw setpoint when disarmed */
_reset_yaw_sp = true;
}
/* reset yaw setpoint to current position if needed */
if (_reset_yaw_sp) {
_reset_yaw_sp = false;
_v_att_sp_mod.data().yaw_body = _v_att->data().yaw;
_v_att_sp_mod.data().R_valid = false;
// _publish_att_sp = true;
}
if (!_v_control_mode->data().flag_control_velocity_enabled) {
if (_v_att_sp_mod.data().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->data().r * _params.man_yaw_max;
_v_att_sp_mod.data().yaw_body = _wrap_pi(
_v_att_sp_mod.data().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_mod.data().yaw_body - _v_att->data().yaw);
if (yaw_offs < -yaw_offs_max) {
_v_att_sp_mod.data().yaw_body = _wrap_pi(_v_att->data().yaw - yaw_offs_max);
} else if (yaw_offs > yaw_offs_max) {
_v_att_sp_mod.data().yaw_body = _wrap_pi(_v_att->data().yaw + yaw_offs_max);
}
_v_att_sp_mod.data().R_valid = false;
// _publish_att_sp = true;
}
/* update attitude setpoint if not in position control mode */
_v_att_sp_mod.data().roll_body = _manual_control_sp->data().y * _params.man_roll_max;
_v_att_sp_mod.data().pitch_body = -_manual_control_sp->data().x
* _params.man_pitch_max;
_v_att_sp_mod.data().R_valid = false;
// _publish_att_sp = true;
}
} else {
/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
//XXX get rid of memcpy
memcpy(&(_v_att_sp_mod.data()), &_v_att_sp->data(), sizeof(_v_att_sp_mod.data()));
/* reset yaw setpoint after non-manual control mode */
_reset_yaw_sp = true;
}
_thrust_sp = _v_att_sp_mod.data().thrust;
_thrust_sp = _v_att_sp->data().thrust;
/* construct attitude setpoint rotation matrix */
math::Matrix<3, 3> R_sp;
if (_v_att_sp_mod.data().R_valid) {
/* rotation matrix in _att_sp is valid, use it */
R_sp.set(&_v_att_sp_mod.data().R_body[0]);
} else {
/* rotation matrix in _att_sp is not valid, use euler angles instead */
R_sp.from_euler(_v_att_sp_mod.data().roll_body, _v_att_sp_mod.data().pitch_body,
_v_att_sp_mod.data().yaw_body);
/* copy rotation matrix back to setpoint struct */
memcpy(&_v_att_sp_mod.data().R_body[0], &R_sp.data[0][0],
sizeof(_v_att_sp_mod.data().R_body));
_v_att_sp_mod.data().R_valid = true;
}
R_sp.set(_v_att_sp->data().R_body);
/* rotation matrix for current state */
math::Matrix<3, 3> R;
@ -260,7 +169,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
_params.yaw_rate_max);
/* feed forward yaw setpoint rate */
_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
_rates_sp(2) += _v_att_sp->data().yaw_sp_move_rate * yaw_w * _params.yaw_ff;
}
void MulticopterAttitudeControlBase::control_attitude_rates(float dt)

2
src/modules/mc_att_control_multiplatform/mc_att_control_base.h
View File

@ -97,8 +97,6 @@ protected:
px4::Subscriber<px4_actuator_armed> *_armed; /**< actuator arming status */
px4::Subscriber<px4_vehicle_status> *_v_status; /**< vehicle status */
px4_vehicle_attitude_setpoint _v_att_sp_mod; /**< modified vehicle attitude setpoint
that gets published eventually */
px4_vehicle_rates_setpoint _v_rates_sp_mod; /**< vehicle rates setpoint
that gets published eventually*/
px4_actuator_controls_0 _actuators; /**< actuator controls */