forked from Archive/PX4-Autopilot
mc att control: prepare for ros integration, move class into spearate file
This commit is contained in:
Thomas Gubler
parent
12df129da2
commit
9c09a9e8d5
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/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mc_att_control.cpp
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* Multicopter attitude controller.
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*
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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* @author Julian Oes <julian@oes.ch>
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* @author Roman Bapst <bapstr@ethz.ch>
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*/
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#include "mc_att_control.h"
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#define YAW_DEADZONE 0.05f
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#define MIN_TAKEOFF_THRUST 0.2f
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#define RATES_I_LIMIT 0.3f
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namespace mc_att_control
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{
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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}
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MulticopterAttitudeControl::MulticopterAttitudeControl() :
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MulticopterAttitudeControlBase(),
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_task_should_exit(false),
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_control_task(-1),
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_actuators_0_circuit_breaker_enabled(false),
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/* subscriptions */
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_v_att_sub(-1),
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_v_att_sp_sub(-1),
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_v_control_mode_sub(-1),
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_params_sub(-1),
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_manual_control_sp_sub(-1),
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_armed_sub(-1),
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/* publications */
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_att_sp_pub(-1),
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_v_rates_sp_pub(-1),
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_actuators_0_pub(-1),
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n(),
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
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{
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_params_handles.roll_p = param_find("MC_ROLL_P");
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_params_handles.roll_rate_p = param_find("MC_ROLLRATE_P");
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_params_handles.roll_rate_i = param_find("MC_ROLLRATE_I");
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_params_handles.roll_rate_d = param_find("MC_ROLLRATE_D");
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_params_handles.pitch_p = param_find("MC_PITCH_P");
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_params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P");
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_params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I");
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_params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D");
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_params_handles.yaw_p = param_find("MC_YAW_P");
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_params_handles.yaw_rate_p = param_find("MC_YAWRATE_P");
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_params_handles.yaw_rate_i = param_find("MC_YAWRATE_I");
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_params_handles.yaw_rate_d = param_find("MC_YAWRATE_D");
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_params_handles.yaw_ff = param_find("MC_YAW_FF");
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_params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX");
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_params_handles.man_roll_max = param_find("MC_MAN_R_MAX");
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_params_handles.man_pitch_max = param_find("MC_MAN_P_MAX");
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_params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX");
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_params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX");
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_params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX");
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_params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX");
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/* fetch initial parameter values */
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parameters_update();
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/*
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* do subscriptions
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*/
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// _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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PX4_SUBSCRIBE(n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
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// _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, 0);
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// _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
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PX4_SUBSCRIBE(n, vehicle_rates_setpoint, 0);
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// _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
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PX4_SUBSCRIBE(n, vehicle_control_mode, 0);
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// _params_sub = orb_subscribe(ORB_ID(parameter_update));
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PX4_SUBSCRIBE(n, parameter_update, 0);
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// _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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PX4_SUBSCRIBE(n, manual_control_setpoint, 0);
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// _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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PX4_SUBSCRIBE(n, actuator_armed, 0);
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}
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MulticopterAttitudeControl::~MulticopterAttitudeControl()
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{
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if (_control_task != -1) {
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/* task wakes up every 100ms or so at the longest */
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_task_should_exit = true;
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/* wait for a second for the task to quit at our request */
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unsigned i = 0;
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do {
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/* wait 20ms */
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usleep(20000);
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/* if we have given up, kill it */
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if (++i > 50) {
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task_delete(_control_task);
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break;
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}
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} while (_control_task != -1);
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}
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// mc_att_control::g_control = nullptr;
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}
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int
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MulticopterAttitudeControl::parameters_update()
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{
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float v;
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/* roll gains */
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param_get(_params_handles.roll_p, &v);
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_params.att_p(0) = v;
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param_get(_params_handles.roll_rate_p, &v);
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_params.rate_p(0) = v;
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param_get(_params_handles.roll_rate_i, &v);
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_params.rate_i(0) = v;
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param_get(_params_handles.roll_rate_d, &v);
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_params.rate_d(0) = v;
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/* pitch gains */
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param_get(_params_handles.pitch_p, &v);
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_params.att_p(1) = v;
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param_get(_params_handles.pitch_rate_p, &v);
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_params.rate_p(1) = v;
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param_get(_params_handles.pitch_rate_i, &v);
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_params.rate_i(1) = v;
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param_get(_params_handles.pitch_rate_d, &v);
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_params.rate_d(1) = v;
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/* yaw gains */
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param_get(_params_handles.yaw_p, &v);
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_params.att_p(2) = v;
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param_get(_params_handles.yaw_rate_p, &v);
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_params.rate_p(2) = v;
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param_get(_params_handles.yaw_rate_i, &v);
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_params.rate_i(2) = v;
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param_get(_params_handles.yaw_rate_d, &v);
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_params.rate_d(2) = v;
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param_get(_params_handles.yaw_ff, &_params.yaw_ff);
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param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
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_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
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/* manual control scale */
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param_get(_params_handles.man_roll_max, &_params.man_roll_max);
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param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
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param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
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_params.man_roll_max = math::radians(_params.man_roll_max);
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_params.man_pitch_max = math::radians(_params.man_pitch_max);
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_params.man_yaw_max = math::radians(_params.man_yaw_max);
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/* acro control scale */
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param_get(_params_handles.acro_roll_max, &v);
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_params.acro_rate_max(0) = math::radians(v);
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param_get(_params_handles.acro_pitch_max, &v);
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_params.acro_rate_max(1) = math::radians(v);
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param_get(_params_handles.acro_yaw_max, &v);
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_params.acro_rate_max(2) = math::radians(v);
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_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
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return OK;
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}
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void
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MulticopterAttitudeControl::parameter_update_poll()
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{
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bool updated;
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/* Check HIL state if vehicle status has changed */
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orb_check(_params_sub, &updated);
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if (updated) {
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struct parameter_update_s param_update;
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orb_copy(ORB_ID(parameter_update), _params_sub, ¶m_update);
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parameters_update();
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}
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}
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void
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MulticopterAttitudeControl::vehicle_control_mode_poll()
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{
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bool updated;
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/* Check HIL state if vehicle status has changed */
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orb_check(_v_control_mode_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
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}
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}
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void
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MulticopterAttitudeControl::vehicle_manual_poll()
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{
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bool updated;
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/* get pilots inputs */
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orb_check(_manual_control_sp_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
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}
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}
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void
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MulticopterAttitudeControl::vehicle_attitude_setpoint_poll()
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{
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/* check if there is a new setpoint */
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bool updated;
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orb_check(_v_att_sp_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp);
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}
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}
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void
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MulticopterAttitudeControl::vehicle_rates_setpoint_poll()
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{
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/* check if there is a new setpoint */
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bool updated;
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orb_check(_v_rates_sp_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp);
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}
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}
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void
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MulticopterAttitudeControl::arming_status_poll()
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{
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/* check if there is a new setpoint */
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bool updated;
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orb_check(_armed_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
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}
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}
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void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
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perf_begin(_loop_perf);
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/* run controller on attitude changes */
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static uint64_t last_run = 0;
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float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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/* guard against too small (< 2ms) and too large (> 20ms) dt's */
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if (dt < 0.002f) {
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dt = 0.002f;
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} else if (dt > 0.02f) {
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dt = 0.02f;
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}
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/* copy attitude topic */
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orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
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/* check for updates in other topics */
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parameter_update_poll();
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vehicle_control_mode_poll();
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arming_status_poll();
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vehicle_manual_poll();
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if (_v_control_mode.flag_control_attitude_enabled) {
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control_attitude(dt);
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/* publish the attitude setpoint if needed */
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if (_publish_att_sp) {
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_v_att_sp.timestamp = hrt_absolute_time();
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if (_att_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
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&_v_att_sp);
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} else {
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_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
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&_v_att_sp);
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}
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}
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/* publish attitude rates setpoint */
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_v_rates_sp.roll = _rates_sp(0);
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_v_rates_sp.pitch = _rates_sp(1);
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_v_rates_sp.yaw = _rates_sp(2);
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_v_rates_sp.thrust = _thrust_sp;
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_v_rates_sp.timestamp = hrt_absolute_time();
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if (_v_rates_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
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} else {
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_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
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}
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} else {
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/* attitude controller disabled, poll rates setpoint topic */
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if (_v_control_mode.flag_control_manual_enabled) {
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/* manual rates control - ACRO mode */
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_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
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_manual_control_sp.r).emult(_params.acro_rate_max);
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_thrust_sp = _manual_control_sp.z;
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/* reset yaw setpoint after ACRO */
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_reset_yaw_sp = true;
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/* publish attitude rates setpoint */
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_v_rates_sp.roll = _rates_sp(0);
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_v_rates_sp.pitch = _rates_sp(1);
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_v_rates_sp.yaw = _rates_sp(2);
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_v_rates_sp.thrust = _thrust_sp;
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_v_rates_sp.timestamp = hrt_absolute_time();
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if (_v_rates_sp_pub > 0) {
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orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
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} else {
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_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
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}
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} else {
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/* attitude controller disabled, poll rates setpoint topic */
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vehicle_rates_setpoint_poll();
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_rates_sp(0) = _v_rates_sp.roll;
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_rates_sp(1) = _v_rates_sp.pitch;
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_rates_sp(2) = _v_rates_sp.yaw;
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_thrust_sp = _v_rates_sp.thrust;
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}
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}
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if (_v_control_mode.flag_control_rates_enabled) {
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control_attitude_rates(dt);
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/* publish actuator controls */
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_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
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_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
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_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
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_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
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_actuators.timestamp = hrt_absolute_time();
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if (!_actuators_0_circuit_breaker_enabled) {
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if (_actuators_0_pub > 0) {
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orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
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} else {
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_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
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}
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}
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}
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}
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@ -0,0 +1,174 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 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.h
|
||||
* Multicopter attitude controller.
|
||||
*
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Roman Bapst <bapstr@ethz.ch>
|
||||
*
|
||||
* The controller has two loops: P loop for angular error and PD loop for angular rate error.
|
||||
* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
|
||||
* For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
|
||||
* so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
|
||||
* These two approaches fused seamlessly with weight depending on angular error.
|
||||
* When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
|
||||
* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
|
||||
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
|
||||
*/
|
||||
|
||||
#include <px4.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <poll.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/circuit_breaker.h>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
#include <lib/geo/geo.h>
|
||||
|
||||
#include "mc_att_control_base.h"
|
||||
|
||||
class MulticopterAttitudeControl :
|
||||
public MulticopterAttitudeControlBase
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
MulticopterAttitudeControl();
|
||||
|
||||
/**
|
||||
* Destructor, also kills the sensors task.
|
||||
*/
|
||||
~MulticopterAttitudeControl();
|
||||
|
||||
void handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg);
|
||||
|
||||
void spin() { n.spin(); }
|
||||
|
||||
private:
|
||||
bool _task_should_exit; /**< if true, sensor task should exit */
|
||||
int _control_task; /**< task handle for sensor task */
|
||||
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
|
||||
|
||||
|
||||
int _v_att_sub; /**< vehicle attitude subscription */
|
||||
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
|
||||
int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
|
||||
int _v_control_mode_sub; /**< vehicle control mode subscription */
|
||||
int _params_sub; /**< parameter updates subscription */
|
||||
int _manual_control_sp_sub; /**< manual control setpoint subscription */
|
||||
int _armed_sub; /**< arming status subscription */
|
||||
|
||||
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
|
||||
orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
|
||||
orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
|
||||
|
||||
px4::NodeHandle n;
|
||||
|
||||
struct {
|
||||
param_t roll_p;
|
||||
param_t roll_rate_p;
|
||||
param_t roll_rate_i;
|
||||
param_t roll_rate_d;
|
||||
param_t pitch_p;
|
||||
param_t pitch_rate_p;
|
||||
param_t pitch_rate_i;
|
||||
param_t pitch_rate_d;
|
||||
param_t yaw_p;
|
||||
param_t yaw_rate_p;
|
||||
param_t yaw_rate_i;
|
||||
param_t yaw_rate_d;
|
||||
param_t yaw_ff;
|
||||
param_t yaw_rate_max;
|
||||
|
||||
param_t man_roll_max;
|
||||
param_t man_pitch_max;
|
||||
param_t man_yaw_max;
|
||||
param_t acro_roll_max;
|
||||
param_t acro_pitch_max;
|
||||
param_t acro_yaw_max;
|
||||
} _params_handles; /**< handles for interesting parameters */
|
||||
|
||||
perf_counter_t _loop_perf; /**< loop performance counter */
|
||||
|
||||
/**
|
||||
* Update our local parameter cache.
|
||||
*/
|
||||
int parameters_update();
|
||||
|
||||
/**
|
||||
* Check for parameter update and handle it.
|
||||
*/
|
||||
void parameter_update_poll();
|
||||
|
||||
/**
|
||||
* Check for changes in vehicle control mode.
|
||||
*/
|
||||
void vehicle_control_mode_poll();
|
||||
|
||||
/**
|
||||
* Check for changes in manual inputs.
|
||||
*/
|
||||
void vehicle_manual_poll();
|
||||
|
||||
/**
|
||||
* Check for attitude setpoint updates.
|
||||
*/
|
||||
void vehicle_attitude_setpoint_poll();
|
||||
|
||||
/**
|
||||
* Check for rates setpoint updates.
|
||||
*/
|
||||
void vehicle_rates_setpoint_poll();
|
||||
|
||||
/**
|
||||
* Check for arming status updates.
|
||||
*/
|
||||
void arming_status_poll();
|
||||
|
||||
};
|
||||
|
||||
|
|
@ -32,7 +32,7 @@
|
|||
/**
|
||||
* @file mc_att_control_base.cpp
|
||||
*
|
||||
* MC Attitude Controller
|
||||
* MC Attitude Controller : Control and math code
|
||||
*
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
|
|
@ -46,6 +46,7 @@
|
|||
#include "mc_att_control_base.h"
|
||||
#include <geo/geo.h>
|
||||
#include <math.h>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
|
||||
#ifdef CONFIG_ARCH_ARM
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -35,7 +35,7 @@
|
|||
/**
|
||||
* @file mc_att_control_base.h
|
||||
*
|
||||
* MC Attitude Controller
|
||||
* MC Attitude Controller : Control and math code
|
||||
*
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
|
|
|
|||
|
|
@ -52,548 +52,33 @@
|
|||
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
|
||||
*/
|
||||
|
||||
#include <px4.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <poll.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/circuit_breaker.h>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
#include <lib/geo/geo.h>
|
||||
|
||||
#include "mc_att_control_base.h"
|
||||
#include <cstdlib>
|
||||
#include "mc_att_control.h"
|
||||
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int daemon_task; /**< Handle of deamon task / thread */
|
||||
namespace px4
|
||||
{
|
||||
bool task_should_exit = false;
|
||||
}
|
||||
|
||||
using namespace px4;
|
||||
|
||||
PX4_MAIN_FUNCTION(mc_att_control);
|
||||
void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) {
|
||||
PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
|
||||
}
|
||||
|
||||
|
||||
#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__))
|
||||
/**
|
||||
* Multicopter attitude control app start / stop handling function
|
||||
*
|
||||
* @ingroup apps
|
||||
*/
|
||||
|
||||
PX4_MAIN_FUNCTION(mc_att_control);
|
||||
|
||||
int mc_attitude_thread_main(int argc, char *argv[]);
|
||||
|
||||
#define YAW_DEADZONE 0.05f
|
||||
#define MIN_TAKEOFF_THRUST 0.2f
|
||||
#define RATES_I_LIMIT 0.3f
|
||||
|
||||
void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) {
|
||||
PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
|
||||
}
|
||||
|
||||
|
||||
namespace px4
|
||||
{
|
||||
bool task_should_exit = false;
|
||||
}
|
||||
|
||||
// PX4_MAIN_FUNCTION(mc_att_control) { px4::init(argc, argv, "listener");
|
||||
|
||||
// px4::NodeHandle n;
|
||||
|
||||
// PX4_SUBSCRIBE(n, rc_channels, handle_vehicle_attitude2, 1000);
|
||||
|
||||
/**
|
||||
* px4::spin() will enter a loop, pumping callbacks. With this version, all
|
||||
* callbacks will be called from within this thread (the main one). px4::spin()
|
||||
* will exit when Ctrl-C is pressed, or the node is shutdown by the master.
|
||||
*/
|
||||
// n.spin();
|
||||
// PX4_INFO("finished, returning");
|
||||
|
||||
// return 0;
|
||||
// }
|
||||
|
||||
class MulticopterAttitudeControl :
|
||||
public MulticopterAttitudeControlBase
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
MulticopterAttitudeControl();
|
||||
|
||||
/**
|
||||
* Destructor, also kills the sensors task.
|
||||
*/
|
||||
~MulticopterAttitudeControl();
|
||||
|
||||
void handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg);
|
||||
|
||||
void spin() { n.spin(); }
|
||||
|
||||
private:
|
||||
bool _task_should_exit; /**< if true, sensor task should exit */
|
||||
int _control_task; /**< task handle for sensor task */
|
||||
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
|
||||
|
||||
|
||||
int _v_att_sub; /**< vehicle attitude subscription */
|
||||
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
|
||||
int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
|
||||
int _v_control_mode_sub; /**< vehicle control mode subscription */
|
||||
int _params_sub; /**< parameter updates subscription */
|
||||
int _manual_control_sp_sub; /**< manual control setpoint subscription */
|
||||
int _armed_sub; /**< arming status subscription */
|
||||
|
||||
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
|
||||
orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
|
||||
orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
|
||||
|
||||
px4::NodeHandle n;
|
||||
|
||||
struct {
|
||||
param_t roll_p;
|
||||
param_t roll_rate_p;
|
||||
param_t roll_rate_i;
|
||||
param_t roll_rate_d;
|
||||
param_t pitch_p;
|
||||
param_t pitch_rate_p;
|
||||
param_t pitch_rate_i;
|
||||
param_t pitch_rate_d;
|
||||
param_t yaw_p;
|
||||
param_t yaw_rate_p;
|
||||
param_t yaw_rate_i;
|
||||
param_t yaw_rate_d;
|
||||
param_t yaw_ff;
|
||||
param_t yaw_rate_max;
|
||||
|
||||
param_t man_roll_max;
|
||||
param_t man_pitch_max;
|
||||
param_t man_yaw_max;
|
||||
param_t acro_roll_max;
|
||||
param_t acro_pitch_max;
|
||||
param_t acro_yaw_max;
|
||||
} _params_handles; /**< handles for interesting parameters */
|
||||
|
||||
perf_counter_t _loop_perf; /**< loop performance counter */
|
||||
|
||||
/**
|
||||
* Update our local parameter cache.
|
||||
*/
|
||||
int parameters_update();
|
||||
|
||||
/**
|
||||
* Check for parameter update and handle it.
|
||||
*/
|
||||
void parameter_update_poll();
|
||||
|
||||
/**
|
||||
* Check for changes in vehicle control mode.
|
||||
*/
|
||||
void vehicle_control_mode_poll();
|
||||
|
||||
/**
|
||||
* Check for changes in manual inputs.
|
||||
*/
|
||||
void vehicle_manual_poll();
|
||||
|
||||
/**
|
||||
* Check for attitude setpoint updates.
|
||||
*/
|
||||
void vehicle_attitude_setpoint_poll();
|
||||
|
||||
/**
|
||||
* Check for rates setpoint updates.
|
||||
*/
|
||||
void vehicle_rates_setpoint_poll();
|
||||
|
||||
/**
|
||||
* Check for arming status updates.
|
||||
*/
|
||||
void arming_status_poll();
|
||||
|
||||
};
|
||||
|
||||
namespace mc_att_control
|
||||
{
|
||||
|
||||
/* oddly, ERROR is not defined for c++ */
|
||||
#ifdef ERROR
|
||||
# undef ERROR
|
||||
#endif
|
||||
static const int ERROR = -1;
|
||||
|
||||
}
|
||||
|
||||
MulticopterAttitudeControl::MulticopterAttitudeControl() :
|
||||
MulticopterAttitudeControlBase(),
|
||||
_task_should_exit(false),
|
||||
_control_task(-1),
|
||||
_actuators_0_circuit_breaker_enabled(false),
|
||||
/* subscriptions */
|
||||
_v_att_sub(-1),
|
||||
_v_att_sp_sub(-1),
|
||||
_v_control_mode_sub(-1),
|
||||
_params_sub(-1),
|
||||
_manual_control_sp_sub(-1),
|
||||
_armed_sub(-1),
|
||||
|
||||
/* publications */
|
||||
_att_sp_pub(-1),
|
||||
_v_rates_sp_pub(-1),
|
||||
_actuators_0_pub(-1),
|
||||
n(),
|
||||
|
||||
/* performance counters */
|
||||
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
|
||||
|
||||
{
|
||||
_params_handles.roll_p = param_find("MC_ROLL_P");
|
||||
_params_handles.roll_rate_p = param_find("MC_ROLLRATE_P");
|
||||
_params_handles.roll_rate_i = param_find("MC_ROLLRATE_I");
|
||||
_params_handles.roll_rate_d = param_find("MC_ROLLRATE_D");
|
||||
_params_handles.pitch_p = param_find("MC_PITCH_P");
|
||||
_params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P");
|
||||
_params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I");
|
||||
_params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D");
|
||||
_params_handles.yaw_p = param_find("MC_YAW_P");
|
||||
_params_handles.yaw_rate_p = param_find("MC_YAWRATE_P");
|
||||
_params_handles.yaw_rate_i = param_find("MC_YAWRATE_I");
|
||||
_params_handles.yaw_rate_d = param_find("MC_YAWRATE_D");
|
||||
_params_handles.yaw_ff = param_find("MC_YAW_FF");
|
||||
_params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX");
|
||||
_params_handles.man_roll_max = param_find("MC_MAN_R_MAX");
|
||||
_params_handles.man_pitch_max = param_find("MC_MAN_P_MAX");
|
||||
_params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX");
|
||||
_params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX");
|
||||
_params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX");
|
||||
_params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX");
|
||||
|
||||
/* fetch initial parameter values */
|
||||
parameters_update();
|
||||
|
||||
/*
|
||||
* do subscriptions
|
||||
*/
|
||||
// _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||
PX4_SUBSCRIBE(n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
|
||||
// _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
|
||||
PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, 0);
|
||||
// _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
|
||||
PX4_SUBSCRIBE(n, vehicle_rates_setpoint, 0);
|
||||
// _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
|
||||
PX4_SUBSCRIBE(n, vehicle_control_mode, 0);
|
||||
// _params_sub = orb_subscribe(ORB_ID(parameter_update));
|
||||
PX4_SUBSCRIBE(n, parameter_update, 0);
|
||||
// _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
|
||||
PX4_SUBSCRIBE(n, manual_control_setpoint, 0);
|
||||
// _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
|
||||
PX4_SUBSCRIBE(n, actuator_armed, 0);
|
||||
|
||||
}
|
||||
|
||||
MulticopterAttitudeControl::~MulticopterAttitudeControl()
|
||||
{
|
||||
if (_control_task != -1) {
|
||||
/* task wakes up every 100ms or so at the longest */
|
||||
_task_should_exit = true;
|
||||
|
||||
/* wait for a second for the task to quit at our request */
|
||||
unsigned i = 0;
|
||||
|
||||
do {
|
||||
/* wait 20ms */
|
||||
usleep(20000);
|
||||
|
||||
/* if we have given up, kill it */
|
||||
if (++i > 50) {
|
||||
task_delete(_control_task);
|
||||
break;
|
||||
}
|
||||
} while (_control_task != -1);
|
||||
}
|
||||
|
||||
// mc_att_control::g_control = nullptr;
|
||||
}
|
||||
|
||||
int
|
||||
MulticopterAttitudeControl::parameters_update()
|
||||
{
|
||||
float v;
|
||||
|
||||
/* roll gains */
|
||||
param_get(_params_handles.roll_p, &v);
|
||||
_params.att_p(0) = v;
|
||||
param_get(_params_handles.roll_rate_p, &v);
|
||||
_params.rate_p(0) = v;
|
||||
param_get(_params_handles.roll_rate_i, &v);
|
||||
_params.rate_i(0) = v;
|
||||
param_get(_params_handles.roll_rate_d, &v);
|
||||
_params.rate_d(0) = v;
|
||||
|
||||
/* pitch gains */
|
||||
param_get(_params_handles.pitch_p, &v);
|
||||
_params.att_p(1) = v;
|
||||
param_get(_params_handles.pitch_rate_p, &v);
|
||||
_params.rate_p(1) = v;
|
||||
param_get(_params_handles.pitch_rate_i, &v);
|
||||
_params.rate_i(1) = v;
|
||||
param_get(_params_handles.pitch_rate_d, &v);
|
||||
_params.rate_d(1) = v;
|
||||
|
||||
/* yaw gains */
|
||||
param_get(_params_handles.yaw_p, &v);
|
||||
_params.att_p(2) = v;
|
||||
param_get(_params_handles.yaw_rate_p, &v);
|
||||
_params.rate_p(2) = v;
|
||||
param_get(_params_handles.yaw_rate_i, &v);
|
||||
_params.rate_i(2) = v;
|
||||
param_get(_params_handles.yaw_rate_d, &v);
|
||||
_params.rate_d(2) = v;
|
||||
|
||||
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
|
||||
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
|
||||
_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
|
||||
|
||||
/* manual control scale */
|
||||
param_get(_params_handles.man_roll_max, &_params.man_roll_max);
|
||||
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
|
||||
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
|
||||
_params.man_roll_max = math::radians(_params.man_roll_max);
|
||||
_params.man_pitch_max = math::radians(_params.man_pitch_max);
|
||||
_params.man_yaw_max = math::radians(_params.man_yaw_max);
|
||||
|
||||
/* acro control scale */
|
||||
param_get(_params_handles.acro_roll_max, &v);
|
||||
_params.acro_rate_max(0) = math::radians(v);
|
||||
param_get(_params_handles.acro_pitch_max, &v);
|
||||
_params.acro_rate_max(1) = math::radians(v);
|
||||
param_get(_params_handles.acro_yaw_max, &v);
|
||||
_params.acro_rate_max(2) = math::radians(v);
|
||||
|
||||
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void
|
||||
MulticopterAttitudeControl::parameter_update_poll()
|
||||
{
|
||||
bool updated;
|
||||
|
||||
/* Check HIL state if vehicle status has changed */
|
||||
orb_check(_params_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
struct parameter_update_s param_update;
|
||||
orb_copy(ORB_ID(parameter_update), _params_sub, ¶m_update);
|
||||
parameters_update();
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
MulticopterAttitudeControl::vehicle_control_mode_poll()
|
||||
{
|
||||
bool updated;
|
||||
|
||||
/* Check HIL state if vehicle status has changed */
|
||||
orb_check(_v_control_mode_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
MulticopterAttitudeControl::vehicle_manual_poll()
|
||||
{
|
||||
bool updated;
|
||||
|
||||
/* get pilots inputs */
|
||||
orb_check(_manual_control_sp_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
MulticopterAttitudeControl::vehicle_attitude_setpoint_poll()
|
||||
{
|
||||
/* check if there is a new setpoint */
|
||||
bool updated;
|
||||
orb_check(_v_att_sp_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
MulticopterAttitudeControl::vehicle_rates_setpoint_poll()
|
||||
{
|
||||
/* check if there is a new setpoint */
|
||||
bool updated;
|
||||
orb_check(_v_rates_sp_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
MulticopterAttitudeControl::arming_status_poll()
|
||||
{
|
||||
/* check if there is a new setpoint */
|
||||
bool updated;
|
||||
orb_check(_armed_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
|
||||
}
|
||||
}
|
||||
|
||||
// void
|
||||
// MulticopterAttitudeControl::task_main()
|
||||
// {
|
||||
|
||||
|
||||
// [> wakeup source: vehicle attitude <]
|
||||
// struct pollfd fds[1];
|
||||
|
||||
// fds[0].fd = _v_att_sub;
|
||||
// fds[0].events = POLLIN;
|
||||
|
||||
// while (!_task_should_exit) {
|
||||
|
||||
|
||||
// perf_end(_loop_perf);
|
||||
// }
|
||||
|
||||
// warnx("exit");
|
||||
|
||||
// _control_task = -1;
|
||||
// _exit(0);
|
||||
// }
|
||||
|
||||
void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
|
||||
|
||||
perf_begin(_loop_perf);
|
||||
|
||||
/* run controller on attitude changes */
|
||||
static uint64_t last_run = 0;
|
||||
float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
|
||||
last_run = hrt_absolute_time();
|
||||
|
||||
/* guard against too small (< 2ms) and too large (> 20ms) dt's */
|
||||
if (dt < 0.002f) {
|
||||
dt = 0.002f;
|
||||
|
||||
} else if (dt > 0.02f) {
|
||||
dt = 0.02f;
|
||||
}
|
||||
|
||||
/* copy attitude topic */
|
||||
orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
|
||||
|
||||
/* check for updates in other topics */
|
||||
parameter_update_poll();
|
||||
vehicle_control_mode_poll();
|
||||
arming_status_poll();
|
||||
vehicle_manual_poll();
|
||||
|
||||
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);
|
||||
_v_rates_sp.yaw = _rates_sp(2);
|
||||
_v_rates_sp.thrust = _thrust_sp;
|
||||
_v_rates_sp.timestamp = hrt_absolute_time();
|
||||
|
||||
if (_v_rates_sp_pub > 0) {
|
||||
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
|
||||
|
||||
} else {
|
||||
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
|
||||
}
|
||||
|
||||
} else {
|
||||
/* attitude controller disabled, poll rates setpoint topic */
|
||||
if (_v_control_mode.flag_control_manual_enabled) {
|
||||
/* manual rates control - ACRO mode */
|
||||
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
|
||||
_manual_control_sp.r).emult(_params.acro_rate_max);
|
||||
_thrust_sp = _manual_control_sp.z;
|
||||
|
||||
/* reset yaw setpoint after ACRO */
|
||||
_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();
|
||||
|
||||
if (_v_rates_sp_pub > 0) {
|
||||
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
|
||||
|
||||
} else {
|
||||
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
|
||||
}
|
||||
|
||||
} else {
|
||||
/* attitude controller disabled, poll rates setpoint topic */
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
if (_v_control_mode.flag_control_rates_enabled) {
|
||||
control_attitude_rates(dt);
|
||||
|
||||
/* publish actuator controls */
|
||||
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
|
||||
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
|
||||
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
|
||||
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
|
||||
_actuators.timestamp = hrt_absolute_time();
|
||||
|
||||
if (!_actuators_0_circuit_breaker_enabled) {
|
||||
if (_actuators_0_pub > 0) {
|
||||
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
|
||||
|
||||
} else {
|
||||
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
PX4_MAIN_FUNCTION(mc_att_control)
|
||||
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[])
|
||||
{
|
||||
px4::init(argc, argv, "mc_att_control");
|
||||
|
||||
|
|
@ -615,54 +100,42 @@ PX4_MAIN_FUNCTION(mc_att_control)
|
|||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
2000,
|
||||
mc_attitude_thread_main,
|
||||
mc_att_control_task_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
// if (!strcmp(argv[1], "stop")) {
|
||||
// if (mc_att_control::g_control == nullptr) {
|
||||
// errx(1, "not running");
|
||||
// }
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
task_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
// delete mc_att_control::g_control;
|
||||
// mc_att_control::g_control = nullptr;
|
||||
// exit(0);
|
||||
// }
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
warnx("is running");
|
||||
|
||||
// if (!strcmp(argv[1], "status")) {
|
||||
// if (mc_att_control::g_control) {
|
||||
// errx(0, "running");
|
||||
} else {
|
||||
warnx("not started");
|
||||
}
|
||||
|
||||
// } else {
|
||||
// errx(1, "not running");
|
||||
// }
|
||||
// }
|
||||
exit(0);
|
||||
}
|
||||
|
||||
warnx("unrecognized command");
|
||||
return 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
int mc_attitude_thread_main(int argc, char *argv[])
|
||||
PX4_MAIN_FUNCTION(mc_att_control)
|
||||
{
|
||||
|
||||
warnx("starting");
|
||||
|
||||
MulticopterAttitudeControl attctl;
|
||||
|
||||
thread_running = true;
|
||||
|
||||
attctl.spin();
|
||||
|
||||
// while (!task_should_exit) {
|
||||
// attctl.update();
|
||||
// }
|
||||
|
||||
warnx("exiting.");
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -38,5 +38,6 @@
|
|||
MODULE_COMMAND = mc_att_control
|
||||
|
||||
SRCS = mc_att_control_main.cpp \
|
||||
mc_att_control.cpp \
|
||||
mc_att_control_base.cpp \
|
||||
mc_att_control_params.c
|
||||
|
|
|
|||
Loading…
Reference in New Issue