Fixed-wing: split out control of steering wheel into seperate message LandingGearWheel

Completely detach the steering wheel logic from the yaw controller (beside using the
same manual stick input in a manual flight mode).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-10-31 16:56:20 +01:00 committed by Daniel Agar
parent 6c611a7e8b
commit a787a326e3
10 changed files with 102 additions and 10 deletions

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@ -109,6 +109,7 @@ set(msg_files
IridiumsbdStatus.msg
IrlockReport.msg
LandingGear.msg
LandingGearWheel.msg
LandingTargetInnovations.msg
LandingTargetPose.msg
LedControl.msg

3
msg/LandingGearWheel.msg Normal file
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@ -0,0 +1,3 @@
uint64 timestamp # time since system start (microseconds)
float32 normalized_wheel_setpoint # negative is turning left, positive turning right [-1, 1]

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@ -0,0 +1,63 @@
/****************************************************************************
*
* Copyright (c) 2022 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.
*
****************************************************************************/
#pragma once
#include "FunctionProviderBase.hpp"
#include <uORB/topics/landing_gear_wheel.h>
/**
* Functions: Landing_Gear_Wheel
*/
class FunctionLandingGearWheel : public FunctionProviderBase
{
public:
FunctionLandingGearWheel() = default;
static FunctionProviderBase *allocate(const Context &context) { return new FunctionLandingGearWheel(); }
void update() override
{
landing_gear_wheel_s landing_gear_wheel;
if (_topic.update(&landing_gear_wheel)) {
_data = landing_gear_wheel.normalized_wheel_setpoint;
}
}
float value(OutputFunction func) override { return _data; }
private:
uORB::Subscription _topic{ORB_ID(landing_gear_wheel)};
float _data{0.f};
};

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@ -59,6 +59,7 @@ static const FunctionProvider all_function_providers[] = {
{OutputFunction::Servo1, OutputFunction::ServoMax, &FunctionServos::allocate},
{OutputFunction::Offboard_Actuator_Set1, OutputFunction::Offboard_Actuator_Set6, &FunctionActuatorSet::allocate},
{OutputFunction::Landing_Gear, &FunctionLandingGear::allocate},
{OutputFunction::Landing_Gear_Wheel, &FunctionLandingGearWheel::allocate},
{OutputFunction::Parachute, &FunctionParachute::allocate},
{OutputFunction::Gripper, &FunctionGripper::allocate},
{OutputFunction::RC_Roll, OutputFunction::RC_AUXMax, &FunctionManualRC::allocate},

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@ -41,6 +41,7 @@
#include "functions/FunctionGimbal.hpp"
#include "functions/FunctionGripper.hpp"
#include "functions/FunctionLandingGear.hpp"
#include "functions/FunctionLandingGearWheel.hpp"
#include "functions/FunctionManualRC.hpp"
#include "functions/FunctionMotors.hpp"
#include "functions/FunctionParachute.hpp"

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@ -36,6 +36,8 @@ functions:
Gripper: 430
Landing_Gear_Wheel: 440
# Add your own here:
#MyCustomFunction: 10000

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@ -185,6 +185,7 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
_manual_control_setpoint.r * _param_fw_man_y_sc.get() + _param_trim_yaw.get();
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE] = math::constrain(_manual_control_setpoint.z, 0.0f,
1.0f);
_landing_gear_wheel.normalized_wheel_setpoint = _manual_control_setpoint.r;
}
}
}
@ -518,13 +519,12 @@ void FixedwingAttitudeControl::Run()
if (PX4_ISFINITE(_att_sp.roll_body) && PX4_ISFINITE(_att_sp.pitch_body)) {
_roll_ctrl.control_attitude(dt, control_input);
_pitch_ctrl.control_attitude(dt, control_input);
_yaw_ctrl.control_attitude(dt, control_input);
if (wheel_control) {
_wheel_ctrl.control_attitude(dt, control_input);
} else {
// runs last, because is depending on output of roll and pitch attitude
_yaw_ctrl.control_attitude(dt, control_input);
_wheel_ctrl.reset_integrator();
}
@ -557,7 +557,7 @@ void FixedwingAttitudeControl::Run()
/* Publish the rate setpoint for analysis once available */
_rates_sp.roll = body_rates_setpoint(0);
_rates_sp.pitch = body_rates_setpoint(1);
_rates_sp.yaw = (wheel_control) ? _wheel_ctrl.get_body_rate_setpoint() : body_rates_setpoint(2);
_rates_sp.yaw = body_rates_setpoint(2);
_rates_sp.timestamp = hrt_absolute_time();
@ -584,19 +584,26 @@ void FixedwingAttitudeControl::Run()
_actuator_controls.control[actuator_controls_s::INDEX_PITCH] =
(PX4_ISFINITE(pitch_u)) ? math::constrain(pitch_u + trim_pitch, -1.f, 1.f) : trim_pitch;
float yaw_u = 0.0f;
const float yaw_feedforward = _param_fw_yr_ff.get() * _airspeed_scaling * body_rates_setpoint(2);
const float yaw_u = angular_acceleration_setpoint(2) * _airspeed_scaling * _airspeed_scaling + yaw_feedforward;
if (wheel_control) {
yaw_u = _wheel_ctrl.control_bodyrate(dt, control_input);
// wheel control
float wheel_u = 0.f;
// XXX: this is an abuse -- used to ferry manual yaw inputs from position controller during auto modes
yaw_u += _att_sp.yaw_sp_move_rate * _param_fw_man_y_sc.get();
if (_vcontrol_mode.flag_control_manual_enabled) {
// always direct control of steering wheel with yaw stick in manual modes
wheel_u = _manual_control_setpoint.r;
} else {
const float yaw_feedforward = _param_fw_yr_ff.get() * _airspeed_scaling * body_rates_setpoint(2);
yaw_u = angular_acceleration_setpoint(2) * _airspeed_scaling * _airspeed_scaling + yaw_feedforward;
// XXX: yaw_sp_move_rate here is an abuse -- used to ferry manual yaw inputs from
// position controller during auto modes _manual_control_setpoint.r gets passed
// whenever nudging is enabled, otherwise zero
wheel_u = wheel_control ? _wheel_ctrl.control_bodyrate(dt, control_input)
+ _att_sp.yaw_sp_move_rate : 0.f;
}
_landing_gear_wheel.normalized_wheel_setpoint = PX4_ISFINITE(wheel_u) ? wheel_u : 0.f;
_actuator_controls.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? math::constrain(yaw_u + trim_yaw,
-1.f, 1.f) : trim_yaw;
@ -604,6 +611,10 @@ void FixedwingAttitudeControl::Run()
_rate_control.resetIntegral();
}
if (!PX4_ISFINITE(wheel_u)) {
_wheel_ctrl.reset_integrator();
}
/* throttle passed through if it is finite */
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE] =
(PX4_ISFINITE(_rates_sp.thrust_body[0])) ? _rates_sp.thrust_body[0] : 0.0f;
@ -668,6 +679,9 @@ void FixedwingAttitudeControl::Run()
}
}
_landing_gear_wheel.timestamp = hrt_absolute_time();
_landing_gear_wheel_pub.publish(_landing_gear_wheel);
updateActuatorControlsStatus(dt);
}

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@ -64,6 +64,7 @@
#include <uORB/topics/autotune_attitude_control_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_allocator_status.h>
#include <uORB/topics/landing_gear_wheel.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
@ -138,6 +139,7 @@ private:
uORB::PublicationMulti<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
uORB::Publication<landing_gear_wheel_s> _landing_gear_wheel_pub{ORB_ID(landing_gear_wheel)};
actuator_controls_s _actuator_controls{};
manual_control_setpoint_s _manual_control_setpoint{};
@ -146,6 +148,7 @@ private:
vehicle_local_position_s _local_pos{};
vehicle_rates_setpoint_s _rates_sp{};
vehicle_status_s _vehicle_status{};
landing_gear_wheel_s _landing_gear_wheel{};
matrix::Dcmf _R{matrix::eye<float, 3>()};

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@ -329,6 +329,9 @@ PARAM_DEFINE_FLOAT(FW_RLL_TO_YAW_FF, 0.0f);
/**
* Enable wheel steering controller
*
* Only enabled during automatic runway takeoff and landing.
* In all manual modes the wheel is directly controlled with yaw stick.
*
* @boolean
* @group FW Attitude Control
*/

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@ -75,6 +75,7 @@ void LoggedTopics::add_default_topics()
add_topic("input_rc", 500);
add_optional_topic("internal_combustion_engine_status", 10);
add_optional_topic("irlock_report", 1000);
add_topic("landing_gear_wheel", 10);
add_optional_topic("landing_target_pose", 1000);
add_optional_topic("magnetometer_bias_estimate", 200);
add_topic("manual_control_setpoint", 200);