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fw_att_control: add simple backup scheduling if vehicle_attitude unavailable (or stops)

This commit is contained in:
Daniel Agar 2022-06-27 13:07:13 -04:00
parent 1603883dc9
commit ace80e2b9d
2 changed files with 38 additions and 20 deletions
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50
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
View File

@ -40,7 +40,7 @@ using math::radians;
FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) : FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
ModuleParams(nullptr), ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
_actuator_controls_0_pub(vtol ? ORB_ID(actuator_controls_virtual_fw) : ORB_ID(actuator_controls_0)), _actuator_controls_0_pub(vtol ? ORB_ID(actuator_controls_virtual_fw) : ORB_ID(actuator_controls_0)),
_actuator_controls_status_pub(vtol ? ORB_ID(actuator_controls_status_1) : ORB_ID(actuator_controls_status_0)), _actuator_controls_status_pub(vtol ? ORB_ID(actuator_controls_status_1) : ORB_ID(actuator_controls_status_0)),
_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)), _attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
@ -270,9 +270,7 @@ void FixedwingAttitudeControl::Run()
perf_begin(_loop_perf); perf_begin(_loop_perf);
// only run controller if attitude changed // only run controller if attitude changed
vehicle_attitude_s att; if (_att_sub.updated() || (hrt_elapsed_time(&_last_run) > 20_ms)) {
if (_att_sub.update(&att)) {
// only update parameters if they changed // only update parameters if they changed
bool params_updated = _parameter_update_sub.updated(); bool params_updated = _parameter_update_sub.updated();
@ -288,11 +286,26 @@ void FixedwingAttitudeControl::Run()
parameters_update(); parameters_update();
} }
const float dt = math::constrain((att.timestamp - _last_run) * 1e-6f, 0.002f, 0.04f); float dt = 0.f;
_last_run = att.timestamp;
/* get current rotation matrix and euler angles from control state quaternions */ static constexpr float DT_MIN = 0.002f;
matrix::Dcmf R = matrix::Quatf(att.q); static constexpr float DT_MAX = 0.04f;
vehicle_attitude_s att{};
if (_att_sub.copy(&att)) {
dt = math::constrain((att.timestamp_sample - _last_run) * 1e-6f, DT_MIN, DT_MAX);
_last_run = att.timestamp_sample;
// get current rotation matrix and euler angles from control state quaternions
_R = matrix::Quatf(att.q);
}
if (dt < DT_MIN || dt > DT_MAX) {
const hrt_abstime time_now_us = hrt_absolute_time();
dt = math::constrain((time_now_us - _last_run) * 1e-6f, DT_MIN, DT_MAX);
_last_run = time_now_us;
}
vehicle_angular_velocity_s angular_velocity{}; vehicle_angular_velocity_s angular_velocity{};
_vehicle_rates_sub.copy(&angular_velocity); _vehicle_rates_sub.copy(&angular_velocity);
@ -317,17 +330,17 @@ void FixedwingAttitudeControl::Run()
* Rxy Ryy Rzy -Rzy Ryy Rxy * Rxy Ryy Rzy -Rzy Ryy Rxy
* Rxz Ryz Rzz -Rzz Ryz Rxz * Rxz Ryz Rzz -Rzz Ryz Rxz
* */ * */
matrix::Dcmf R_adapted = R; //modified rotation matrix matrix::Dcmf R_adapted = _R; //modified rotation matrix
/* move z to x */ /* move z to x */
R_adapted(0, 0) = R(0, 2); R_adapted(0, 0) = _R(0, 2);
R_adapted(1, 0) = R(1, 2); R_adapted(1, 0) = _R(1, 2);
R_adapted(2, 0) = R(2, 2); R_adapted(2, 0) = _R(2, 2);
/* move x to z */ /* move x to z */
R_adapted(0, 2) = R(0, 0); R_adapted(0, 2) = _R(0, 0);
R_adapted(1, 2) = R(1, 0); R_adapted(1, 2) = _R(1, 0);
R_adapted(2, 2) = R(2, 0); R_adapted(2, 2) = _R(2, 0);
/* change direction of pitch (convert to right handed system) */ /* change direction of pitch (convert to right handed system) */
R_adapted(0, 0) = -R_adapted(0, 0); R_adapted(0, 0) = -R_adapted(0, 0);
@ -335,7 +348,7 @@ void FixedwingAttitudeControl::Run()
R_adapted(2, 0) = -R_adapted(2, 0); R_adapted(2, 0) = -R_adapted(2, 0);
/* fill in new attitude data */ /* fill in new attitude data */
R = R_adapted; _R = R_adapted;
/* lastly, roll- and yawspeed have to be swaped */ /* lastly, roll- and yawspeed have to be swaped */
float helper = rollspeed; float helper = rollspeed;
@ -343,7 +356,7 @@ void FixedwingAttitudeControl::Run()
yawspeed = helper; yawspeed = helper;
} }
const matrix::Eulerf euler_angles(R); const matrix::Eulerf euler_angles(_R);
vehicle_attitude_setpoint_poll(); vehicle_attitude_setpoint_poll();
@ -673,6 +686,9 @@ void FixedwingAttitudeControl::Run()
updateActuatorControlsStatus(dt); updateActuatorControlsStatus(dt);
} }
// backup schedule
ScheduleDelayed(20_ms);
perf_end(_loop_perf); perf_end(_loop_perf);
} }

8
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
View File

@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved. * Copyright (c) 2013-2022 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -48,7 +48,7 @@
#include <px4_platform_common/module_params.h> #include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h> #include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h> #include <px4_platform_common/tasks.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp> #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp> #include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp> #include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp> #include <uORB/Subscription.hpp>
@ -83,7 +83,7 @@ static constexpr float kFlapSlewRate = 1.f; //minimum time from none to full fla
static constexpr float kSpoilerSlewRate = 1.f; //minimum time from none to full spoiler deflection [s] static constexpr float kSpoilerSlewRate = 1.f; //minimum time from none to full spoiler deflection [s]
class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public ModuleParams, class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public ModuleParams,
public px4::WorkItem public px4::ScheduledWorkItem
{ {
public: public:
FixedwingAttitudeControl(bool vtol = false); FixedwingAttitudeControl(bool vtol = false);
@ -139,6 +139,8 @@ private:
vehicle_rates_setpoint_s _rates_sp{}; vehicle_rates_setpoint_s _rates_sp{};
vehicle_status_s _vehicle_status{}; vehicle_status_s _vehicle_status{};
matrix::Dcmf _R{matrix::eye<float, 3>()};
perf_counter_t _loop_perf; perf_counter_t _loop_perf;
hrt_abstime _last_run{0}; hrt_abstime _last_run{0};