forked from Archive/PX4-Autopilot
Merge remote-tracking branch 'upstream/master' into io
This commit is contained in:
Julian Oes
commit
b7c6a11e67
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@ -36,8 +36,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
|
|||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
|
|
|
|||
|
|
@ -39,8 +39,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
|
|||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
|
|
|
|||
|
|
@ -32,8 +32,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
|
|||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
|
|
|
|||
|
|
@ -466,6 +466,7 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
|
|||
|
||||
/* publish raw rc channel values from IO */
|
||||
_input_rc.timestamp = hrt_absolute_time();
|
||||
_input_rc.channel_count = rep->channel_count;
|
||||
for (int i = 0; i < rep->channel_count; i++)
|
||||
{
|
||||
_input_rc.values[i] = rep->rc_channel[i];
|
||||
|
|
|
|||
|
|
@ -0,0 +1,45 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Fixedwing Control application
|
||||
#
|
||||
|
||||
APPNAME = fixedwing_att_control
|
||||
PRIORITY = SCHED_PRIORITY_MAX - 30
|
||||
STACKSIZE = 2048
|
||||
|
||||
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
||||
|
|
@ -0,0 +1,161 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
*
|
||||
* 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 fixedwing_att_control_rate.c
|
||||
* Implementation of a fixed wing attitude controller.
|
||||
*/
|
||||
#include <fixedwing_att_control_att.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <poll.h>
|
||||
#include <time.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/pid/pid.h>
|
||||
#include <systemlib/geo/geo.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
|
||||
|
||||
|
||||
struct fw_att_control_params {
|
||||
float roll_p;
|
||||
float rollrate_lim;
|
||||
float pitch_p;
|
||||
float pitchrate_lim;
|
||||
float yawrate_lim;
|
||||
float pitch_roll_compensation_p;
|
||||
};
|
||||
|
||||
struct fw_pos_control_param_handles {
|
||||
param_t roll_p;
|
||||
param_t rollrate_lim;
|
||||
param_t pitch_p;
|
||||
param_t pitchrate_lim;
|
||||
param_t yawrate_lim;
|
||||
param_t pitch_roll_compensation_p;
|
||||
};
|
||||
|
||||
|
||||
|
||||
/* Internal Prototypes */
|
||||
static int parameters_init(struct fw_pos_control_param_handles *h);
|
||||
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p);
|
||||
|
||||
static int parameters_init(struct fw_pos_control_param_handles *h)
|
||||
{
|
||||
/* PID parameters */
|
||||
h->roll_p = param_find("FW_ROLL_P");
|
||||
h->rollrate_lim = param_find("FW_ROLLR_LIM");
|
||||
h->pitch_p = param_find("FW_PITCH_P");
|
||||
h->pitchrate_lim = param_find("FW_PITCHR_LIM");
|
||||
h->yawrate_lim = param_find("FW_YAWR_LIM");
|
||||
h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p)
|
||||
{
|
||||
param_get(h->roll_p, &(p->roll_p));
|
||||
param_get(h->rollrate_lim, &(p->rollrate_lim));
|
||||
param_get(h->pitch_p, &(p->pitch_p));
|
||||
param_get(h->pitchrate_lim, &(p->pitchrate_lim));
|
||||
param_get(h->yawrate_lim, &(p->yawrate_lim));
|
||||
param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p));
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
|
||||
const struct vehicle_attitude_s *att,
|
||||
struct vehicle_rates_setpoint_s *rates_sp)
|
||||
{
|
||||
static int counter = 0;
|
||||
static bool initialized = false;
|
||||
|
||||
static struct fw_att_control_params p;
|
||||
static struct fw_pos_control_param_handles h;
|
||||
|
||||
static PID_t roll_controller;
|
||||
static PID_t pitch_controller;
|
||||
|
||||
|
||||
if(!initialized)
|
||||
{
|
||||
parameters_init(&h);
|
||||
parameters_update(&h, &p);
|
||||
pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller
|
||||
pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
/* load new parameters with lower rate */
|
||||
if (counter % 100 == 0) {
|
||||
/* update parameters from storage */
|
||||
parameters_update(&h, &p);
|
||||
pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim);
|
||||
pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim);
|
||||
}
|
||||
|
||||
/* Roll (P) */
|
||||
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_tait_bryan, att->roll, 0, 0);
|
||||
|
||||
/* Pitch (P) */
|
||||
float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan;
|
||||
rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
|
||||
|
||||
/* Yaw (from coordinated turn constraint or lateral force) */
|
||||
//TODO
|
||||
|
||||
counter++;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,49 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
*
|
||||
*
|
||||
* 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 Fixed Wing Attitude Control */
|
||||
|
||||
#ifndef FIXEDWING_ATT_CONTROL_ATT_H_
|
||||
#define FIXEDWING_ATT_CONTROL_ATT_H_
|
||||
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
|
||||
int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
|
||||
const struct vehicle_attitude_s *att,
|
||||
struct vehicle_rates_setpoint_s *rates_sp);
|
||||
|
||||
#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
|
||||
|
|
@ -0,0 +1,277 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Doug Weibel <douglas.weibel@colorado.edu>
|
||||
*
|
||||
* 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 fixedwing_att_control.c
|
||||
* Implementation of a fixed wing attitude controller.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <poll.h>
|
||||
#include <time.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_global_position_setpoint.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/debug_key_value.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/pid/pid.h>
|
||||
#include <systemlib/geo/geo.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
#include <fixedwing_att_control_rate.h>
|
||||
#include <fixedwing_att_control_att.h>
|
||||
|
||||
/*
|
||||
* Controller parameters, accessible via MAVLink
|
||||
*
|
||||
*/
|
||||
// Roll control parameters
|
||||
PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
|
||||
PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
|
||||
PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
|
||||
PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller
|
||||
PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
|
||||
PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
|
||||
|
||||
//Pitch control parameters
|
||||
PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
|
||||
PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
|
||||
PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
|
||||
PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller
|
||||
PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
|
||||
|
||||
//Yaw control parameters //XXX TODO this is copy paste, asign correct values
|
||||
PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
|
||||
PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec
|
||||
|
||||
/* Prototypes */
|
||||
/**
|
||||
* Deamon management function.
|
||||
*/
|
||||
__EXPORT int fixedwing_att_control_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Mainloop of deamon.
|
||||
*/
|
||||
int fixedwing_att_control_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
|
||||
/* Variables */
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
|
||||
/* Main Thread */
|
||||
int fixedwing_att_control_thread_main(int argc, char *argv[])
|
||||
{
|
||||
/* read arguments */
|
||||
bool verbose = false;
|
||||
|
||||
for (int i = 1; i < argc; i++) {
|
||||
if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
|
||||
verbose = true;
|
||||
}
|
||||
}
|
||||
|
||||
/* welcome user */
|
||||
printf("[fixedwing att_control] started\n");
|
||||
|
||||
/* declare and safely initialize all structs */
|
||||
struct vehicle_attitude_s att;
|
||||
memset(&att, 0, sizeof(att));
|
||||
struct vehicle_attitude_setpoint_s att_sp;
|
||||
memset(&att_sp, 0, sizeof(att_sp));
|
||||
struct vehicle_rates_setpoint_s rates_sp;
|
||||
memset(&rates_sp, 0, sizeof(rates_sp));
|
||||
// static struct debug_key_value_s debug_output;
|
||||
// memset(&debug_output, 0, sizeof(debug_output));
|
||||
|
||||
/* output structs */
|
||||
struct actuator_controls_s actuators;
|
||||
memset(&actuators, 0, sizeof(actuators));
|
||||
|
||||
|
||||
/* publish actuator controls */
|
||||
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
|
||||
actuators.control[i] = 0.0f;
|
||||
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
|
||||
// orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
|
||||
// debug_output.key[0] = '1';
|
||||
|
||||
|
||||
/* subscribe */
|
||||
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
|
||||
|
||||
/* Setup of loop */
|
||||
float gyro[3] = {0.0f, 0.0f, 0.0f};
|
||||
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
|
||||
|
||||
while(!thread_should_exit)
|
||||
{
|
||||
/* wait for a sensor update, check for exit condition every 500 ms */
|
||||
poll(&fds, 1, 500);
|
||||
|
||||
/*Get Local Copies */
|
||||
/* get a local copy of attitude */
|
||||
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
|
||||
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
|
||||
|
||||
gyro[0] = att.rollspeed;
|
||||
gyro[1] = att.pitchspeed;
|
||||
gyro[2] = att.yawspeed;
|
||||
|
||||
/* Control */
|
||||
|
||||
/* Attitude Control */
|
||||
fixedwing_att_control_attitude(&att_sp,
|
||||
&att,
|
||||
&rates_sp);
|
||||
|
||||
/* Attitude Rate Control */
|
||||
fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
|
||||
|
||||
//REMOVEME XXX
|
||||
actuators.control[3] = 0.7f;
|
||||
|
||||
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
|
||||
// debug_output.value = rates_sp.pitch;
|
||||
// orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
|
||||
}
|
||||
|
||||
printf("[fixedwing_att_control] exiting, stopping all motors.\n");
|
||||
thread_running = false;
|
||||
|
||||
/* kill all outputs */
|
||||
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
|
||||
actuators.control[i] = 0.0f;
|
||||
|
||||
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
|
||||
|
||||
|
||||
|
||||
close(att_sub);
|
||||
close(actuator_pub);
|
||||
|
||||
fflush(stdout);
|
||||
exit(0);
|
||||
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
/* Startup Functions */
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The deamon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
* Makefile does only apply to this management task.
|
||||
*
|
||||
* The actual stack size should be set in the call
|
||||
* to task_create().
|
||||
*/
|
||||
int fixedwing_att_control_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
printf("fixedwing_att_control already running\n");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
deamon_task = task_spawn("fixedwing_att_control",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 20,
|
||||
4096,
|
||||
fixedwing_att_control_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
thread_running = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
printf("\tfixedwing_att_control is running\n");
|
||||
} else {
|
||||
printf("\tfixedwing_att_control not started\n");
|
||||
}
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,183 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
*
|
||||
* 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 fixedwing_att_control_rate.c
|
||||
* Implementation of a fixed wing attitude controller.
|
||||
*/
|
||||
#include <fixedwing_att_control_rate.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <poll.h>
|
||||
#include <time.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/pid/pid.h>
|
||||
#include <systemlib/geo/geo.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
struct fw_rate_control_params {
|
||||
float rollrate_p;
|
||||
float rollrate_i;
|
||||
float rollrate_awu;
|
||||
float pitchrate_p;
|
||||
float pitchrate_i;
|
||||
float pitchrate_awu;
|
||||
float yawrate_p;
|
||||
float yawrate_i;
|
||||
float yawrate_awu;
|
||||
|
||||
};
|
||||
|
||||
struct fw_rate_control_param_handles {
|
||||
param_t rollrate_p;
|
||||
param_t rollrate_i;
|
||||
param_t rollrate_awu;
|
||||
param_t pitchrate_p;
|
||||
param_t pitchrate_i;
|
||||
param_t pitchrate_awu;
|
||||
param_t yawrate_p;
|
||||
param_t yawrate_i;
|
||||
param_t yawrate_awu;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
/* Internal Prototypes */
|
||||
static int parameters_init(struct fw_rate_control_param_handles *h);
|
||||
static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p);
|
||||
|
||||
static int parameters_init(struct fw_rate_control_param_handles *h)
|
||||
{
|
||||
/* PID parameters */
|
||||
h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing
|
||||
h->rollrate_i = param_find("FW_ROLLR_I");
|
||||
h->rollrate_awu = param_find("FW_ROLLR_AWU");
|
||||
|
||||
h->pitchrate_p = param_find("FW_PITCHR_P");
|
||||
h->pitchrate_i = param_find("FW_PITCHR_I");
|
||||
h->pitchrate_awu = param_find("FW_PITCHR_AWU");
|
||||
|
||||
h->yawrate_p = param_find("FW_YAWR_P");
|
||||
h->yawrate_i = param_find("FW_YAWR_I");
|
||||
h->yawrate_awu = param_find("FW_YAWR_AWU");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p)
|
||||
{
|
||||
param_get(h->rollrate_p, &(p->rollrate_p));
|
||||
param_get(h->rollrate_i, &(p->rollrate_i));
|
||||
param_get(h->rollrate_awu, &(p->rollrate_awu));
|
||||
param_get(h->pitchrate_p, &(p->pitchrate_p));
|
||||
param_get(h->pitchrate_i, &(p->pitchrate_i));
|
||||
param_get(h->pitchrate_awu, &(p->pitchrate_awu));
|
||||
param_get(h->yawrate_p, &(p->yawrate_p));
|
||||
param_get(h->yawrate_i, &(p->yawrate_i));
|
||||
param_get(h->yawrate_awu, &(p->yawrate_awu));
|
||||
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
|
||||
const float rates[],
|
||||
struct actuator_controls_s *actuators)
|
||||
{
|
||||
static int counter = 0;
|
||||
static bool initialized = false;
|
||||
|
||||
static struct fw_rate_control_params p;
|
||||
static struct fw_rate_control_param_handles h;
|
||||
|
||||
static PID_t roll_rate_controller;
|
||||
static PID_t pitch_rate_controller;
|
||||
static PID_t yaw_rate_controller;
|
||||
|
||||
static uint64_t last_run = 0;
|
||||
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
|
||||
last_run = hrt_absolute_time();
|
||||
|
||||
if(!initialized)
|
||||
{
|
||||
parameters_init(&h);
|
||||
parameters_update(&h, &p);
|
||||
pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
|
||||
pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
|
||||
pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
/* load new parameters with lower rate */
|
||||
if (counter % 100 == 0) {
|
||||
/* update parameters from storage */
|
||||
parameters_update(&h, &p);
|
||||
pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1);
|
||||
pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1);
|
||||
pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1);
|
||||
}
|
||||
|
||||
|
||||
/* Roll Rate (PI) */
|
||||
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
|
||||
|
||||
|
||||
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
|
||||
actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now
|
||||
|
||||
counter++;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
*
|
||||
*
|
||||
* 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 Fixed Wing Attitude Rate Control */
|
||||
|
||||
#ifndef FIXEDWING_ATT_CONTROL_RATE_H_
|
||||
#define FIXEDWING_ATT_CONTROL_RATE_H_
|
||||
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
|
||||
int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
|
||||
const float rates[],
|
||||
struct actuator_controls_s *actuators);
|
||||
|
||||
#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Fixedwing Control application
|
||||
#
|
||||
|
||||
APPNAME = fixedwing_pos_control
|
||||
PRIORITY = SCHED_PRIORITY_MAX - 30
|
||||
STACKSIZE = 2048
|
||||
|
||||
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
||||
|
|
@ -0,0 +1,73 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Doug Weibel <douglas.weibel@colorado.edu>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
@author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
*
|
||||
* 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 fixedwing_pos_control.h
|
||||
* Position control for fixed wing airframes.
|
||||
*/
|
||||
|
||||
#ifndef FIXEDWING_POS_CONTROL_H_
|
||||
#define FIXEDWING_POS_CONTROL_H_
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
struct planned_path_segments_s {
|
||||
bool segment_type;
|
||||
double start_lat; // Start of line or center of arc
|
||||
double start_lon;
|
||||
double end_lat;
|
||||
double end_lon;
|
||||
float radius; // Radius of arc
|
||||
float arc_start_bearing; // Bearing from center to start of arc
|
||||
float arc_sweep; // Angle (radians) swept out by arc around center.
|
||||
// Positive for clockwise, negative for counter-clockwise
|
||||
};
|
||||
|
||||
|
||||
float _wrap180(float bearing);
|
||||
float _wrap360(float bearing);
|
||||
float _wrapPI(float bearing);
|
||||
float _wrap2PI(float bearing);
|
||||
|
||||
/* FIXEDWING_CONTROL_H_ */
|
||||
|
||||
|
|
@ -0,0 +1,441 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Doug Weibel <douglas.weibel@colorado.edu>
|
||||
*
|
||||
* 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 fixedwing_pos_control.c
|
||||
* Implementation of a fixed wing attitude controller.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <poll.h>
|
||||
#include <time.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_global_position_setpoint.h>
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/pid/pid.h>
|
||||
#include <systemlib/geo/geo.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
/*
|
||||
* Controller parameters, accessible via MAVLink
|
||||
*
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
|
||||
PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track
|
||||
PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
|
||||
PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians
|
||||
PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians
|
||||
|
||||
|
||||
struct fw_pos_control_params {
|
||||
float heading_p;
|
||||
float xtrack_p;
|
||||
float altitude_p;
|
||||
float roll_lim;
|
||||
float pitch_lim;
|
||||
};
|
||||
|
||||
struct fw_pos_control_param_handles {
|
||||
param_t heading_p;
|
||||
param_t xtrack_p;
|
||||
param_t altitude_p;
|
||||
param_t roll_lim;
|
||||
param_t pitch_lim;
|
||||
|
||||
};
|
||||
|
||||
|
||||
/* Prototypes */
|
||||
/* Internal Prototypes */
|
||||
static int parameters_init(struct fw_pos_control_param_handles *h);
|
||||
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p);
|
||||
|
||||
/**
|
||||
* Deamon management function.
|
||||
*/
|
||||
__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Mainloop of deamon.
|
||||
*/
|
||||
int fixedwing_pos_control_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
|
||||
/* Variables */
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
|
||||
|
||||
/**
|
||||
* Parameter management
|
||||
*/
|
||||
static int parameters_init(struct fw_pos_control_param_handles *h)
|
||||
{
|
||||
/* PID parameters */
|
||||
h->heading_p = param_find("FW_HEADING_P");
|
||||
h->xtrack_p = param_find("FW_XTRACK_P");
|
||||
h->altitude_p = param_find("FW_ALT_P");
|
||||
h->roll_lim = param_find("FW_ROLL_LIM");
|
||||
h->pitch_lim = param_find("FW_PITCH_LIM");
|
||||
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
|
||||
{
|
||||
param_get(h->heading_p, &(p->heading_p));
|
||||
param_get(h->xtrack_p, &(p->xtrack_p));
|
||||
param_get(h->altitude_p, &(p->altitude_p));
|
||||
param_get(h->roll_lim, &(p->roll_lim));
|
||||
param_get(h->pitch_lim, &(p->pitch_lim));
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
||||
/* Main Thread */
|
||||
int fixedwing_pos_control_thread_main(int argc, char *argv[])
|
||||
{
|
||||
/* read arguments */
|
||||
bool verbose = false;
|
||||
|
||||
for (int i = 1; i < argc; i++) {
|
||||
if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
|
||||
verbose = true;
|
||||
}
|
||||
}
|
||||
|
||||
/* welcome user */
|
||||
printf("[fixedwing att_control] started\n");
|
||||
|
||||
/* declare and safely initialize all structs */
|
||||
struct vehicle_global_position_s global_pos;
|
||||
memset(&global_pos, 0, sizeof(global_pos));
|
||||
struct vehicle_global_position_s start_pos; // Temporary variable, replace with
|
||||
memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available
|
||||
struct vehicle_global_position_setpoint_s global_setpoint;
|
||||
memset(&global_setpoint, 0, sizeof(global_setpoint));
|
||||
struct vehicle_attitude_s att;
|
||||
memset(&att, 0, sizeof(att));
|
||||
struct crosstrack_error_s xtrack_err;
|
||||
memset(&xtrack_err, 0, sizeof(xtrack_err));
|
||||
|
||||
/* output structs */
|
||||
struct vehicle_attitude_setpoint_s attitude_setpoint;
|
||||
memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
|
||||
|
||||
/* publish attitude setpoint */
|
||||
attitude_setpoint.roll_tait_bryan = 0.0f;
|
||||
attitude_setpoint.pitch_tait_bryan = 0.0f;
|
||||
attitude_setpoint.yaw_tait_bryan = 0.0f;
|
||||
orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
|
||||
|
||||
/* subscribe */
|
||||
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
|
||||
int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
|
||||
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||
|
||||
/* Setup of loop */
|
||||
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
|
||||
bool global_sp_updated_set_once = false;
|
||||
|
||||
float psi_track = 0.0f;
|
||||
|
||||
while(!thread_should_exit)
|
||||
{
|
||||
/* wait for a sensor update, check for exit condition every 500 ms */
|
||||
poll(&fds, 1, 500);
|
||||
|
||||
static int counter = 0;
|
||||
static bool initialized = false;
|
||||
|
||||
static struct fw_pos_control_params p;
|
||||
static struct fw_pos_control_param_handles h;
|
||||
|
||||
PID_t heading_controller;
|
||||
PID_t altitude_controller;
|
||||
|
||||
if(!initialized)
|
||||
{
|
||||
parameters_init(&h);
|
||||
parameters_update(&h, &p);
|
||||
pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE);
|
||||
pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f,p.pitch_lim,PID_MODE_DERIVATIV_NONE);
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
/* load new parameters with lower rate */
|
||||
if (counter % 100 == 0) {
|
||||
/* update parameters from storage */
|
||||
parameters_update(&h, &p);
|
||||
pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim);
|
||||
pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
|
||||
|
||||
}
|
||||
|
||||
/* Check if there is a new position or setpoint */
|
||||
bool pos_updated;
|
||||
orb_check(global_pos_sub, &pos_updated);
|
||||
bool global_sp_updated;
|
||||
orb_check(global_setpoint_sub, &global_sp_updated);
|
||||
|
||||
/* Load local copies */
|
||||
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
|
||||
if(pos_updated)
|
||||
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
|
||||
if (global_sp_updated)
|
||||
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
|
||||
|
||||
if(global_sp_updated) {
|
||||
start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
|
||||
global_sp_updated_set_once = true;
|
||||
psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
|
||||
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
|
||||
printf("psi_track: %0.4f\n", psi_track);
|
||||
}
|
||||
|
||||
/* Control */
|
||||
|
||||
|
||||
/* Simple Horizontal Control */
|
||||
if(global_sp_updated_set_once)
|
||||
{
|
||||
// if (counter % 100 == 0)
|
||||
// printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
|
||||
|
||||
/* calculate crosstrack error */
|
||||
// Only the case of a straight line track following handled so far
|
||||
int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
|
||||
(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
|
||||
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
|
||||
|
||||
if(!(distance_res != OK || xtrack_err.past_end)) {
|
||||
|
||||
float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
|
||||
|
||||
if(delta_psi_c > 60.0f*M_DEG_TO_RAD)
|
||||
delta_psi_c = 60.0f*M_DEG_TO_RAD;
|
||||
|
||||
if(delta_psi_c < -60.0f*M_DEG_TO_RAD)
|
||||
delta_psi_c = -60.0f*M_DEG_TO_RAD;
|
||||
|
||||
float psi_c = psi_track + delta_psi_c;
|
||||
|
||||
float psi_e = psi_c - att.yaw;
|
||||
|
||||
/* shift error to prevent wrapping issues */
|
||||
psi_e = _wrapPI(psi_e);
|
||||
|
||||
/* calculate roll setpoint, do this artificially around zero */
|
||||
attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
|
||||
|
||||
// if (counter % 100 == 0)
|
||||
// printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
|
||||
}
|
||||
else {
|
||||
if (counter % 100 == 0)
|
||||
printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* Very simple Altitude Control */
|
||||
if(global_sp_updated_set_once && pos_updated)
|
||||
{
|
||||
|
||||
//TODO: take care of relative vs. ab. altitude
|
||||
attitude_setpoint.pitch_tait_bryan = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
|
||||
|
||||
}
|
||||
/*Publish the attitude setpoint */
|
||||
orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
|
||||
|
||||
counter++;
|
||||
}
|
||||
|
||||
printf("[fixedwing_pos_control] exiting.\n");
|
||||
thread_running = false;
|
||||
|
||||
|
||||
close(attitude_setpoint_pub);
|
||||
|
||||
fflush(stdout);
|
||||
exit(0);
|
||||
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
/* Startup Functions */
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The deamon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
* Makefile does only apply to this management task.
|
||||
*
|
||||
* The actual stack size should be set in the call
|
||||
* to task_create().
|
||||
*/
|
||||
int fixedwing_pos_control_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
printf("fixedwing_pos_control already running\n");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
deamon_task = task_spawn("fixedwing_pos_control",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 20,
|
||||
4096,
|
||||
fixedwing_pos_control_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
thread_running = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
printf("\tfixedwing_pos_control is running\n");
|
||||
} else {
|
||||
printf("\tfixedwing_pos_control not started\n");
|
||||
}
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
|
||||
float _wrapPI(float bearing)
|
||||
{
|
||||
|
||||
while (bearing > M_PI_F) {
|
||||
bearing = bearing - M_TWOPI_F;
|
||||
}
|
||||
|
||||
while (bearing <= -M_PI_F) {
|
||||
bearing = bearing + M_TWOPI_F;
|
||||
}
|
||||
|
||||
return bearing;
|
||||
}
|
||||
|
||||
float _wrap2PI(float bearing)
|
||||
{
|
||||
|
||||
while (bearing >= M_TWOPI_F) {
|
||||
bearing = bearing - M_TWOPI_F;
|
||||
}
|
||||
|
||||
while (bearing < 0.0f) {
|
||||
bearing = bearing + M_TWOPI_F;
|
||||
}
|
||||
|
||||
return bearing;
|
||||
}
|
||||
|
||||
float _wrap180(float bearing)
|
||||
{
|
||||
|
||||
while (bearing > 180.0f) {
|
||||
bearing = bearing - 360.0f;
|
||||
}
|
||||
|
||||
while (bearing <= -180.0f) {
|
||||
bearing = bearing + 360.0f;
|
||||
}
|
||||
|
||||
return bearing;
|
||||
}
|
||||
|
||||
float _wrap360(float bearing)
|
||||
{
|
||||
|
||||
while (bearing >= 360.0f) {
|
||||
bearing = bearing - 360.0f;
|
||||
}
|
||||
|
||||
while (bearing < 0.0f) {
|
||||
bearing = bearing + 360.0f;
|
||||
}
|
||||
|
||||
return bearing;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -93,6 +93,8 @@
|
|||
#define BAT_VOL_LOWPASS_2 0.01f
|
||||
#define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f
|
||||
|
||||
#define PPM_INPUT_TIMEOUT_INTERVAL 50000 /**< 50 ms timeout / 20 Hz */
|
||||
|
||||
/**
|
||||
* Sensor app start / stop handling function
|
||||
*
|
||||
|
|
@ -865,8 +867,10 @@ Sensors::ppm_poll()
|
|||
struct rc_input_values raw;
|
||||
|
||||
raw.timestamp = ppm_last_valid_decode;
|
||||
/* we are accepting this message */
|
||||
_ppm_last_valid = ppm_last_valid_decode;
|
||||
|
||||
if (ppm_decoded_channels > 1) {
|
||||
if (ppm_decoded_channels > 2 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
|
||||
|
||||
for (int i = 0; i < ppm_decoded_channels; i++) {
|
||||
raw.values[i] = ppm_buffer[i];
|
||||
|
|
|
|||
|
|
@ -45,7 +45,12 @@
|
|||
*/
|
||||
|
||||
#include <systemlib/geo/geo.h>
|
||||
#include <nuttx/config.h>
|
||||
#include <unistd.h>
|
||||
#include <pthread.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
|
||||
/* values for map projection */
|
||||
|
|
@ -230,25 +235,24 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub
|
|||
|
||||
// Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
|
||||
|
||||
__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end)
|
||||
__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end)
|
||||
{
|
||||
// This function returns the distance to the nearest point on the track line. Distance is positive if current
|
||||
// position is right of the track and negative if left of the track as seen from a point on the track line
|
||||
// headed towards the end point.
|
||||
|
||||
crosstrack_error_s return_var;
|
||||
float dist_to_end;
|
||||
float bearing_end;
|
||||
float bearing_track;
|
||||
float bearing_diff;
|
||||
|
||||
return_var.error = true; // Set error flag, cleared when valid result calculated.
|
||||
return_var.past_end = false;
|
||||
return_var.distance = 0.0f;
|
||||
return_var.bearing = 0.0f;
|
||||
int return_value = ERROR; // Set error flag, cleared when valid result calculated.
|
||||
crosstrack_error->past_end = false;
|
||||
crosstrack_error->distance = 0.0f;
|
||||
crosstrack_error->bearing = 0.0f;
|
||||
|
||||
// Return error if arguments are bad
|
||||
if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_var;
|
||||
if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_value;
|
||||
|
||||
bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
|
||||
bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
|
||||
|
|
@ -257,35 +261,34 @@ __EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now,
|
|||
|
||||
// Return past_end = true if past end point of line
|
||||
if (bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) {
|
||||
return_var.past_end = true;
|
||||
return_var.error = false;
|
||||
return return_var;
|
||||
crosstrack_error->past_end = true;
|
||||
return_value = OK;
|
||||
return return_value;
|
||||
}
|
||||
|
||||
dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
|
||||
return_var.distance = (dist_to_end) * sin(bearing_diff);
|
||||
crosstrack_error->distance = (dist_to_end) * sin(bearing_diff);
|
||||
|
||||
if (sin(bearing_diff) >= 0) {
|
||||
return_var.bearing = _wrapPI(bearing_track - M_PI_2_F);
|
||||
crosstrack_error->bearing = _wrapPI(bearing_track - M_PI_2_F);
|
||||
|
||||
} else {
|
||||
return_var.bearing = _wrapPI(bearing_track + M_PI_2_F);
|
||||
crosstrack_error->bearing = _wrapPI(bearing_track + M_PI_2_F);
|
||||
}
|
||||
|
||||
return_var.error = false;
|
||||
return_value = OK;
|
||||
|
||||
return return_var;
|
||||
return return_value;
|
||||
|
||||
}
|
||||
|
||||
|
||||
__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center,
|
||||
__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
|
||||
float radius, float arc_start_bearing, float arc_sweep)
|
||||
{
|
||||
// This function returns the distance to the nearest point on the track arc. Distance is positive if current
|
||||
// position is right of the arc and negative if left of the arc as seen from the closest point on the arc and
|
||||
// headed towards the end point.
|
||||
crosstrack_error_s return_var;
|
||||
|
||||
// Determine if the current position is inside or outside the sector between the line from the center
|
||||
// to the arc start and the line from the center to the arc end
|
||||
|
|
@ -294,13 +297,13 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
|
|||
float bearing_now = get_bearing_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
|
||||
bool in_sector;
|
||||
|
||||
return_var.error = true; // Set error flag, cleared when valid result calculated.
|
||||
return_var.past_end = false;
|
||||
return_var.distance = 0.0f;
|
||||
return_var.bearing = 0.0f;
|
||||
int return_value = ERROR; // Set error flag, cleared when valid result calculated.
|
||||
crosstrack_error->past_end = false;
|
||||
crosstrack_error->distance = 0.0f;
|
||||
crosstrack_error->bearing = 0.0f;
|
||||
|
||||
// Return error if arguments are bad
|
||||
if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_var;
|
||||
if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_value;
|
||||
|
||||
|
||||
if (arc_sweep >= 0) {
|
||||
|
|
@ -313,7 +316,7 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
|
|||
bearing_sector_end = arc_start_bearing;
|
||||
bearing_sector_start = arc_start_bearing - arc_sweep;
|
||||
|
||||
if (bearing_sector_start < 0.0) bearing_sector_start += M_TWOPI_F;
|
||||
if (bearing_sector_start < 0.0f) bearing_sector_start += M_TWOPI_F;
|
||||
}
|
||||
|
||||
in_sector = false;
|
||||
|
|
@ -326,16 +329,16 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
|
|||
|
||||
// If in the sector then calculate distance and bearing to closest point
|
||||
if (in_sector) {
|
||||
return_var.past_end = false;
|
||||
crosstrack_error->past_end = false;
|
||||
float dist_to_center = get_distance_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
|
||||
|
||||
if (dist_to_center <= radius) {
|
||||
return_var.distance = radius - dist_to_center;
|
||||
return_var.bearing = bearing_now + M_PI_F;
|
||||
crosstrack_error->distance = radius - dist_to_center;
|
||||
crosstrack_error->bearing = bearing_now + M_PI_F;
|
||||
|
||||
} else {
|
||||
return_var.distance = dist_to_center - radius;
|
||||
return_var.bearing = bearing_now;
|
||||
crosstrack_error->distance = dist_to_center - radius;
|
||||
crosstrack_error->bearing = bearing_now;
|
||||
}
|
||||
|
||||
// If out of the sector then calculate dist and bearing to start or end point
|
||||
|
|
@ -359,21 +362,22 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
|
|||
float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
|
||||
float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
|
||||
|
||||
|
||||
if (dist_to_start < dist_to_end) {
|
||||
return_var.distance = dist_to_start;
|
||||
return_var.bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
|
||||
crosstrack_error->distance = dist_to_start;
|
||||
crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
|
||||
|
||||
} else {
|
||||
return_var.past_end = true;
|
||||
return_var.distance = dist_to_end;
|
||||
return_var.bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
|
||||
crosstrack_error->past_end = true;
|
||||
crosstrack_error->distance = dist_to_end;
|
||||
crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return_var.bearing = _wrapPI(return_var.bearing);
|
||||
return_var.error = false;
|
||||
return return_var;
|
||||
crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing);
|
||||
return_value = OK;
|
||||
return return_value;
|
||||
}
|
||||
|
||||
float _wrapPI(float bearing)
|
||||
|
|
|
|||
|
|
@ -48,12 +48,11 @@
|
|||
|
||||
#include <stdbool.h>
|
||||
|
||||
typedef struct {
|
||||
bool error; // Flag that the calculation failed
|
||||
struct crosstrack_error_s {
|
||||
bool past_end; // Flag indicating we are past the end of the line/arc segment
|
||||
float distance; // Distance in meters to closest point on line/arc
|
||||
float bearing; // Bearing in radians to closest point on line/arc
|
||||
} crosstrack_error_s;
|
||||
} ;
|
||||
|
||||
__EXPORT static void map_projection_init(double lat_0, double lon_0);
|
||||
|
||||
|
|
@ -67,9 +66,9 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub
|
|||
|
||||
//
|
||||
|
||||
__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
|
||||
__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
|
||||
|
||||
__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center,
|
||||
__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
|
||||
float radius, float arc_start_bearing, float arc_sweep);
|
||||
|
||||
float _wrap180(float bearing);
|
||||
|
|
|
|||
|
|
@ -56,9 +56,9 @@ struct vehicle_attitude_setpoint_s
|
|||
{
|
||||
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
|
||||
|
||||
//float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */
|
||||
//float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */
|
||||
//float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */
|
||||
float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */
|
||||
float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */
|
||||
float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */
|
||||
//float tait_bryan_valid; /**< Set to true if Tait-Bryan angles are valid */
|
||||
|
||||
float roll_body; /**< body angle in NED frame */
|
||||
|
|
|
|||
|
|
@ -65,6 +65,8 @@ struct vehicle_gps_position_s
|
|||
uint16_t counter_pos_valid; /**< is only increased when new lat/lon/alt information was added */
|
||||
uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME */
|
||||
uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
|
||||
float s_variance; // XXX testing
|
||||
float p_variance; // XXX testing
|
||||
uint16_t vel; /**< GPS ground speed (m/s * 100). If unknown, set to: 65535 */
|
||||
float vel_n; /**< GPS ground speed in m/s */
|
||||
float vel_e; /**< GPS ground speed in m/s */
|
||||
|
|
|
|||
|
|
@ -75,7 +75,9 @@ CONFIGURED_APPS += sensors
|
|||
CONFIGURED_APPS += ardrone_interface
|
||||
CONFIGURED_APPS += multirotor_att_control
|
||||
CONFIGURED_APPS += multirotor_pos_control
|
||||
CONFIGURED_APPS += fixedwing_control
|
||||
#CONFIGURED_APPS += fixedwing_control
|
||||
CONFIGURED_APPS += fixedwing_att_control
|
||||
CONFIGURED_APPS += fixedwing_pos_control
|
||||
CONFIGURED_APPS += position_estimator
|
||||
CONFIGURED_APPS += attitude_estimator_ekf
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue