forked from Archive/PX4-Autopilot
Minor cleanups in attitude control
This commit is contained in:
Lorenz Meier
parent
d9d002f3aa
commit
c2abe3997c
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@ -65,6 +65,7 @@
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/parameter_update.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/systemlib.h>
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@ -104,6 +105,7 @@ mc_thread_main(int argc, char *argv[])
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/* subscribe to attitude, motor setpoints and system state */
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int param_sub = orb_subscribe(ORB_ID(parameter_update));
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int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
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int state_sub = orb_subscribe(ORB_ID(vehicle_status));
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@ -118,7 +120,10 @@ mc_thread_main(int argc, char *argv[])
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* rate-limit the attitude subscription to 200Hz to pace our loop
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* orb_set_interval(att_sub, 5);
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*/
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struct pollfd fds = { .fd = att_sub, .events = POLLIN };
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struct pollfd fds[2] = {
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{ .fd = att_sub, .events = POLLIN },
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{ .fd = param_sub, .events = POLLIN }
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};
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/* publish actuator controls */
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
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@ -131,7 +136,9 @@ mc_thread_main(int argc, char *argv[])
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int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
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/* register the perf counter */
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perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control");
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perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control_runtime");
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perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval");
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perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err");
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/* welcome user */
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printf("[multirotor_att_control] starting\n");
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@ -140,143 +147,163 @@ mc_thread_main(int argc, char *argv[])
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bool flag_control_manual_enabled = false;
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bool flag_control_attitude_enabled = false;
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bool flag_system_armed = false;
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bool man_yaw_zero_once = false;
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while (!thread_should_exit) {
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/* wait for a sensor update, check for exit condition every 500 ms */
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poll(&fds, 1, 500);
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int ret = poll(fds, 2, 500);
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perf_begin(mc_loop_perf);
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if (ret < 0) {
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/* poll error, count it in perf */
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perf_count(mc_err_perf);
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} else if (ret == 0) {
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/* no return value, ignore */
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} else {
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/* get a local copy of system state */
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bool updated;
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orb_check(state_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_status), state_sub, &state);
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}
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/* get a local copy of manual setpoint */
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orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
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/* get a local copy of attitude */
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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/* get a local copy of attitude setpoint */
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orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
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/* get a local copy of rates setpoint */
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orb_check(setpoint_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
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}
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/* get a local copy of the current sensor values */
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orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
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/* only update parameters if they changed */
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if (fds[1].revents & POLLIN) {
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/* read from param to clear updated flag */
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struct parameter_update_s update;
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orb_copy(ORB_ID(parameter_update), param_sub, &update);
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/* update parameters */
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// XXX no params here yet
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}
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/* only run controller if attitude changed */
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if (fds[0].revents & POLLIN) {
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perf_begin(mc_loop_perf);
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/* get a local copy of system state */
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bool updated;
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orb_check(state_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_status), state_sub, &state);
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}
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/* get a local copy of manual setpoint */
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orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
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/* get a local copy of attitude */
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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/* get a local copy of attitude setpoint */
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orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
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/* get a local copy of rates setpoint */
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orb_check(setpoint_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
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}
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/* get a local copy of the current sensor values */
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orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
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/** STEP 1: Define which input is the dominating control input */
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if (state.flag_control_offboard_enabled) {
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/* offboard inputs */
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if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
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rates_sp.roll = offboard_sp.p1;
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rates_sp.pitch = offboard_sp.p2;
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rates_sp.yaw = offboard_sp.p3;
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rates_sp.thrust = offboard_sp.p4;
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// printf("thrust_rate=%8.4f\n",offboard_sp.p4);
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/** STEP 1: Define which input is the dominating control input */
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if (state.flag_control_offboard_enabled) {
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/* offboard inputs */
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if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
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rates_sp.roll = offboard_sp.p1;
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rates_sp.pitch = offboard_sp.p2;
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rates_sp.yaw = offboard_sp.p3;
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rates_sp.thrust = offboard_sp.p4;
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// printf("thrust_rate=%8.4f\n",offboard_sp.p4);
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rates_sp.timestamp = hrt_absolute_time();
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
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} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
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att_sp.roll_body = offboard_sp.p1;
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att_sp.pitch_body = offboard_sp.p2;
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att_sp.yaw_body = offboard_sp.p3;
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att_sp.thrust = offboard_sp.p4;
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// printf("thrust_att=%8.4f\n",offboard_sp.p4);
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att_sp.timestamp = hrt_absolute_time();
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/* STEP 2: publish the result to the vehicle actuators */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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}
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/* decide wether we want rate or position input */
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}
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else if (state.flag_control_manual_enabled) {
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/* manual inputs, from RC control or joystick */
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if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) {
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rates_sp.roll = manual.roll;
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rates_sp.pitch = manual.pitch;
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rates_sp.yaw = manual.yaw;
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rates_sp.thrust = manual.throttle;
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rates_sp.timestamp = hrt_absolute_time();
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
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} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
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att_sp.roll_body = offboard_sp.p1;
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att_sp.pitch_body = offboard_sp.p2;
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att_sp.yaw_body = offboard_sp.p3;
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att_sp.thrust = offboard_sp.p4;
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// printf("thrust_att=%8.4f\n",offboard_sp.p4);
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}
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if (state.flag_control_attitude_enabled) {
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/* initialize to current yaw if switching to manual or att control */
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if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
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state.flag_control_manual_enabled != flag_control_manual_enabled ||
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state.flag_system_armed != flag_system_armed) {
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att_sp.yaw_body = att.yaw;
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}
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att_sp.roll_body = manual.roll;
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att_sp.pitch_body = manual.pitch;
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/* only move setpoint if manual input is != 0 */
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// XXX turn into param
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if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
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att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
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} else if (manual.throttle <= 0.3f) {
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att_sp.yaw_body = att.yaw;
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}
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att_sp.thrust = manual.throttle;
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att_sp.timestamp = hrt_absolute_time();
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}
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/* STEP 2: publish the result to the vehicle actuators */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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if (motor_test_mode) {
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printf("testmode");
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att_sp.roll_body = 0.0f;
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att_sp.pitch_body = 0.0f;
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att_sp.yaw_body = 0.0f;
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att_sp.thrust = 0.1f;
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att_sp.timestamp = hrt_absolute_time();
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/* STEP 2: publish the result to the vehicle actuators */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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}
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/* decide wether we want rate or position input */
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}
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else if (state.flag_control_manual_enabled) {
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/* manual inputs, from RC control or joystick */
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if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) {
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rates_sp.roll = manual.roll;
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rates_sp.pitch = manual.pitch;
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rates_sp.yaw = manual.yaw;
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rates_sp.thrust = manual.throttle;
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rates_sp.timestamp = hrt_absolute_time();
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}
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if (state.flag_control_attitude_enabled) {
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/* initialize to current yaw if switching to manual or att control */
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if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
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state.flag_control_manual_enabled != flag_control_manual_enabled ||
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state.flag_system_armed != flag_system_armed) {
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att_sp.yaw_body = att.yaw;
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}
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att_sp.roll_body = manual.roll;
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att_sp.pitch_body = manual.pitch;
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/* only move setpoint if manual input is != 0 */
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// XXX turn into param
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if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
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att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
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} else if (manual.throttle <= 0.3f) {
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att_sp.yaw_body = att.yaw;
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/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
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if (state.flag_control_attitude_enabled) {
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multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
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}
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att_sp.thrust = manual.throttle;
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att_sp.timestamp = hrt_absolute_time();
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}
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/* STEP 2: publish the result to the vehicle actuators */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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if (motor_test_mode) {
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printf("testmode");
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att_sp.roll_body = 0.0f;
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att_sp.pitch_body = 0.0f;
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att_sp.yaw_body = 0.0f;
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att_sp.thrust = 0.1f;
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att_sp.timestamp = hrt_absolute_time();
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/* STEP 2: publish the result to the vehicle actuators */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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}
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/* measure in what intervals the controller runs */
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perf_count(mc_interval_perf);
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}
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float gyro[3];
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/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
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if (state.flag_control_attitude_enabled) {
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multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
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}
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/* get current rate setpoint */
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bool rates_sp_valid = false;
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orb_check(rates_sp_sub, &rates_sp_valid);
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if (rates_sp_valid) {
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orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
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}
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/* apply controller */
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gyro[0] = att.rollspeed;
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gyro[1] = att.pitchspeed;
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gyro[2] = att.yawspeed;
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if (state.flag_control_rates_enabled) {
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multirotor_control_rates(&rates_sp, gyro, &actuators);
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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float gyro[3];
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/* update state */
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flag_control_attitude_enabled = state.flag_control_attitude_enabled;
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flag_control_manual_enabled = state.flag_control_manual_enabled;
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flag_system_armed = state.flag_system_armed;
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/* get current rate setpoint */
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bool rates_sp_valid = false;
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orb_check(rates_sp_sub, &rates_sp_valid);
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if (rates_sp_valid) {
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orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
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}
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/* apply controller */
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gyro[0] = att.rollspeed;
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gyro[1] = att.pitchspeed;
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gyro[2] = att.yawspeed;
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multirotor_control_rates(&rates_sp, gyro, &actuators);
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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}
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/* update state */
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flag_control_attitude_enabled = state.flag_control_attitude_enabled;
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flag_control_manual_enabled = state.flag_control_manual_enabled;
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flag_system_armed = state.flag_system_armed;
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perf_end(mc_loop_perf);
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perf_end(mc_loop_perf);
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} /* end of poll call for attitude updates */
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} /* end of poll return value check */
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}
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printf("[multirotor att control] stopping, disarming motors.\n");
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@ -199,9 +199,9 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
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/* update parameters from storage */
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parameters_update(&h, &p);
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/* apply parameters */
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printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
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//printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
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/* apply parameters */
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pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
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pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
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}
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