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Fixed code style for multirotor_att_control app

This commit is contained in:
Lorenz Meier 2013-01-11 07:45:24 +01:00
parent cf563eda86
commit cded2787f0
5 changed files with 51 additions and 25 deletions
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44
apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -116,7 +116,7 @@ mc_thread_main(int argc, char *argv[])
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
/*
/*
* Do not rate-limit the loop to prevent aliasing
* if rate-limiting would be desired later, the line below would
* enable it.
@ -125,9 +125,9 @@ mc_thread_main(int argc, char *argv[])
* orb_set_interval(att_sub, 5);
*/
struct pollfd fds[2] = {
{ .fd = att_sub, .events = POLLIN },
{ .fd = param_sub, .events = POLLIN }
};
{ .fd = att_sub, .events = POLLIN },
{ .fd = param_sub, .events = POLLIN }
};
/* publish actuator controls */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
@ -171,6 +171,7 @@ mc_thread_main(int argc, char *argv[])
if (ret < 0) {
/* poll error, count it in perf */
perf_count(mc_err_perf);
} else if (ret == 0) {
/* no return value, ignore */
} else {
@ -193,9 +194,11 @@ mc_thread_main(int argc, char *argv[])
/* get a local copy of system state */
bool updated;
orb_check(state_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
}
/* get a local copy of manual setpoint */
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
/* get a local copy of attitude */
@ -204,9 +207,11 @@ mc_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
/* get a local copy of rates setpoint */
orb_check(setpoint_sub, &updated);
if (updated) {
orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
}
/* get a local copy of the current sensor values */
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
@ -222,6 +227,7 @@ mc_thread_main(int argc, char *argv[])
// printf("thrust_rate=%8.4f\n",offboard_sp.p4);
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
@ -232,7 +238,7 @@ mc_thread_main(int argc, char *argv[])
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
} else if (state.flag_control_manual_enabled) {
@ -240,8 +246,8 @@ mc_thread_main(int argc, char *argv[])
/* initialize to current yaw if switching to manual or att control */
if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
state.flag_control_manual_enabled != flag_control_manual_enabled ||
state.flag_system_armed != flag_system_armed) {
state.flag_control_manual_enabled != flag_control_manual_enabled ||
state.flag_system_armed != flag_system_armed) {
att_sp.yaw_body = att.yaw;
}
@ -257,13 +263,14 @@ mc_thread_main(int argc, char *argv[])
/*
* Only go to failsafe throttle if last known throttle was
* high enough to create some lift to make hovering state likely.
*
*
* This is to prevent that someone landing, but not disarming his
* multicopter (throttle = 0) does not make it jump up in the air
* if shutting down his remote.
*/
if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
att_sp.thrust = failsafe_throttle;
} else {
att_sp.thrust = 0.0f;
}
@ -290,11 +297,12 @@ mc_thread_main(int argc, char *argv[])
/* act if stabilization is active or if the (nonsense) direct pass through mode is set */
if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS ||
state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) {
rates_sp.yaw = manual.yaw;
control_yaw_position = false;
} else {
/*
* This mode SHOULD be the default mode, which is:
@ -309,11 +317,13 @@ mc_thread_main(int argc, char *argv[])
rates_sp.yaw = manual.yaw;
control_yaw_position = false;
first_time_after_yaw_speed_control = true;
} else {
if (first_time_after_yaw_speed_control) {
att_sp.yaw_body = att.yaw;
first_time_after_yaw_speed_control = false;
}
control_yaw_position = true;
}
}
@ -340,7 +350,7 @@ mc_thread_main(int argc, char *argv[])
} else {
/* manual rate inputs, from RC control or joystick */
if (state.flag_control_rates_enabled &&
state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
rates_sp.roll = manual.roll;
rates_sp.pitch = manual.pitch;
@ -354,9 +364,9 @@ mc_thread_main(int argc, char *argv[])
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
if (state.flag_control_attitude_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position);
multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
/* measure in what intervals the controller runs */
@ -367,6 +377,7 @@ mc_thread_main(int argc, char *argv[])
/* get current rate setpoint */
bool rates_sp_valid = false;
orb_check(rates_sp_sub, &rates_sp_valid);
if (rates_sp_valid) {
orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
}
@ -394,6 +405,7 @@ mc_thread_main(int argc, char *argv[])
/* 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);
@ -415,6 +427,7 @@ usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: multirotor_att_control [-m <mode>] [-t] {start|status|stop}\n");
fprintf(stderr, " <mode> is 'rates' or 'attitude'\n");
fprintf(stderr, " -t enables motor test mode with 10%% thrust\n");
@ -432,22 +445,25 @@ int multirotor_att_control_main(int argc, char *argv[])
motor_test_mode = true;
optioncount += 1;
break;
case ':':
usage("missing parameter");
break;
default:
fprintf(stderr, "option: -%c\n", ch);
usage("unrecognized option");
break;
}
}
argc -= optioncount;
//argv += optioncount;
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1+optioncount], "start")) {
if (!strcmp(argv[1 + optioncount], "start")) {
thread_should_exit = false;
mc_task = task_spawn("multirotor_att_control",
@ -459,7 +475,7 @@ int multirotor_att_control_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1+optioncount], "stop")) {
if (!strcmp(argv[1 + optioncount], "stop")) {
thread_should_exit = true;
exit(0);
}

18
apps/multirotor_att_control/multirotor_attitude_control.c
View File

@ -158,16 +158,18 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
}
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
{
static uint64_t last_run = 0;
static uint64_t last_input = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
last_run = hrt_absolute_time();
if (last_input != att_sp->timestamp) {
last_input = att_sp->timestamp;
}
static int sensor_delay;
sensor_delay = hrt_absolute_time() - att->timestamp;
@ -189,9 +191,9 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
parameters_update(&h, &p);
pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
1000.0f, PID_MODE_DERIVATIV_SET);
1000.0f, PID_MODE_DERIVATIV_SET);
pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
1000.0f, PID_MODE_DERIVATIV_SET);
1000.0f, PID_MODE_DERIVATIV_SET);
initialized = true;
}
@ -207,7 +209,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
}
/* reset integral if on ground */
if(att_sp->thrust < 0.1f) {
if (att_sp->thrust < 0.1f) {
pid_reset_integral(&pitch_controller);
pid_reset_integral(&roll_controller);
}
@ -217,13 +219,13 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
/* control pitch (forward) output */
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
att->pitch, att->pitchspeed, deltaT);
att->pitch, att->pitchspeed, deltaT);
/* control roll (left/right) output */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
att->roll, att->rollspeed, deltaT);
att->roll, att->rollspeed, deltaT);
if(control_yaw_position) {
if (control_yaw_position) {
/* control yaw rate */
/* positive error: rotate to right, negative error, rotate to left (NED frame) */
@ -233,12 +235,14 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
if (yaw_error > M_PI_F) {
yaw_error -= M_TWOPI_F;
} else if (yaw_error < -M_PI_F) {
yaw_error += M_TWOPI_F;
}
rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
}
rates_sp->thrust = att_sp->thrust;
motor_skip_counter++;

2
apps/multirotor_att_control/multirotor_attitude_control.h
View File

@ -52,6 +52,6 @@
#include <uORB/topics/actuator_controls.h>
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position);
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position);
#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */

10
apps/multirotor_att_control/multirotor_rate_control.c
View File

@ -148,7 +148,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
}
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators)
const float rates[], struct actuator_controls_s *actuators)
{
static float roll_control_last = 0;
static float pitch_control_last = 0;
@ -157,6 +157,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
static uint64_t last_input = 0;
float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
if (last_input != rate_sp->timestamp) {
last_input = rate_sp->timestamp;
}
@ -186,12 +187,14 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
}
/* calculate current control outputs */
/* control pitch (forward) output */
float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
/* increase resilience to faulty control inputs */
if (isfinite(pitch_control)) {
pitch_control_last = pitch_control;
} else {
pitch_control = 0.0f;
warnx("rej. NaN ctrl pitch");
@ -199,9 +202,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* control roll (left/right) output */
float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
/* increase resilience to faulty control inputs */
if (isfinite(roll_control)) {
roll_control_last = roll_control;
} else {
roll_control = 0.0f;
warnx("rej. NaN ctrl roll");
@ -209,6 +214,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
/* increase resilience to faulty control inputs */
if (!isfinite(yaw_rate_control)) {
yaw_rate_control = 0.0f;

2
apps/multirotor_att_control/multirotor_rate_control.h
View File

@ -51,6 +51,6 @@
#include <uORB/topics/actuator_controls.h>
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators);
const float rates[], struct actuator_controls_s *actuators);
#endif /* MULTIROTOR_RATE_CONTROL_H_ */