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px4-firmware
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Merge branch 'master' into px4dev_new_param

This commit is contained in:
Lorenz Meier 2012-08-19 17:08:48 +02:00
parent d903311dce 9b239bc001
commit e28af802ce
42 changed files with 1279 additions and 2059 deletions
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2
ROMFS/scripts/rc.PX4IO
View File

@ -18,7 +18,7 @@ sh /etc/init.d/rc.sensors
#
# Start MAVLink
#
mavlink -d /dev/ttyS0 -b 57600 &
mavlink start -d /dev/ttyS0 -b 57600
#
# Start the commander.

2
ROMFS/scripts/rc.PX4IOAR
View File

@ -18,7 +18,7 @@ sh /etc/init.d/rc.sensors
#
# Start MAVLink
#
mavlink -d /dev/ttyS0 -b 57600 &
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#

5
ROMFS/scripts/rc.sensors
View File

@ -8,13 +8,12 @@
#
#ms5611 start
#mpu6000 start
#
# Start the sensor collection task.
#
# XXX should be 'sensors start'
#
sensors &
sensors start
#
# Test sensor functionality

2
apps/ardrone_control/Makefile
View File

@ -40,6 +40,6 @@ PRIORITY = SCHED_PRIORITY_MAX - 15
STACKSIZE = 4096
# explicit list of sources - not everything is built currently
CSRCS = ardrone_control.c ardrone_motor_control.c ardrone_control_helper.c rate_control.c attitude_control.c pid.c
CSRCS = ardrone_control.c ardrone_motor_control.c rate_control.c attitude_control.c pid.c
include $(APPDIR)/mk/app.mk

8
apps/ardrone_control/ardrone_control.c
View File

@ -62,6 +62,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/ardrone_motors_setpoint.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/actuator_controls.h>
__EXPORT int ardrone_control_main(int argc, char *argv[]);
@ -181,6 +182,8 @@ int ardrone_control_main(int argc, char *argv[])
memset(&raw, 0, sizeof(raw));
struct ardrone_motors_setpoint_s setpoint;
memset(&setpoint, 0, sizeof(setpoint));
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
/* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@ -251,9 +254,8 @@ int ardrone_control_main(int argc, char *argv[])
float roll_control, pitch_control, yaw_control, thrust_control;
multirotor_control_attitude(&att_sp, &att, &state, motor_test_mode,
&roll_control, &pitch_control, &yaw_control, &thrust_control);
ardrone_mixing_and_output(ardrone_write, roll_control, pitch_control, yaw_control, thrust_control, motor_test_mode);
multirotor_control_attitude(&att_sp, &att, &state, &actuator_controls, motor_test_mode);
ardrone_mixing_and_output(ardrone_write, &actuator_controls, motor_test_mode);
} else {
/* invalid mode, complain */

60
apps/ardrone_control/ardrone_control_helper.c
View File

@ -1,60 +0,0 @@
#include "ardrone_control_helper.h"
#include <unistd.h>
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
// int read_sensors_raw(sensors_raw_t *sensors_raw)
// {
// static int ret;
// ret = global_data_wait(&global_data_sensors_raw->access_conf_rate_full);
// if (ret == 0) {
// memcpy(sensors_raw->gyro_raw, global_data_sensors_raw->gyro_raw, sizeof(sensors_raw->gyro_raw));
// // printf("Timestamp %d\n", &global_data_sensors_raw->timestamp);
// } else {
// printf("Controller timeout, no new sensor values available\n");
// }
// global_data_unlock(&global_data_sensors_raw->access_conf_rate_full);
// return ret;
// }
// int read_attitude(global_data_attitude_t *attitude)
// {
// static int ret;
// ret = global_data_wait(&global_data_attitude->access_conf);
// if (ret == 0) {
// memcpy(&attitude->roll, &global_data_attitude->roll, sizeof(global_data_attitude->roll));
// memcpy(&attitude->pitch, &global_data_attitude->pitch, sizeof(global_data_attitude->pitch));
// memcpy(&attitude->yaw, &global_data_attitude->yaw, sizeof(global_data_attitude->yaw));
// memcpy(&attitude->rollspeed, &global_data_attitude->rollspeed, sizeof(global_data_attitude->rollspeed));
// memcpy(&attitude->pitchspeed, &global_data_attitude->pitchspeed, sizeof(global_data_attitude->pitchspeed));
// memcpy(&attitude->yawspeed, &global_data_attitude->yawspeed, sizeof(global_data_attitude->yawspeed));
// } else {
// printf("Controller timeout, no new attitude values available\n");
// }
// global_data_unlock(&global_data_attitude->access_conf);
// return ret;
// }
// void read_quad_motors_setpoint(quad_motors_setpoint_t *rate_setpoint)
// {
// if (0 == global_data_trylock(&global_data_quad_motors_setpoint->access_conf)) { //TODO: check if trylock is the right choice, maybe only lock?
// rate_setpoint->motor_front_nw = global_data_quad_motors_setpoint->motor_front_nw;
// rate_setpoint->motor_right_ne = global_data_quad_motors_setpoint->motor_right_ne;
// rate_setpoint->motor_back_se = global_data_quad_motors_setpoint->motor_back_se;
// rate_setpoint->motor_left_sw = global_data_quad_motors_setpoint->motor_left_sw;
// global_data_unlock(&global_data_quad_motors_setpoint->access_conf);
// }
// }

21
apps/ardrone_control/ardrone_control_helper.h
View File

@ -1,21 +0,0 @@
/*
* ardrone_control_helper.h
*
* Created on: May 15, 2012
* Author: thomasgubler
*/
#ifndef ARDRONE_CONTROL_HELPER_H_
#define ARDRONE_CONTROL_HELPER_H_
#include <stdint.h>
// typedef struct {
// int16_t gyro_raw[3]; // l3gd20
// } sensors_raw_t;
// /* Copy quad_motors_setpoint values from global memory to private variables */ //TODO: change this once the new mavlink message for rates is available
// void read_quad_motors_setpoint(quad_motors_setpoint_t *rate_setpoint);
#endif /* ARDRONE_CONTROL_HELPER_H_ */

20
apps/ardrone_control/attitude_control.c
View File

@ -56,8 +56,9 @@
#define MAX_MOTOR_COUNT 16
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, const struct vehicle_status_s *status,
bool verbose, float* roll_output, float* pitch_output, float* yaw_output, float* thrust_output)
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, const struct vehicle_status_s *status,
struct actuator_controls_s *actuators, bool verbose)
{
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
@ -218,13 +219,18 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
roll_controller.saturated = 1;
}
*roll_output = roll_control;
*pitch_output = pitch_control;
*yaw_output = yaw_rate_control;
*thrust_output = motor_thrust;
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
actuators->control[2] = yaw_rate_control;
actuators->control[3] = motor_thrust;
}
void ardrone_mixing_and_output(int ardrone_write, float roll_control, float pitch_control, float yaw_control, float motor_thrust, bool verbose) {
void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose) {
float roll_control = actuators->control[0];
float pitch_control = actuators->control[1];
float yaw_control = actuators->control[2];
float motor_thrust = actuators->control[3];
unsigned int motor_skip_counter = 0;

6
apps/ardrone_control/attitude_control.h
View File

@ -51,11 +51,11 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/ardrone_control.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
const struct vehicle_status_s *status, bool verbose,
float* roll_output, float* pitch_output, float* yaw_output, float* thrust_output);
const struct vehicle_status_s *status, struct actuator_controls_s *actuators, bool verbose);
void ardrone_mixing_and_output(int ardrone_write, float roll_control, float pitch_control, float yaw_control, float motor_thrust, bool verbose);
void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose);
#endif /* ATTITUDE_CONTROL_H_ */

1
apps/ardrone_control/rate_control.c
View File

@ -39,7 +39,6 @@
*/
#include "rate_control.h"
#include "ardrone_control_helper.h"
#include "ardrone_motor_control.h"
#include <arch/board/up_hrt.h>

7
apps/multirotor_position_control/Makefile → apps/ardrone_interface/Makefile
View File

@ -32,14 +32,11 @@
############################################################################
#
# Makefile to build uORB
# Makefile to build ardrone interface
#
APPNAME = ardrone_control
APPNAME = ardrone_interface
PRIORITY = SCHED_PRIORITY_MAX - 15
STACKSIZE = 2048
# explicit list of sources - not everything is built currently
CSRCS = ardrone_control.c ardrone_motor_control.c ardrone_control_helper.c rate_control.c attitude_control.c pid.c
include $(APPDIR)/mk/app.mk

249
apps/multirotor_position_control/ardrone_control.c → apps/ardrone_interface/ardrone_interface.c
View File

@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -32,8 +32,9 @@
*
****************************************************************************/
/*
* @file Implementation of AR.Drone 1.0 / 2.0 control interface
/**
* @file ardrone_interface.c
* Implementation of AR.Drone 1.0 / 2.0 motor control interface.
*/
#include <nuttx/config.h>
@ -42,6 +43,7 @@
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <math.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
@ -49,93 +51,112 @@
#include <time.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include "ardrone_control.h"
#include "attitude_control.h"
#include "rate_control.h"
#include "ardrone_motor_control.h"
#include "position_control.h"
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/ardrone_control.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/ardrone_motors_setpoint.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/actuator_controls.h>
#include "ardrone_control_helper.h"
#include "ardrone_motor_control.h"
__EXPORT int ardrone_control_main(int argc, char *argv[]);
/****************************************************************************
* Internal Definitions
****************************************************************************/
__EXPORT int ardrone_interface_main(int argc, char *argv[]);
enum {
CONTROL_MODE_RATES = 0,
CONTROL_MODE_ATTITUDE = 1,
} control_mode;
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int ardrone_interface_task; /**< Handle of deamon task / thread */
/****************************************************************************
* Private Data
****************************************************************************/
/**
* Mainloop of ardrone_interface.
*/
int ardrone_interface_thread_main(int argc, char *argv[]);
/*File descriptors */
int ardrone_write;
int gpios;
/**
* Print the correct usage.
*/
static void usage(const char *reason);
bool position_control_thread_started;
/****************************************************************************
* pthread loops
****************************************************************************/
static void *position_control_loop(void *arg)
static void
usage(const char *reason)
{
struct vehicle_status_s *state = (struct vehicle_status_s *)arg;
// Set thread name
prctl(PR_SET_NAME, "ardrone pos ctrl", getpid());
while (1) {
if (state->state_machine == SYSTEM_STATE_AUTO) {
// control_position(); //FIXME TODO XXX
/* temporary 50 Hz execution */
usleep(20000);
} else {
position_control_thread_started = false;
break;
}
}
return NULL;
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n");
exit(1);
}
/****************************************************************************
* main
****************************************************************************/
/**
* 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 ardrone_interface_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
int ardrone_control_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("ardrone_interface already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
ardrone_interface_task = task_create("ardrone_interface", SCHED_PRIORITY_MAX - 15, 4096, ardrone_interface_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("\tardrone_interface is running\n");
} else {
printf("\tardrone_interface not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int ardrone_interface_thread_main(int argc, char *argv[])
{
/* welcome user */
printf("[ardrone_control] Control started, taking over motors\n");
printf("[ardrone_interface] Control started, taking over motors\n");
/* default values for arguments */
char *ardrone_uart_name = "/dev/ttyS1";
control_mode = CONTROL_MODE_ATTITUDE;
char *commandline_usage = "\tusage: ardrone_control -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n";
/* File descriptors */
int ardrone_write;
int gpios;
enum {
CONTROL_MODE_RATES = 0,
CONTROL_MODE_ATTITUDE = 1,
} control_mode = CONTROL_MODE_ATTITUDE;
char *commandline_usage = "\tusage: ardrone_interface -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n";
bool motor_test_mode = false;
/* read commandline arguments */
int i;
for (i = 1; i < argc; i++) {
for (int i = 1; i < argc; i++) {
if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set
if (argc > i + 1) {
ardrone_uart_name = argv[i + 1];
} else {
printf(commandline_usage);
return 0;
return ERROR;
}
} else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
@ -148,93 +169,60 @@ int ardrone_control_main(int argc, char *argv[])
} else {
printf(commandline_usage);
return 0;
return ERROR;
}
} else {
printf(commandline_usage);
return 0;
return ERROR;
}
} else if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) {
motor_test_mode = true;
}
}
/* open uarts */
printf("[ardrone_control] AR.Drone UART is %s\n", ardrone_uart_name);
printf("[ardrone_interface] AR.Drone UART is %s\n", ardrone_uart_name);
ardrone_write = open(ardrone_uart_name, O_RDWR | O_NOCTTY | O_NDELAY);
if (ardrone_write < 0) {
printf("[ardrone_control] Failed opening AR.Drone UART, exiting.\n");
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
exit(ERROR);
}
/* initialize motors */
ar_init_motors(ardrone_write, &gpios);
int counter = 0;
if (OK != ar_init_motors(ardrone_write, &gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
exit(ERROR);
}
/* Led animation */
int counter = 0;
int led_counter = 0;
/* pthread for position control */
pthread_t position_control_thread;
position_control_thread_started = false;
/* structures */
/* declare and safely initialize all structs */
struct vehicle_status_s state;
struct vehicle_attitude_s att;
struct ardrone_control_s ar_control;
struct manual_control_setpoint_s manual;
struct sensor_combined_s raw;
struct ardrone_motors_setpoint_s setpoint;
memset(&state, 0, sizeof(state));
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
/* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
/* publish AR.Drone motor control state */
int ardrone_pub = orb_advertise(ORB_ID(ardrone_control), &ar_control);
while (!thread_should_exit) {
while (1) {
/* get a local copy of the vehicle state */
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 */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
if (state.state_machine == SYSTEM_STATE_AUTO) {
if (false == position_control_thread_started) {
pthread_attr_t position_control_thread_attr;
pthread_attr_init(&position_control_thread_attr);
pthread_attr_setstacksize(&position_control_thread_attr, 2048);
pthread_create(&position_control_thread, &position_control_thread_attr, position_control_loop, &state);
position_control_thread_started = true;
}
control_attitude(0, 0, 0, 0, &att, &state, ardrone_pub, &ar_control);
//No check for remote sticks to disarm in auto mode, land/disarm with ground station
} else if (state.state_machine == SYSTEM_STATE_MANUAL) {
if (control_mode == CONTROL_MODE_RATES) {
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
orb_copy(ORB_ID(ardrone_motors_setpoint), setpoint_sub, &setpoint);
control_rates(&raw, &setpoint);
} else if (control_mode == CONTROL_MODE_ATTITUDE) {
// XXX Add failsafe logic for RC loss situations
/* hardcore, last-resort safety checking */
//if (status->rc_signal_lost) {
control_attitude(manual.roll, manual.pitch, manual.yaw,
manual.throttle, &att, &state, ardrone_pub, &ar_control);
}
} else {
}
/* get a local copy of the actuator controls */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
// if ..
ardrone_mixing_and_output(ardrone_write, &actuator_controls, motor_test_mode);
// } else {
// /* Silently lock down motor speeds to zero */
// ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
// }
if (counter % 30 == 0) {
if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0);
@ -266,8 +254,8 @@ int ardrone_control_main(int argc, char *argv[])
if (led_counter == 12) led_counter = 0;
}
/* run at approximately 200 Hz */
usleep(5000);
/* run at approximately 50 Hz */
usleep(20000);
// This is a hardcore debug code piece to validate
// the motor interface
@ -283,8 +271,11 @@ int ardrone_control_main(int argc, char *argv[])
close(ardrone_write);
ar_multiplexing_deinit(gpios);
printf("[ardrone_control] ending now...\r\n");
printf("[ardrone_interface] ending now...\n\n");
fflush(stdout);
return 0;
thread_running = false;
return OK;
}

162
apps/multirotor_position_control/ardrone_motor_control.c → apps/ardrone_interface/ardrone_motor_control.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
@ -32,12 +32,17 @@
*
****************************************************************************/
/*
/**
* @file ardrone_motor_control.c
* Implementation of AR.Drone 1.0 / 2.0 motor control interface
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_gpio.h>
#include <arch/board/up_hrt.h>
#include "ardrone_motor_control.h"
@ -182,7 +187,7 @@ int ar_select_motor(int fd, uint8_t motor)
return ret;
}
void ar_init_motors(int ardrone_uart, int *gpios_pin)
int ar_init_motors(int ardrone_uart, int *gpios_pin)
{
/* Initialize multiplexing */
*gpios_pin = ar_multiplexing_init();
@ -255,9 +260,10 @@ void ar_init_motors(int ardrone_uart, int *gpios_pin)
errcounter += ar_select_motor(*gpios_pin, 0);
if (errcounter != 0) {
printf("AR: init sequence incomplete, failed %d times", -errcounter);
fprintf(stderr, "[ar motors] init sequence incomplete, failed %d times", -errcounter);
fflush(stdout);
}
return errcounter;
}
/*
@ -279,3 +285,149 @@ void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t
leds[1] = ((led4_green & 0x01) << 4) | ((led3_green & 0x01) << 3) | ((led2_green & 0x01) << 2) | ((led1_green & 0x01) << 1);
write(ardrone_uart, leds, 2);
}
int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4) {
const unsigned int min_motor_interval = 20000;
static uint64_t last_motor_time = 0;
if (hrt_absolute_time() - last_motor_time > min_motor_interval) {
uint8_t buf[5] = {0};
ar_get_motor_packet(buf, motor1, motor2, motor3, motor4);
int ret;
if ((ret = write(ardrone_fd, buf, sizeof(buf))) > 0) {
return OK;
} else {
return ret;
}
} else {
return -ERROR;
}
}
void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose) {
float roll_control = actuators->control[0];
float pitch_control = actuators->control[1];
float yaw_control = actuators->control[2];
float motor_thrust = actuators->control[3];
unsigned int motor_skip_counter = 0;
const float min_thrust = 0.02f; /**< 2% minimum thrust */
const float max_thrust = 1.0f; /**< 100% max thrust */
const float scaling = 512.0f; /**< 100% thrust equals a value of 512 */
const float min_gas = min_thrust * scaling; /**< value range sent to motors, minimum */
const float max_gas = max_thrust * scaling; /**< value range sent to motors, maximum */
/* initialize all fields to zero */
uint16_t motor_pwm[4] = {0};
float motor_calc[4] = {0};
float output_band = 0.0f;
float band_factor = 0.75f;
const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */
float yaw_factor = 1.0f;
if (motor_thrust <= min_thrust) {
motor_thrust = min_thrust;
output_band = 0.0f;
} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
output_band = band_factor * (motor_thrust - min_thrust);
} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
output_band = band_factor * startpoint_full_control;
} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
output_band = band_factor * (max_thrust - motor_thrust);
}
if (verbose && motor_skip_counter % 100 == 0) {
printf("1: mot1: %3.1f band: %3.1f r: %3.1f n: %3.1f y: %3.1f\n", (double)motor_thrust, (double)output_band, (double)roll_control, (double)pitch_control, (double)yaw_control);
}
//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer
// FRONT (MOTOR 1)
motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control);
// RIGHT (MOTOR 2)
motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control);
// BACK (MOTOR 3)
motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control);
// LEFT (MOTOR 4)
motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control);
// if we are not in the output band
if (!(motor_calc[0] < motor_thrust + output_band && motor_calc[0] > motor_thrust - output_band
&& motor_calc[1] < motor_thrust + output_band && motor_calc[1] > motor_thrust - output_band
&& motor_calc[2] < motor_thrust + output_band && motor_calc[2] > motor_thrust - output_band
&& motor_calc[3] < motor_thrust + output_band && motor_calc[3] > motor_thrust - output_band)) {
yaw_factor = 0.5f;
// FRONT (MOTOR 1)
motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control * yaw_factor);
// RIGHT (MOTOR 2)
motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control * yaw_factor);
// BACK (MOTOR 3)
motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control * yaw_factor);
// LEFT (MOTOR 4)
motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control * yaw_factor);
}
if (verbose && motor_skip_counter % 100 == 0) {
printf("2: m1: %3.1f m2: %3.1f m3: %3.1f m4: %3.1f\n", (double)motor_calc[0], (double)motor_calc[1], (double)motor_calc[2], (double)motor_calc[3]);
}
for (int i = 0; i < 4; i++) {
//check for limits
if (motor_calc[i] < motor_thrust - output_band) {
motor_calc[i] = motor_thrust - output_band;
}
if (motor_calc[i] > motor_thrust + output_band) {
motor_calc[i] = motor_thrust + output_band;
}
}
if (verbose && motor_skip_counter % 100 == 0) {
printf("3: band lim: m1: %3.1f m2: %3.1f m3: %3.1f m4: %3.1f\n", (double)motor_calc[0], (double)motor_calc[1], (double)motor_calc[2], (double)motor_calc[3]);
}
/* set the motor values */
/* scale up from 0..1 to 10..512) */
motor_pwm[0] = (uint16_t) (motor_calc[0] * ((float)max_gas - min_gas) + min_gas);
motor_pwm[1] = (uint16_t) (motor_calc[1] * ((float)max_gas - min_gas) + min_gas);
motor_pwm[2] = (uint16_t) (motor_calc[2] * ((float)max_gas - min_gas) + min_gas);
motor_pwm[3] = (uint16_t) (motor_calc[3] * ((float)max_gas - min_gas) + min_gas);
if (verbose && motor_skip_counter % 100 == 0) {
printf("4: scaled: m1: %d m2: %d m3: %d m4: %d\n", motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]);
}
/* Keep motors spinning while armed and prevent overflows */
/* Failsafe logic - should never be necessary */
motor_pwm[0] = (motor_pwm[0] > 0) ? motor_pwm[0] : 10;
motor_pwm[1] = (motor_pwm[1] > 0) ? motor_pwm[1] : 10;
motor_pwm[2] = (motor_pwm[2] > 0) ? motor_pwm[2] : 10;
motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : 10;
/* Failsafe logic - should never be necessary */
motor_pwm[0] = (motor_pwm[0] <= 512) ? motor_pwm[0] : 512;
motor_pwm[1] = (motor_pwm[1] <= 512) ? motor_pwm[1] : 512;
motor_pwm[2] = (motor_pwm[2] <= 512) ? motor_pwm[2] : 512;
motor_pwm[3] = (motor_pwm[3] <= 512) ? motor_pwm[3] : 512;
/* send motors via UART */
if (verbose && motor_skip_counter % 100 == 0) printf("5: mot: %3.1f-%i-%i-%i-%i\n\n", (double)motor_thrust, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]);
ardrone_write_motor_commands(ardrone_write, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]);
motor_skip_counter++;
}

46
apps/multirotor_position_control/ardrone_motor_control.h → apps/ardrone_interface/ardrone_motor_control.h
View File

@ -1,7 +1,6 @@
/****************************************************************************
* px4/ardrone_offboard_control.h
*
* Copyright (C) 2012 PX4 Autopilot Project. All rights reserved.
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
@ -14,7 +13,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 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.
*
@ -32,22 +31,25 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <nuttx/config.h>
#include <pthread.h>
#include <poll.h>
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_gpio.h>
/**
* @brief Generate the 8-byte motor set packet
* @file ardrone_motor_control.h
* Definition of AR.Drone 1.0 / 2.0 motor control interface
*/
#include <uORB/uORB.h>
#include <uORB/topics/actuator_controls.h>
/**
* Generate the 5-byte motor set packet.
*
* @return the number of bytes (8)
* @return the number of bytes (5)
*/
void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4);
/**
* Select a motor in the multiplexing.
*/
int ar_select_motor(int fd, uint8_t motor);
void ar_enable_broadcast(int fd);
@ -55,7 +57,23 @@ void ar_enable_broadcast(int fd);
int ar_multiplexing_init(void);
int ar_multiplexing_deinit(int fd);
void ar_init_motors(int ardrone_uart, int *gpios_uart);
/**
* Write four motor commands to an already initialized port.
*
* Writing 0 stops a motor, values from 1-512 encode the full thrust range.
* on some motor controller firmware revisions a minimum value of 10 is
* required to spin the motors.
*/
int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4);
/**
* Initialize the motors.
*/
int ar_init_motors(int ardrone_uart, int *gpios_pin);
/**
* Set LED pattern.
*/
void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green);
void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose);

42
apps/examples/px4_deamon_app/Makefile Normal file
View File

@ -0,0 +1,42 @@
############################################################################
#
# 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.
#
############################################################################
#
# Basic example application
#
APPNAME = px4_deamon_app
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk

130
apps/examples/px4_deamon_app/px4_deamon_app.c Normal file
View File

@ -0,0 +1,130 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Example User <mail@example.com>
*
* 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 px4_deamon_app.c
* Deamon application example for PX4 autopilot
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
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 */
/**
* Deamon management function.
*/
__EXPORT int px4_deamon_app_main(int argc, char *argv[]);
/**
* Mainloop of deamon.
*/
int px4_deamon_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
int px4_deamon_thread_main(int argc, char *argv[]) {
printf("[deamon] starting\n");
while (true) {
printf("Hello Deamon!\n");
sleep(10);
if (thread_should_exit) break;
}
printf("[deamon] exiting.\n");
return 0;
}
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\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 px4_deamon_app_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("deamon already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_create("deamon", SCHED_PRIORITY_DEFAULT, 4096, px4_deamon_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("\tdeamon app is running\n");
} else {
printf("\tdeamon app not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}

59
apps/mavlink/mavlink.c
View File

@ -130,6 +130,7 @@ static int pub_hil_global_pos = -1;
static int ardrone_motors_pub = -1;
static int cmd_pub = -1;
static int sensor_sub = -1;
static int att_sub = -1;
static int global_pos_sub = -1;
static int local_pos_sub = -1;
static int flow_pub = -1;
@ -412,31 +413,40 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t
*/
static void *receiveloop(void *arg)
{
int uart_fd = *((int*)arg);
const int timeout = 1000;
uint8_t ch;
mavlink_message_t msg;
prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
while (1) {
while (!thread_should_exit) {
if (mavlink_exit_requested) break;
/* blocking read on next byte */
int nread = read(uart, &ch, 1);
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
if (poll(fds, 1, timeout) > 0) {
/* non-blocking read until buffer is empty */
int nread = 0;
if (nread > 0 && mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
/* handle generic messages and commands */
handleMessage(&msg);
do {
nread = read(uart_fd, &ch, 1);
/* Handle packet with waypoint component */
mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
/* handle generic messages and commands */
handleMessage(&msg);
/* Handle packet with parameter component */
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
/* Handle packet with waypoint component */
mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
/* Handle packet with parameter component */
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
}
} while (nread > 0);
}
}
return NULL;
@ -455,6 +465,10 @@ static int set_mavlink_interval_limit(int mavlink_msg_id, int min_interval)
/* senser sub triggers RAW IMU */
orb_set_interval(sensor_sub, min_interval);
break;
case MAVLINK_MSG_ID_ATTITUDE:
/* attitude sub triggers attitude */
orb_set_interval(att_sub, 100);
break;
default:
/* not found */
ret = ERROR;
@ -499,15 +513,13 @@ static void *uorb_receiveloop(void *arg)
/* --- SENSORS RAW VALUE --- */
/* subscribe to ORB for sensors raw */
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
orb_set_interval(sensor_sub, 100); /* 10Hz updates */
fds[fdsc_count].fd = sensor_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE VALUE --- */
/* subscribe to ORB for attitude */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
orb_set_interval(att_sub, 100); /* 10Hz updates */
att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
fds[fdsc_count].fd = att_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@ -611,9 +623,9 @@ static void *uorb_receiveloop(void *arg)
* set up poll to block for new data,
* wait for a maximum of 1000 ms (1 second)
*/
const int timeout = 5000;
const int timeout = 1000;
while (1) {
while (!thread_should_exit) {
if (mavlink_exit_requested) break;
int poll_ret = poll(fds, fdsc_count, timeout);
@ -1271,7 +1283,7 @@ int mavlink_thread_main(int argc, char *argv[])
if (uart < 0) {
printf("[mavlink] FAILED to open %s, terminating.\n", uart_name);
return -1;
return ERROR;
}
/* Flush UART */
@ -1289,7 +1301,7 @@ int mavlink_thread_main(int argc, char *argv[])
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
pthread_attr_setstacksize(&receiveloop_attr, 2048);
pthread_create(&receive_thread, &receiveloop_attr, receiveloop, NULL);
pthread_create(&receive_thread, &receiveloop_attr, receiveloop, &uart);
pthread_attr_t uorb_attr;
pthread_attr_init(&uorb_attr);
@ -1305,23 +1317,28 @@ int mavlink_thread_main(int argc, char *argv[])
/* all subscriptions are now active, set up initial guess about rate limits */
if (baudrate >= 921600) {
/* 1000 Hz / 1 ms */
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 1);
/* set no limit */
/* 500 Hz / 2 ms */
//set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 2);
} else if (baudrate >= 460800) {
/* 250 Hz / 4 ms */
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 4);
set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 4);
} else if (baudrate >= 115200) {
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 20);
set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 20);
} else if (baudrate >= 57600) {
/* 10 Hz / 100 ms */
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 100);
set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 100);
} else {
/* very low baud rate, limit to 1 Hz / 1000 ms */
set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 1000);
set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 1000);
}
while (1) {
while (!thread_should_exit) {
if (mavlink_exit_requested) break;

5
apps/multirotor_control/Makefile → apps/multirotor_att_control/Makefile
View File

@ -35,11 +35,8 @@
# Makefile to build uORB
#
APPNAME = multirotor_control
APPNAME = multirotor_att_control
PRIORITY = SCHED_PRIORITY_MAX - 15
STACKSIZE = 2048
# explicit list of sources - not everything is built currently
CSRCS = multirotor_control.c multirotor_attitude_control.c pid.c
include $(APPDIR)/mk/app.mk

109
apps/multirotor_control/multirotor_control.c → apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,9 +33,9 @@
****************************************************************************/
/*
* @file multirotor_control.c
* @file multirotor_att_control_main.c
*
* Implementation of multirotor controllers
* Implementation of multirotor attitude control main loop.
*/
#include <nuttx/config.h>
@ -49,20 +49,25 @@
#include <debug.h>
#include <getopt.h>
#include <time.h>
#include <math.h>
#include <poll.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include "multirotor_control.h"
#include "multirotor_attitude_control.h"
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/ardrone_control.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/ardrone_motors_setpoint.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/rc_channels.h>
#include <systemlib/perf_counter.h>
__EXPORT int multirotor_control_main(int argc, char *argv[]);
#include "multirotor_attitude_control.h"
__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
static enum {
@ -77,17 +82,35 @@ static int mc_task;
static int
mc_thread_main(int argc, char *argv[])
{
bool motor_test_mode = false;
/* structures */
/* declare and safely initialize all structs */
struct vehicle_status_s state;
memset(&state, 0, sizeof(state));
struct vehicle_attitude_s att;
struct rc_channels_s rc;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
struct ardrone_motors_setpoint_s setpoint;
memset(&setpoint, 0, sizeof(setpoint));
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
struct actuator_controls_s actuators;
struct actuator_armed_s armed;
/* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int rc_sub = orb_subscribe(ORB_ID(rc_channels));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
// int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
/* rate-limit the attitude subscription to 200Hz to pace our loop */
orb_set_interval(att_sub, 5);
@ -101,29 +124,55 @@ mc_thread_main(int argc, char *argv[])
int armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
/* register the perf counter */
perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_control");
perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control");
/* welcome user */
printf("[multirotor_control] starting\n");
printf("[multirotor_att_control] starting\n");
while (!thread_should_exit) {
/* wait for a sensor update */
poll(&fds, 1, -1);
/* wait for a sensor update, check for exit condition every 500 ms */
poll(&fds, 1, 500);
perf_begin(mc_loop_perf);
/* get a local copy of the vehicle state */
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
/* get a local copy of rc inputs */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
/* get a local copy of manual setpoint */
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
/* get a local copy of attitude setpoint */
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
/* run the attitude controller */
multirotor_control_attitude(&rc, &att, &state, &actuators);
att_sp.roll_body = -manual.roll * M_PI_F / 8.0f;
att_sp.pitch_body = -manual.pitch * M_PI_F / 8.0f;
att_sp.yaw_body = -manual.yaw * M_PI_F;
if (motor_test_mode) {
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = 0.3f;
} else {
if (state.state_machine == SYSTEM_STATE_MANUAL ||
state.state_machine == SYSTEM_STATE_GROUND_READY ||
state.state_machine == SYSTEM_STATE_STABILIZED ||
state.state_machine == SYSTEM_STATE_AUTO ||
state.state_machine == SYSTEM_STATE_MISSION_ABORT ||
state.state_machine == SYSTEM_STATE_EMCY_LANDING) {
att_sp.thrust = manual.throttle;
} else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) {
/* immediately cut off motors */
att_sp.thrust = 0.0f;
} else {
/* limit motor throttle to zero for an unknown mode */
att_sp.thrust = 0.0f;
}
}
multirotor_control_attitude(&att_sp, &att, &state, &actuator_controls, motor_test_mode);
//ardrone_mixing_and_output(ardrone_write, &actuator_controls, motor_test_mode);
/* publish the result */
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
@ -131,7 +180,7 @@ mc_thread_main(int argc, char *argv[])
perf_end(mc_loop_perf);
}
printf("[multirotor_control] stopping\r\n");
printf("[multirotor att control] stopping.\n");
/* kill all outputs */
armed.armed = false;
@ -143,7 +192,7 @@ mc_thread_main(int argc, char *argv[])
close(att_sub);
close(state_sub);
close(rc_sub);
close(manual_sub);
close(actuator_pub);
close(armed_pub);
@ -159,16 +208,17 @@ usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: multirotor_control [-m <mode>] {start|stop}\n");
fprintf(stderr, "usage: multirotor_att_control [-m <mode>] {start|stop}\n");
fprintf(stderr, " <mode> is 'rates' or 'attitude'\n");
exit(1);
}
int multirotor_control_main(int argc, char *argv[])
int multirotor_att_control_main(int argc, char *argv[])
{
int ch;
control_mode = CONTROL_MODE_RATES;
unsigned int optioncount = 0;
while ((ch = getopt(argc, argv, "m:")) != EOF) {
switch (ch) {
@ -180,12 +230,13 @@ int multirotor_control_main(int argc, char *argv[])
} else {
usage("unrecognized -m value");
}
optioncount += 2;
default:
usage("unrecognized option");
}
}
argc -= optind;
argv += optind;
argc -= optioncount;
argv += optioncount;
if (argc < 1)
usage("missing command");
@ -193,7 +244,7 @@ int multirotor_control_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
thread_should_exit = false;
mc_task = task_create("multirotor_attitude", SCHED_PRIORITY_MAX - 15, 2048, mc_thread_main, NULL);
mc_task = task_create("multirotor_att_control", SCHED_PRIORITY_MAX - 15, 2048, mc_thread_main, NULL);
exit(0);
}
@ -202,6 +253,6 @@ int multirotor_control_main(int argc, char *argv[])
exit(0);
}
usage("unrecognised command");
usage("unrecognized command");
exit(1);
}

223
apps/multirotor_att_control/multirotor_attitude_control.c Normal file
View File

@ -0,0 +1,223 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
* @author Lorenz Meier <lm@inf.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 multirotor_attitude_control.c
* Implementation of attitude controller
*/
#include "multirotor_attitude_control.h"
#include <stdio.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <float.h>
#include <math.h>
#include <systemlib/pid/pid.h>
#include <arch/board/up_hrt.h>
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, const struct vehicle_status_s *status,
struct actuator_controls_s *actuators, bool verbose)
{
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
static int motor_skip_counter = 0;
static PID_t yaw_pos_controller;
static PID_t yaw_speed_controller;
static PID_t pitch_controller;
static PID_t roll_controller;
static float pid_yawpos_lim;
static float pid_yawspeed_lim;
static float pid_att_lim;
static bool initialized = false;
/* initialize the pid controllers when the function is called for the first time */
if (initialized == false) {
pid_init(&yaw_pos_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU],
PID_MODE_DERIVATIV_CALC, 154);
pid_init(&yaw_speed_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU],
PID_MODE_DERIVATIV_CALC, 155);
pid_init(&pitch_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
PID_MODE_DERIVATIV_SET, 156);
pid_init(&roll_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
PID_MODE_DERIVATIV_SET, 157);
pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
pid_yawspeed_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
pid_att_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
initialized = true;
}
/* load new parameters with lower rate */
if (motor_skip_counter % 50 == 0) {
pid_set_parameters(&yaw_pos_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU]);
pid_set_parameters(&yaw_speed_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU]);
pid_set_parameters(&pitch_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
pid_set_parameters(&roll_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
pid_yawspeed_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
pid_att_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
}
/*Calculate Controllers*/
//control Nick
float pitch_control = pid_calculate(&pitch_controller, att_sp->pitch_body + global_data_parameter_storage->pm.param_values[PARAM_ATT_YOFFSET],
att->pitch, att->pitchspeed, deltaT);
//control Roll
float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + global_data_parameter_storage->pm.param_values[PARAM_ATT_XOFFSET],
att->roll, att->rollspeed, deltaT);
//control Yaw Speed
float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT); //attitude_setpoint_bodyframe.z is yaw speed!
/*
* compensate the vertical loss of thrust
* when thrust plane has an angle.
* start with a factor of 1.0 (no change)
*/
float zcompensation = 1.0f;
if (fabsf(att->roll) > 1.0f) {
zcompensation *= 1.85081571768f;
} else {
zcompensation *= 1.0f / cosf(att->roll);
}
if (fabsf(att->pitch) > 1.0f) {
zcompensation *= 1.85081571768f;
} else {
zcompensation *= 1.0f / cosf(att->pitch);
}
float motor_thrust = 0.0f;
// FLYING MODES
motor_thrust = att_sp->thrust;
//printf("mot0: %3.1f\n", motor_thrust);
/* compensate thrust vector for roll / pitch contributions */
motor_thrust *= zcompensation;
/* limit yaw rate output */
if (yaw_rate_control > pid_yawspeed_lim) {
yaw_rate_control = pid_yawspeed_lim;
yaw_speed_controller.saturated = 1;
}
if (yaw_rate_control < -pid_yawspeed_lim) {
yaw_rate_control = -pid_yawspeed_lim;
yaw_speed_controller.saturated = 1;
}
if (pitch_control > pid_att_lim) {
pitch_control = pid_att_lim;
pitch_controller.saturated = 1;
}
if (pitch_control < -pid_att_lim) {
pitch_control = -pid_att_lim;
pitch_controller.saturated = 1;
}
if (roll_control > pid_att_lim) {
roll_control = pid_att_lim;
roll_controller.saturated = 1;
}
if (roll_control < -pid_att_lim) {
roll_control = -pid_att_lim;
roll_controller.saturated = 1;
}
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
actuators->control[2] = yaw_rate_control;
actuators->control[3] = motor_thrust;
}

28
apps/multirotor_control/multirotor_attitude_control.h → apps/multirotor_att_control/multirotor_attitude_control.h
View File

@ -1,9 +1,12 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -34,22 +37,25 @@
*
****************************************************************************/
/**
/*
* @file multirotor_attitude_control.h
*
* attitude control for multirotors
* Attitude control for multi rotors.
*/
#ifndef ATTITUDE_CONTROL_H_
#define ATTITUDE_CONTROL_H_
#ifndef MULTIROTOR_ATTITUDE_CONTROL_H_
#define MULTIROTOR_ATTITUDE_CONTROL_H_
#include <uORB/uORB.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/ardrone_control.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
void multirotor_control_attitude(const struct rc_channels_s *rc, const struct vehicle_attitude_s *att,
const struct vehicle_status_s *status, struct actuator_controls_s *actuators);
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
const struct vehicle_status_s *status, struct actuator_controls_s *actuators, bool verbose);
#endif /* ATTITUDE_CONTROL_H_ */
void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose);
#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */

457
apps/multirotor_control/multirotor_attitude_control.c
View File

@ -1,457 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Laurens Mackay <mackayl@student.ethz.ch>
* Tobias Naegeli <naegelit@student.ethz.ch>
* Martin Rutschmann <rutmarti@student.ethz.ch>
* Lorenz Meier <lm@inf.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 multirotor_attitude_control.c
*
* Implementation of multirotor attitude controller.
*/
#include "multirotor_attitude_control.h"
#include <stdio.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <px4/attitude_estimator_bm/matrix.h> //TODO: move matrix.h to somewhere else?
#include <float.h>
#include <math.h>
#include "pid.h"
#include <arch/board/up_hrt.h>
extern int multirotor_write;
extern int gpios;
#define CONTROL_PID_ATTITUDE_INTERVAL 5e-3
void turn_xy_plane(const float_vect3 *vector, float yaw,
float_vect3 *result)
{
//turn clockwise
static uint16_t counter;
result->x = (cosf(yaw) * vector->x + sinf(yaw) * vector->y);
result->y = (-sinf(yaw) * vector->x + cosf(yaw) * vector->y);
result->z = vector->z; //leave direction normal to xy-plane untouched
counter++;
}
void navi2body_xy_plane(const float_vect3 *vector, const float yaw,
float_vect3 *result)
{
turn_xy_plane(vector, yaw, result);
// result->x = vector->x;
// result->y = vector->y;
// result->z = vector->z;
// result->x = cos(yaw) * vector->x + sin(yaw) * vector->y;
// result->y = -sin(yaw) * vector->x + cos(yaw) * vector->y;
// result->z = vector->z; //leave direction normal to xy-plane untouched
}
void multirotor_control_attitude(const struct rc_channels_s *rc,
const struct vehicle_attitude_s *att,
const struct vehicle_status_s *status,
struct actuator_controls_s *actuators)
{
static int motor_skip_counter = 0;
static PID_t yaw_pos_controller;
static PID_t yaw_speed_controller;
static PID_t nick_controller;
static PID_t roll_controller;
// XXXM
static const float min_gas = 1;
static const float max_gas = 512;
static uint16_t motor_pwm[4] = {0, 0, 0, 0};
static float motor_calc[4] = {0.0f, 0.0f, 0.0f, 0.0f};
// static float remote_control_weight_z = 1;
// static float position_control_weight_z = 0;
static float pid_yawpos_lim;
static float pid_yawspeed_lim;
static float pid_att_lim;
static bool initialized;
// static float_vect3 attitude_setpoint_navigationframe_from_positioncontroller;
// static hrt_abstime now_time;
// static hrt_abstime last_time;
static commander_state_machine_t current_state;
/* initialize the pid controllers when the function is called for the first time */
if (initialized == false) {
pid_init(&yaw_pos_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU],
PID_MODE_DERIVATIV_CALC, 154);
pid_init(&yaw_speed_controller,
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU],
PID_MODE_DERIVATIV_CALC, 155);
pid_init(&nick_controller,
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
PID_MODE_DERIVATIV_SET, 156);
pid_init(&roll_controller,
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
PID_MODE_DERIVATIV_SET, 157);
pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
pid_yawspeed_lim = (max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
pid_att_lim = (max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
// //TODO: true initialization? get gps while on ground?
// attitude_setpoint_navigationframe_from_positioncontroller.x = 0.0f;
// attitude_setpoint_navigationframe_from_positioncontroller.y = 0.0f;
// attitude_setpoint_navigationframe_from_positioncontroller.z = 0.0f;
// last_time = 0;
initialized = true;
}
/* load new parameters with lower rate */
if (motor_skip_counter % 50 == 0) {
pid_set_parameters(&yaw_pos_controller,
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU]);
pid_set_parameters(&yaw_speed_controller,
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU]);
pid_set_parameters(&nick_controller,
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
pid_set_parameters(&roll_controller,
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
(max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
pid_yawspeed_lim = (max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
pid_att_lim = (max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
}
current_state = status->state_machine;
float_vect3 attitude_setpoint_bodyframe = {0.0f, 0.0f, 0.0f}; //this is the setpoint in the bodyframe "mixed" together from the setpoint from the remote and the setpoint from the position controller
if (current_state == SYSTEM_STATE_AUTO) {
// attitude_setpoint_navigationframe_from_positioncontroller.x = ar_control->attitude_setpoint_navigationframe_from_positioncontroller[0];
// attitude_setpoint_navigationframe_from_positioncontroller.y = ar_control->attitude_setpoint_navigationframe_from_positioncontroller[1];
// attitude_setpoint_navigationframe_from_positioncontroller.z = ar_control->attitude_setpoint_navigationframe_from_positioncontroller[2];
// float yaw_e = att->yaw - attitude_setpoint_navigationframe_from_positioncontroller.z;
// // don't turn around the wrong side (only works if yaw angle is between +- 180 degree)
// if (yaw_e > M_PI) {
// yaw_e -= 2.0f * M_PI;
// }
// if (yaw_e < -M_PI) {
// yaw_e += 2.0f * M_PI;
// }
// attitude_setpoint_navigationframe_from_positioncontroller.z = pid_calculate(&yaw_pos_controller, 0, yaw_e, 0, CONTROL_PID_ATTITUDE_INTERVAL);
// /* limit control output */
// if (attitude_setpoint_navigationframe_from_positioncontroller.z > pid_yawpos_lim) {
// attitude_setpoint_navigationframe_from_positioncontroller.z = pid_yawpos_lim;
// yaw_pos_controller.saturated = 1;
// }
// if (attitude_setpoint_navigationframe_from_positioncontroller.z < -pid_yawpos_lim) {
// attitude_setpoint_navigationframe_from_positioncontroller.z = -pid_yawpos_lim;
// yaw_pos_controller.saturated = 1;
// }
// //transform attitude setpoint from position controller from navi to body frame on xy_plane
// float_vect3 attitude_setpoint_bodyframe_from_positioncontroller;
// navi2body_xy_plane(&attitude_setpoint_navigationframe_from_positioncontroller, att->yaw , &attitude_setpoint_bodyframe_from_positioncontroller); //yaw angle= att->yaw
// //now everything is in body frame
// //TODO: here we decide which input (position controller or ppm) we use. For now we have only the ppm, this should be decided dpending on the state machione (manula or auto) ppm should always overwrite auto (?)
// attitude_setpoint_bodyframe.x = attitude_setpoint_bodyframe_from_positioncontroller.x;
// attitude_setpoint_bodyframe.y = attitude_setpoint_bodyframe_from_positioncontroller.y;
// attitude_setpoint_bodyframe.z = attitude_setpoint_bodyframe_from_positioncontroller.z;
} else if (current_state == SYSTEM_STATE_MANUAL) {
attitude_setpoint_bodyframe.x = -((float)rc->chan[rc->function[ROLL]].scale / 10000.0f) * 3.14159265 / 8.0f;
attitude_setpoint_bodyframe.y = -((float)rc->chan[rc->function[PITCH]].scale / 10000.0f) * 3.14159265 / 8.0f;
attitude_setpoint_bodyframe.z = -((float)rc->chan[rc->function[YAW]].scale / 10000.0f) * 3.14159265;
}
/* add an attitude offset which needs to be estimated somewhere */
attitude_setpoint_bodyframe.x += global_data_parameter_storage->pm.param_values[PARAM_ATT_XOFFSET];
attitude_setpoint_bodyframe.y += global_data_parameter_storage->pm.param_values[PARAM_ATT_YOFFSET];
/*Calculate Controllers*/
//control Nick
float nick = pid_calculate(&nick_controller, attitude_setpoint_bodyframe.y, att->pitch, att->pitchspeed, CONTROL_PID_ATTITUDE_INTERVAL);
//control Roll
float roll = pid_calculate(&roll_controller, attitude_setpoint_bodyframe.x, att->roll, att->rollspeed, CONTROL_PID_ATTITUDE_INTERVAL);
//control Yaw Speed
float yaw = pid_calculate(&yaw_speed_controller, attitude_setpoint_bodyframe.z, att->yawspeed, 0, CONTROL_PID_ATTITUDE_INTERVAL); //attitude_setpoint_bodyframe.z is yaw speed!
//compensation to keep force in z-direction
float zcompensation;
if (fabs(att->roll) > 0.5f) {
zcompensation = 1.13949393f;
} else {
zcompensation = 1.0f / cosf(att->roll);
}
if (fabs(att->pitch) > 0.5f) {
zcompensation *= 1.13949393f;
} else {
zcompensation *= 1.0f / cosf(att->pitch);
}
// use global_data.position_control_output.z and mix parameter global_data.param[PARAM_MIX_POSITION_Z_WEIGHT]
// to compute thrust for Z position control
//
// float motor_thrust = min_gas +
// ( ( 1 - global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] ) * ( max_gas - min_gas ) * global_data.gas_remote * zcompensation )
// + ( global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] * ( max_gas - min_gas ) * controlled_thrust * zcompensation );
//calculate the basic thrust
float motor_thrust = 0;
// FLYING MODES
if (current_state == SYSTEM_STATE_MANUAL) {
motor_thrust = (float)rc->chan[rc->function[THROTTLE]].scale;
} else if (current_state == SYSTEM_STATE_GROUND_READY || current_state == SYSTEM_STATE_STABILIZED || current_state == SYSTEM_STATE_AUTO || current_state == SYSTEM_STATE_MISSION_ABORT) {
motor_thrust = (float)rc->chan[rc->function[THROTTLE]].scale; //TODO
} else if (current_state == SYSTEM_STATE_EMCY_LANDING) {
motor_thrust = (float)rc->chan[rc->function[THROTTLE]].scale; //TODO
} else if (current_state == SYSTEM_STATE_EMCY_CUTOFF) {
motor_thrust = 0.0f; //immediately cut off thrust!
} else {
motor_thrust = 0.0f; // Motor thrust must be zero in any other mode!
}
// Convertion to motor-step units
motor_thrust *= zcompensation;
motor_thrust *= max_gas / 20000.0f; //TODO: check this
motor_thrust += (max_gas - min_gas) / 2.f;
// XXXM
// RC channels: assumed to be -10000 to +10000
//limit control output
//yawspeed
if (yaw > pid_yawspeed_lim) {
yaw = pid_yawspeed_lim;
yaw_speed_controller.saturated = 1;
}
if (yaw < -pid_yawspeed_lim) {
yaw = -pid_yawspeed_lim;
yaw_speed_controller.saturated = 1;
}
if (nick > pid_att_lim) {
nick = pid_att_lim;
nick_controller.saturated = 1;
}
if (nick < -pid_att_lim) {
nick = -pid_att_lim;
nick_controller.saturated = 1;
}
if (roll > pid_att_lim) {
roll = pid_att_lim;
roll_controller.saturated = 1;
}
if (roll < -pid_att_lim) {
roll = -pid_att_lim;
roll_controller.saturated = 1;
}
// /* Emit controller values */
// ar_control->setpoint_thrust_cast = motor_thrust;
// ar_control->setpoint_attitude[0] = attitude_setpoint_bodyframe.x;
// ar_control->setpoint_attitude[1] = attitude_setpoint_bodyframe.y;
// ar_control->setpoint_attitude[2] = attitude_setpoint_bodyframe.z;
// ar_control->attitude_control_output[0] = roll;
// ar_control->attitude_control_output[1] = nick;
// ar_control->attitude_control_output[2] = yaw;
// ar_control->zcompensation = zcompensation;
// orb_publish(ORB_ID(multirotor_control), multirotor_pub, ar_control);
static float output_band = 0.f;
static float band_factor = 0.75f;
static float startpoint_full_control = 150.0f; //TODO
static float yaw_factor = 1.0f;
// MIXING AND THRUST LIMITING START
if (motor_thrust <= min_gas) {
motor_thrust = min_gas;
output_band = 0.f;
} else if (motor_thrust < startpoint_full_control && motor_thrust > min_gas) {
output_band = band_factor * (motor_thrust - min_gas);
} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_gas - band_factor * startpoint_full_control) {
output_band = band_factor * startpoint_full_control;
} else if (motor_thrust >= max_gas - band_factor * startpoint_full_control) {
output_band = band_factor * (max_gas - motor_thrust);
}
//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer
// FRONT (MOTOR 1)
motor_calc[0] = motor_thrust + (roll / 2 + nick / 2 - yaw);
// RIGHT (MOTOR 2)
motor_calc[1] = motor_thrust + (-roll / 2 + nick / 2 + yaw);
// BACK (MOTOR 3)
motor_calc[2] = motor_thrust + (-roll / 2 - nick / 2 - yaw);
// LEFT (MOTOR 4)
motor_calc[3] = motor_thrust + (roll / 2 - nick / 2 + yaw);
// if we are not in the output band
if (!(motor_calc[0] < motor_thrust + output_band && motor_calc[0] > motor_thrust - output_band
&& motor_calc[1] < motor_thrust + output_band && motor_calc[1] > motor_thrust - output_band
&& motor_calc[2] < motor_thrust + output_band && motor_calc[2] > motor_thrust - output_band
&& motor_calc[3] < motor_thrust + output_band && motor_calc[3] > motor_thrust - output_band)) {
yaw_factor = 0.5f;
// FRONT (MOTOR 1)
motor_calc[0] = motor_thrust + (roll / 2 + nick / 2 - yaw * yaw_factor);
// RIGHT (MOTOR 2)
motor_calc[1] = motor_thrust + (-roll / 2 + nick / 2 + yaw * yaw_factor);
// BACK (MOTOR 3)
motor_calc[2] = motor_thrust + (-roll / 2 - nick / 2 - yaw * yaw_factor);
// LEFT (MOTOR 4)
motor_calc[3] = motor_thrust + (roll / 2 - nick / 2 + yaw * yaw_factor);
}
uint8_t i;
for (i = 0; i < 4; i++) {
//check for limits
if (motor_calc[i] < motor_thrust - output_band) {
motor_calc[i] = motor_thrust - output_band;
}
if (motor_calc[i] > motor_thrust + output_band) {
motor_calc[i] = motor_thrust + output_band;
}
}
// Write out actual thrust
// XXXM
motor_pwm[0] = (uint16_t) motor_calc[0];
motor_pwm[1] = (uint16_t) motor_calc[1];
motor_pwm[2] = (uint16_t) motor_calc[2];
motor_pwm[3] = (uint16_t) motor_calc[3];
//SEND MOTOR COMMANDS
// XXXM
motor_skip_counter++;
// now_time = hrt_absolute_time() / 1000000;
// if(now_time - last_time > 0)
// {
// printf("Counter: %ld\n",control_counter);
// last_time = now_time;
// control_counter = 0;
// }
}

12
apps/multirotor_control/multirotor_control.h
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@ -1,12 +0,0 @@
/**
* @file multirotor_control.h
*
* Created on: Mar 23, 2012
* Author: thomasgubler
*/
#ifndef multirotor_CONTROL_H_
#define multirotor_CONTROL_H_
#endif /* multirotor_CONTROL_H_ */

109
apps/multirotor_control/pid.c
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@ -1,109 +0,0 @@
#include "pid.h"
#include <px4/attitude_estimator_bm/matrix.h> //TODO: move matrix.h to somewhere else?
void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
uint8_t mode, uint8_t plot_i)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
pid->mode = mode;
pid->plot_i = plot_i;
pid->count = 0;
pid->saturated = 0;
pid->sp = 0;
pid->error_previous = 0;
pid->integral = 0;
}
void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
// pid->mode = mode;
// pid->sp = 0;
// pid->error_previous = 0;
// pid->integral = 0;
}
//void pid_set(PID_t *pid, float sp)
//{
// pid->sp = sp;
// pid->error_previous = 0;
// pid->integral = 0;
//}
/**
*
* @param pid
* @param val
* @param dt
* @return
*/
float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
{
/* error = setpoint - actual_position
integral = integral + (error*dt)
derivative = (error - previous_error)/dt
output = (Kp*error) + (Ki*integral) + (Kd*derivative)
previous_error = error
wait(dt)
goto start
*/
float i, d;
pid->sp = sp;
float error = pid->sp - val;
if (pid->saturated && (pid->integral * error > 0)) {
//Output is saturated and the integral would get bigger (positive or negative)
i = pid->integral;
//Reset saturation. If we are still saturated this will be set again at output limit check.
pid->saturated = 0;
} else {
i = pid->integral + (error * dt);
}
// Anti-Windup. Needed if we don't use the saturation above.
if (pid->intmax != 0.0) {
if (i > pid->intmax) {
pid->integral = pid->intmax;
} else if (i < -pid->intmax) {
pid->integral = -pid->intmax;
} else {
pid->integral = i;
}
//Send Controller integrals
// Disabled because of new possibilities with debug_vect.
// Now sent in Main Loop at 5 Hz. 26.06.2010 Laurens
// if (pid->plot_i && (pid->count++ % 16 == 0)&&(global_data.param[PARAM_SEND_SLOT_DEBUG_2] == 1))
// {
// mavlink_msg_debug_send(MAVLINK_COMM_1, pid->plot_i, pid->integral);
// }
}
if (pid->mode == PID_MODE_DERIVATIV_CALC) {
d = (error - pid->error_previous) / dt;
} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
d = -val_dot;
} else {
d = 0;
}
pid->error_previous = error;
return (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
}

40
apps/multirotor_control/pid.h
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@ -1,40 +0,0 @@
/*
* pid.h
*
* Created on: May 29, 2012
* Author: thomasgubler
*/
#ifndef PID_H_
#define PID_H_
#include <stdint.h>
/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
* val_dot in pid_calculate() will be ignored */
#define PID_MODE_DERIVATIV_CALC 0
/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
#define PID_MODE_DERIVATIV_SET 1
typedef struct {
float kp;
float ki;
float kd;
float intmax;
float sp;
float integral;
float error_previous;
uint8_t mode;
uint8_t plot_i;
uint8_t count;
uint8_t saturated;
} PID_t;
void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
//void pid_set(PID_t *pid, float sp);
float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
#endif /* PID_H_ */

42
apps/multirotor_pos_control/Makefile Normal file
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@ -0,0 +1,42 @@
############################################################################
#
# 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.
#
############################################################################
#
# Makefile to build multirotor position control
#
APPNAME = multirotor_pos_control
PRIORITY = SCHED_PRIORITY_MAX - 25
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk

136
apps/multirotor_pos_control/multirotor_pos_control.c Normal file
View File

@ -0,0 +1,136 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.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 Implementation of AR.Drone 1.0 / 2.0 control interface
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <termios.h>
#include <time.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include "ardrone_control.h"
#include "attitude_control.h"
#include "rate_control.h"
#include "ardrone_motor_control.h"
#include "position_control.h"
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/manual_control_setpoint.h>
__EXPORT int multirotor_pos_control_main(int argc, char *argv[]);
static bool thread_should_exit;
static bool thread_running = false;
static int mpc_task;
static int
mpc_thread_main(int argc, char *argv[])
{
/* welcome user */
printf("[multirotor pos control] Control started, taking over position control\n");
/* structures */
struct vehicle_status_s state;
struct vehicle_attitude_s att;
//struct vehicle_global_position_setpoint_s global_pos_sp;
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_local_position_s local_pos;
struct manual_control_setpoint_s manual;
struct vehicle_attitude_setpoint_s att_sp;
/* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
//int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
/* publish attitude setpoint */
int att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
while (1) {
/* get a local copy of the vehicle state */
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 */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
/* get a local copy of local position */
orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
/* get a local copy of local position setpoint */
orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp);
if (state.state_machine == SYSTEM_STATE_AUTO) {
position_control(&state, &manual, &att, &local_pos, &local_pos_sp, &att_sp);
/* publish new attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
} else if (state.state_machine == SYSTEM_STATE_STABILIZE) {
/* set setpoint to current position */
// XXX select pos reset channel on remote
/* reset setpoint to current position (position hold) */
// if (1 == 2) {
// local_pos_sp.x = local_pos.x;
// local_pos_sp.y = local_pos.y;
// local_pos_sp.z = local_pos.z;
// local_pos_sp.yaw = att.yaw;
// }
}
/* run at approximately 50 Hz */
usleep(20000);
counter++;
}
/* close uarts */
close(ardrone_write);
ar_multiplexing_deinit(gpios);
printf("[multirotor pos control] ending now...\r\n");
fflush(stdout);
return 0;
}

81
apps/multirotor_position_control/position_control.c → apps/multirotor_pos_control/position_control.c
View File

@ -1,8 +1,10 @@
/****************************************************************************
* ardrone_control/position_control.c
*
* Copyright (C) 2008, 2012 Thomas Gubler, Julian Oes, Lorenz Meier. All rights reserved.
* Author: Based on the pixhawk quadrotor controller
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -14,7 +16,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 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.
*
@ -33,7 +35,11 @@
*
****************************************************************************/
#include "position_control.h"
/**
* @file multirotor_position_control.c
* Implementation of the position control for a multirotor VTOL
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdio.h>
@ -41,41 +47,11 @@
#include <math.h>
#include <stdbool.h>
#include <float.h>
#include "pid.h"
#include <systemlib/pid/pid.h>
#ifndef FM_PI
#define FM_PI 3.1415926535897932384626433832795f
#endif
#include "multirotor_position_control.h"
#define CONTROL_PID_POSITION_INTERVAL 0.020
int read_lock_position(global_data_position_t *position)
{
static int ret;
ret = global_data_wait(&global_data_position->access_conf);
if (ret == 0) {
memcpy(&position->lat, &global_data_position->lat, sizeof(global_data_position->lat));
memcpy(&position->lon, &global_data_position->lon, sizeof(global_data_position->lon));
memcpy(&position->alt, &global_data_position->alt, sizeof(global_data_position->alt));
memcpy(&position->relative_alt, &global_data_position->relative_alt, sizeof(global_data_position->relative_alt));
memcpy(&position->vx, &global_data_position->vx, sizeof(global_data_position->vx));
memcpy(&position->vy, &global_data_position->vy, sizeof(global_data_position->vy));
memcpy(&position->vz, &global_data_position->vz, sizeof(global_data_position->vz));
memcpy(&position->hdg, &global_data_position->hdg, sizeof(global_data_position->hdg));
} else {
printf("Controller timeout, no new position values available\n");
}
global_data_unlock(&global_data_position->access_conf);
return ret;
}
float get_distance_to_next_waypoint(float lat_now, float lon_now, float lat_next, float lon_next)
float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
{
double lat_now_rad = lat_now / 180.0 * M_PI;
double lon_now_rad = lon_now / 180.0 * M_PI;
@ -94,7 +70,7 @@ float get_distance_to_next_waypoint(float lat_now, float lon_now, float lat_next
return radius_earth * c;
}
float get_bearing_to_next_waypoint(float lat_now, float lon_now, float lat_next, float lon_next)
float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
{
double lat_now_rad = lat_now / 180.0 * M_PI;
double lon_now_rad = lon_now / 180.0 * M_PI;
@ -104,17 +80,20 @@ float get_bearing_to_next_waypoint(float lat_now, float lon_now, float lat_next,
double d_lat = lat_next_rad - lat_now_rad;
double d_lon = lon_next_rad - lon_now_rad;
/* conscious mix of double and float trig function to maximize speed and efficiency */
float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
if (theta < 0) {
theta = theta + 2 * FM_PI;
// XXX wrapping check is incomplete
if (theta < 0.0f) {
theta = theta + 2.0f * M_PI_F;
}
return theta;
}
void control_position(void)
void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp)
{
static PID_t distance_controller;
@ -136,8 +115,6 @@ void control_position(void)
if (initialized == false) {
global_data_lock(&global_data_parameter_storage->access_conf);
pid_init(&distance_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
@ -148,10 +125,6 @@ void control_position(void)
// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
pm_counter = global_data_parameter_storage->counter;
global_data_unlock(&global_data_parameter_storage->access_conf);
thrust_total = 0.0f;
/* Position initialization */
@ -295,14 +268,8 @@ void control_position(void)
roll_desired = asinf(roll_fraction);
}
/*Broadcast desired angles */
global_data_lock(&global_data_ardrone_control->access_conf);
global_data_ardrone_control->attitude_setpoint_navigationframe_from_positioncontroller[0] = roll_desired;
global_data_ardrone_control->attitude_setpoint_navigationframe_from_positioncontroller[1] = pitch_desired;
global_data_ardrone_control->attitude_setpoint_navigationframe_from_positioncontroller[2] = bearing; //TODO: add yaw setpoint
global_data_unlock(&global_data_ardrone_control->access_conf);
global_data_broadcast(&global_data_ardrone_control->access_conf);
att_sp.roll = roll_desired;
att_sp.pitch = pitch_desired;
counter++;
}

24
apps/multirotor_position_control/rate_control.h → apps/multirotor_pos_control/position_control.h
View File

@ -1,8 +1,10 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <nagelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,16 +35,16 @@
*
****************************************************************************/
/*
* @file Definition of attitude rate control
/**
* @file multirotor_position_control.h
* Definition of the position control for a multirotor VTOL
*/
#ifndef RATE_CONTROL_H_
#define RATE_CONTROL_H_
#include <uORB/uORB.h>
#include <uORB/topics/ardrone_motors_setpoint.h>
#include <uORB/topics/sensor_combined.h>
#ifndef POSITION_CONTROL_H_
#define POSITION_CONTROL_H_
void control_rates(struct sensor_combined_s *raw, struct ardrone_motors_setpoint_s *setpoints);
void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp);
#endif /* RATE_CONTROL_H_ */
#endif /* POSITION_CONTROL_H_ */

12
apps/multirotor_position_control/ardrone_control.h
View File

@ -1,12 +0,0 @@
/*
* ardrone_control.h
*
* Created on: Mar 23, 2012
* Author: thomasgubler
*/
#ifndef ARDRONE_CONTROL_H_
#define ARDRONE_CONTROL_H_
#endif /* ARDRONE_CONTROL_H_ */

60
apps/multirotor_position_control/ardrone_control_helper.c
View File

@ -1,60 +0,0 @@
#include "ardrone_control_helper.h"
#include <unistd.h>
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
// int read_sensors_raw(sensors_raw_t *sensors_raw)
// {
// static int ret;
// ret = global_data_wait(&global_data_sensors_raw->access_conf_rate_full);
// if (ret == 0) {
// memcpy(sensors_raw->gyro_raw, global_data_sensors_raw->gyro_raw, sizeof(sensors_raw->gyro_raw));
// // printf("Timestamp %d\n", &global_data_sensors_raw->timestamp);
// } else {
// printf("Controller timeout, no new sensor values available\n");
// }
// global_data_unlock(&global_data_sensors_raw->access_conf_rate_full);
// return ret;
// }
// int read_attitude(global_data_attitude_t *attitude)
// {
// static int ret;
// ret = global_data_wait(&global_data_attitude->access_conf);
// if (ret == 0) {
// memcpy(&attitude->roll, &global_data_attitude->roll, sizeof(global_data_attitude->roll));
// memcpy(&attitude->pitch, &global_data_attitude->pitch, sizeof(global_data_attitude->pitch));
// memcpy(&attitude->yaw, &global_data_attitude->yaw, sizeof(global_data_attitude->yaw));
// memcpy(&attitude->rollspeed, &global_data_attitude->rollspeed, sizeof(global_data_attitude->rollspeed));
// memcpy(&attitude->pitchspeed, &global_data_attitude->pitchspeed, sizeof(global_data_attitude->pitchspeed));
// memcpy(&attitude->yawspeed, &global_data_attitude->yawspeed, sizeof(global_data_attitude->yawspeed));
// } else {
// printf("Controller timeout, no new attitude values available\n");
// }
// global_data_unlock(&global_data_attitude->access_conf);
// return ret;
// }
// void read_quad_motors_setpoint(quad_motors_setpoint_t *rate_setpoint)
// {
// if (0 == global_data_trylock(&global_data_quad_motors_setpoint->access_conf)) { //TODO: check if trylock is the right choice, maybe only lock?
// rate_setpoint->motor_front_nw = global_data_quad_motors_setpoint->motor_front_nw;
// rate_setpoint->motor_right_ne = global_data_quad_motors_setpoint->motor_right_ne;
// rate_setpoint->motor_back_se = global_data_quad_motors_setpoint->motor_back_se;
// rate_setpoint->motor_left_sw = global_data_quad_motors_setpoint->motor_left_sw;
// global_data_unlock(&global_data_quad_motors_setpoint->access_conf);
// }
// }

21
apps/multirotor_position_control/ardrone_control_helper.h
View File

@ -1,21 +0,0 @@
/*
* ardrone_control_helper.h
*
* Created on: May 15, 2012
* Author: thomasgubler
*/
#ifndef ARDRONE_CONTROL_HELPER_H_
#define ARDRONE_CONTROL_HELPER_H_
#include <stdint.h>
// typedef struct {
// int16_t gyro_raw[3]; // l3gd20
// } sensors_raw_t;
// /* Copy quad_motors_setpoint values from global memory to private variables */ //TODO: change this once the new mavlink message for rates is available
// void read_quad_motors_setpoint(quad_motors_setpoint_t *rate_setpoint);
#endif /* ARDRONE_CONTROL_HELPER_H_ */

459
apps/multirotor_position_control/attitude_control.c
View File

@ -1,459 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Laurens Mackay <mackayl@student.ethz.ch>
* Tobias Naegeli <naegelit@student.ethz.ch>
* Martin Rutschmann <rutmarti@student.ethz.ch>
* Lorenz Meier <lm@inf.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 Implementation of attitude controller
*/
#include "attitude_control.h"
#include <stdio.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <px4/attitude_estimator_bm/matrix.h> //TODO: move matrix.h to somewhere else?
#include "ardrone_motor_control.h"
#include <float.h>
#include <math.h>
#include "pid.h"
#include <arch/board/up_hrt.h>
extern int ardrone_write;
extern int gpios;
#define CONTROL_PID_ATTITUDE_INTERVAL 5e-3f
void turn_xy_plane(const float_vect3 *vector, float yaw,
float_vect3 *result);
void navi2body_xy_plane(const float_vect3 *vector, const float yaw,
float_vect3 *result);
void turn_xy_plane(const float_vect3 *vector, float yaw,
float_vect3 *result)
{
//turn clockwise
static uint16_t counter;
result->x = (cosf(yaw) * vector->x + sinf(yaw) * vector->y);
result->y = (-sinf(yaw) * vector->x + cosf(yaw) * vector->y);
result->z = vector->z; //leave direction normal to xy-plane untouched
counter++;
}
void navi2body_xy_plane(const float_vect3 *vector, const float yaw,
float_vect3 *result)
{
turn_xy_plane(vector, yaw, result);
// result->x = vector->x;
// result->y = vector->y;
// result->z = vector->z;
// result->x = cos(yaw) * vector->x + sin(yaw) * vector->y;
// result->y = -sin(yaw) * vector->x + cos(yaw) * vector->y;
// result->z = vector->z; //leave direction normal to xy-plane untouched
}
void control_attitude(float roll, float pitch, float yaw, float thrust, const struct vehicle_attitude_s *att, const struct vehicle_status_s *status, int ardrone_pub, struct ardrone_control_s *ar_control)
{
static int motor_skip_counter = 0;
static PID_t yaw_pos_controller;
static PID_t yaw_speed_controller;
static PID_t nick_controller;
static PID_t roll_controller;
const float min_thrust = 0.02f; /**< 2% minimum thrust */
const float max_thrust = 1.0f; /**< 100% max thrust */
const float scaling = 512.0f; /**< 100% thrust equals a value of 512 */
const float min_gas = min_thrust * scaling;
const float max_gas = max_thrust * scaling;
static uint16_t motor_pwm[4] = {0, 0, 0, 0};
static float motor_calc[4] = {0.0f, 0.0f, 0.0f, 0.0f};
// static float remote_control_weight_z = 1;
// static float position_control_weight_z = 0;
static float pid_yawpos_lim;
static float pid_yawspeed_lim;
static float pid_att_lim;
static bool initialized;
static float_vect3 attitude_setpoint_navigationframe_from_positioncontroller;
static commander_state_machine_t current_state;
/* initialize the pid controllers when the function is called for the first time */
if (initialized == false) {
pid_init(&yaw_pos_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU],
PID_MODE_DERIVATIV_CALC, 154);
pid_init(&yaw_speed_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU],
PID_MODE_DERIVATIV_CALC, 155);
pid_init(&nick_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
PID_MODE_DERIVATIV_SET, 156);
pid_init(&roll_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
PID_MODE_DERIVATIV_SET, 157);
pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
pid_yawspeed_lim = (max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
pid_att_lim = (max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
//TODO: true initialization? get gps while on ground?
attitude_setpoint_navigationframe_from_positioncontroller.x = 0.0f;
attitude_setpoint_navigationframe_from_positioncontroller.y = 0.0f;
attitude_setpoint_navigationframe_from_positioncontroller.z = 0.0f;
initialized = true;
}
/* load new parameters with lower rate */
if (motor_skip_counter % 50 == 0) {
pid_set_parameters(&yaw_pos_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU]);
pid_set_parameters(&yaw_speed_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU]);
pid_set_parameters(&nick_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
pid_set_parameters(&roll_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
pid_yawspeed_lim = (max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
pid_att_lim = (max_gas - min_gas) * global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
}
current_state = status->state_machine;
float_vect3 attitude_setpoint_bodyframe = {.x = 0.0f, .y = 0.0f, .z = 0.0f}; //this is the setpoint in the bodyframe "mixed" together from the setpoint from the remote and the setpoint from the position controller
if (current_state == SYSTEM_STATE_AUTO) {
attitude_setpoint_navigationframe_from_positioncontroller.x = ar_control->attitude_setpoint_navigationframe_from_positioncontroller[0];
attitude_setpoint_navigationframe_from_positioncontroller.y = ar_control->attitude_setpoint_navigationframe_from_positioncontroller[1];
attitude_setpoint_navigationframe_from_positioncontroller.z = ar_control->attitude_setpoint_navigationframe_from_positioncontroller[2];
float yaw_e = att->yaw - attitude_setpoint_navigationframe_from_positioncontroller.z;
// don't turn around the wrong side (only works if yaw angle is between +- 180 degree)
if (yaw_e > M_PI_F) {
yaw_e -= 2.0f * M_PI_F;
}
if (yaw_e < -M_PI_F) {
yaw_e += 2.0f * M_PI_F;
}
attitude_setpoint_navigationframe_from_positioncontroller.z = pid_calculate(&yaw_pos_controller, 0.0f, yaw_e, 0.0f, CONTROL_PID_ATTITUDE_INTERVAL);
/* limit control output */
if (attitude_setpoint_navigationframe_from_positioncontroller.z > pid_yawpos_lim) {
attitude_setpoint_navigationframe_from_positioncontroller.z = pid_yawpos_lim;
yaw_pos_controller.saturated = 1;
}
if (attitude_setpoint_navigationframe_from_positioncontroller.z < -pid_yawpos_lim) {
attitude_setpoint_navigationframe_from_positioncontroller.z = -pid_yawpos_lim;
yaw_pos_controller.saturated = 1;
}
//transform attitude setpoint from position controller from navi to body frame on xy_plane
float_vect3 attitude_setpoint_bodyframe_from_positioncontroller;
navi2body_xy_plane(&attitude_setpoint_navigationframe_from_positioncontroller, att->yaw , &attitude_setpoint_bodyframe_from_positioncontroller); //yaw angle= att->yaw
//now everything is in body frame
//TODO: here we decide which input (position controller or ppm) we use. For now we have only the ppm, this should be decided dpending on the state machione (manula or auto) ppm should always overwrite auto (?)
attitude_setpoint_bodyframe.x = attitude_setpoint_bodyframe_from_positioncontroller.x;
attitude_setpoint_bodyframe.y = attitude_setpoint_bodyframe_from_positioncontroller.y;
attitude_setpoint_bodyframe.z = attitude_setpoint_bodyframe_from_positioncontroller.z;
} else if (current_state == SYSTEM_STATE_MANUAL) {
attitude_setpoint_bodyframe.x = -roll * M_PI_F / 8.0f;
attitude_setpoint_bodyframe.y = -pitch * M_PI_F / 8.0f;
attitude_setpoint_bodyframe.z = -yaw * M_PI_F;
}
/* add an attitude offset which needs to be estimated somewhere */
attitude_setpoint_bodyframe.x += global_data_parameter_storage->pm.param_values[PARAM_ATT_XOFFSET];
attitude_setpoint_bodyframe.y += global_data_parameter_storage->pm.param_values[PARAM_ATT_YOFFSET];
/*Calculate Controllers*/
//control Nick
float nick_control = pid_calculate(&nick_controller, attitude_setpoint_bodyframe.y, att->pitch, att->pitchspeed, CONTROL_PID_ATTITUDE_INTERVAL);
//control Roll
float roll_control = pid_calculate(&roll_controller, attitude_setpoint_bodyframe.x, att->roll, att->rollspeed, CONTROL_PID_ATTITUDE_INTERVAL);
//control Yaw Speed
float yaw_rate_control = pid_calculate(&yaw_speed_controller, attitude_setpoint_bodyframe.z, att->yawspeed, 0.0f, CONTROL_PID_ATTITUDE_INTERVAL); //attitude_setpoint_bodyframe.z is yaw speed!
/*
* compensate the vertical loss of thrust
* when thrust plane has an angle.
* start with a factor of 1.0 (no change)
*/
float zcompensation = 1.0f;
if (fabsf(att->roll) > 1.0f) {
zcompensation *= 1.85081571768f;
} else {
zcompensation *= 1.0f / cosf(att->roll);
}
if (fabsf(att->pitch) > 1.0f) {
zcompensation *= 1.85081571768f;
} else {
zcompensation *= 1.0f / cosf(att->pitch);
}
// use global_data.position_control_output.z and mix parameter global_data.param[PARAM_MIX_POSITION_Z_WEIGHT]
// to compute thrust for Z position control
//
// float motor_thrust = min_gas +
// ( ( 1 - global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] ) * ( max_gas - min_gas ) * global_data.gas_remote * zcompensation )
// + ( global_data.param[PARAM_MIX_POSITION_Z_WEIGHT] * ( max_gas - min_gas ) * controlled_thrust * zcompensation );
//calculate the basic thrust
float motor_thrust = 0;
// FLYING MODES
if (current_state == SYSTEM_STATE_MANUAL) {
motor_thrust = thrust;
} else if (current_state == SYSTEM_STATE_GROUND_READY ||
current_state == SYSTEM_STATE_STABILIZED ||
current_state == SYSTEM_STATE_AUTO ||
current_state == SYSTEM_STATE_MISSION_ABORT) {
motor_thrust = thrust; //TODO
} else if (current_state == SYSTEM_STATE_EMCY_LANDING) {
motor_thrust = thrust; //TODO
} else if (current_state == SYSTEM_STATE_EMCY_CUTOFF) {
/* immediately cut off motors */
motor_thrust = 0;
} else {
/* limit motor throttle to zero for an unknown mode */
motor_thrust = 0;
}
printf("t1:%1.3f ");
/* compensate thrust vector for roll / pitch contributions */
motor_thrust *= zcompensation;
printf("t2:%1.3f\n");
/* limit yaw rate output */
if (yaw_rate_control > pid_yawspeed_lim) {
yaw_rate_control = pid_yawspeed_lim;
yaw_speed_controller.saturated = 1;
}
if (yaw_rate_control < -pid_yawspeed_lim) {
yaw_rate_control = -pid_yawspeed_lim;
yaw_speed_controller.saturated = 1;
}
if (nick_control > pid_att_lim) {
nick_control = pid_att_lim;
nick_controller.saturated = 1;
}
if (nick_control < -pid_att_lim) {
nick_control = -pid_att_lim;
nick_controller.saturated = 1;
}
if (roll_control > pid_att_lim) {
roll_control = pid_att_lim;
roll_controller.saturated = 1;
}
if (roll_control < -pid_att_lim) {
roll_control = -pid_att_lim;
roll_controller.saturated = 1;
}
/* Emit controller values */
ar_control->setpoint_thrust_cast = motor_thrust;
ar_control->setpoint_attitude[0] = attitude_setpoint_bodyframe.x;
ar_control->setpoint_attitude[1] = attitude_setpoint_bodyframe.y;
ar_control->setpoint_attitude[2] = attitude_setpoint_bodyframe.z;
ar_control->attitude_control_output[0] = roll_control;
ar_control->attitude_control_output[1] = nick_control;
ar_control->attitude_control_output[2] = yaw_rate_control;
ar_control->zcompensation = zcompensation;
orb_publish(ORB_ID(ardrone_control), ardrone_pub, ar_control);
float output_band = 0.f;
float band_factor = 0.75f;
const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */
float yaw_factor = 1.0f;
if (motor_thrust <= min_thrust) {
motor_thrust = min_thrust;
output_band = 0.f;
} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
output_band = band_factor * (motor_thrust - min_thrust);
} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
output_band = band_factor * startpoint_full_control;
} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
output_band = band_factor * (max_thrust - motor_thrust);
}
//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer
// FRONT (MOTOR 1)
motor_calc[0] = motor_thrust + (roll_control / 2 + nick_control / 2 - yaw_rate_control);
// RIGHT (MOTOR 2)
motor_calc[1] = motor_thrust + (-roll_control / 2 + nick_control / 2 + yaw_rate_control);
// BACK (MOTOR 3)
motor_calc[2] = motor_thrust + (-roll_control / 2 - nick_control / 2 - yaw_rate_control);
// LEFT (MOTOR 4)
motor_calc[3] = motor_thrust + (roll_control / 2 - nick_control / 2 + yaw_rate_control);
// if we are not in the output band
if (!(motor_calc[0] < motor_thrust + output_band && motor_calc[0] > motor_thrust - output_band
&& motor_calc[1] < motor_thrust + output_band && motor_calc[1] > motor_thrust - output_band
&& motor_calc[2] < motor_thrust + output_band && motor_calc[2] > motor_thrust - output_band
&& motor_calc[3] < motor_thrust + output_band && motor_calc[3] > motor_thrust - output_band)) {
yaw_factor = 0.5f;
// FRONT (MOTOR 1)
motor_calc[0] = motor_thrust + (roll_control / 2 + nick_control / 2 - yaw_rate_control * yaw_factor);
// RIGHT (MOTOR 2)
motor_calc[1] = motor_thrust + (-roll_control / 2 + nick_control / 2 + yaw_rate_control * yaw_factor);
// BACK (MOTOR 3)
motor_calc[2] = motor_thrust + (-roll_control / 2 - nick_control / 2 - yaw_rate_control * yaw_factor);
// LEFT (MOTOR 4)
motor_calc[3] = motor_thrust + (roll_control / 2 - nick_control / 2 + yaw_rate_control * yaw_factor);
}
for (int i = 0; i < 4; i++) {
//check for limits
if (motor_calc[i] < motor_thrust - output_band) {
motor_calc[i] = motor_thrust - output_band;
}
if (motor_calc[i] > motor_thrust + output_band) {
motor_calc[i] = motor_thrust + output_band;
}
}
/* set the motor values */
/* scale up from 0..1 to 10..512) */
motor_pwm[0] = (uint16_t) motor_calc[0] * ((float)max_gas - min_gas) + min_gas;
motor_pwm[1] = (uint16_t) motor_calc[1] * ((float)max_gas - min_gas) + min_gas;
motor_pwm[2] = (uint16_t) motor_calc[2] * ((float)max_gas - min_gas) + min_gas;
motor_pwm[3] = (uint16_t) motor_calc[3] * ((float)max_gas - min_gas) + min_gas;
/* Keep motors spinning while armed and prevent overflows */
/* Failsafe logic - should never be necessary */
motor_pwm[0] = (motor_pwm[0] > 0) ? motor_pwm[0] : 10;
motor_pwm[1] = (motor_pwm[1] > 0) ? motor_pwm[1] : 10;
motor_pwm[2] = (motor_pwm[2] > 0) ? motor_pwm[2] : 10;
motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : 10;
/* Failsafe logic - should never be necessary */
motor_pwm[0] = (motor_pwm[0] <= 512) ? motor_pwm[0] : 512;
motor_pwm[1] = (motor_pwm[1] <= 512) ? motor_pwm[1] : 512;
motor_pwm[2] = (motor_pwm[2] <= 512) ? motor_pwm[2] : 512;
motor_pwm[3] = (motor_pwm[3] <= 512) ? motor_pwm[3] : 512;
/* send motors via UART */
if (motor_skip_counter % 5 == 0) {
uint8_t motorSpeedBuf[5] = {1, 2, 3, 4, 5};
ar_get_motor_packet(motorSpeedBuf, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]);
write(ardrone_write, motorSpeedBuf, 5);
}
motor_skip_counter++;
}

109
apps/multirotor_position_control/pid.c
View File

@ -1,109 +0,0 @@
#include "pid.h"
#include <px4/attitude_estimator_bm/matrix.h> //TODO: move matrix.h to somewhere else?
void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
uint8_t mode, uint8_t plot_i)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
pid->mode = mode;
pid->plot_i = plot_i;
pid->count = 0;
pid->saturated = 0;
pid->sp = 0;
pid->error_previous = 0;
pid->integral = 0;
}
void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
// pid->mode = mode;
// pid->sp = 0;
// pid->error_previous = 0;
// pid->integral = 0;
}
//void pid_set(PID_t *pid, float sp)
//{
// pid->sp = sp;
// pid->error_previous = 0;
// pid->integral = 0;
//}
/**
*
* @param pid
* @param val
* @param dt
* @return
*/
float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
{
/* error = setpoint - actual_position
integral = integral + (error*dt)
derivative = (error - previous_error)/dt
output = (Kp*error) + (Ki*integral) + (Kd*derivative)
previous_error = error
wait(dt)
goto start
*/
float i, d;
pid->sp = sp;
float error = pid->sp - val;
if (pid->saturated && (pid->integral * error > 0)) {
//Output is saturated and the integral would get bigger (positive or negative)
i = pid->integral;
//Reset saturation. If we are still saturated this will be set again at output limit check.
pid->saturated = 0;
} else {
i = pid->integral + (error * dt);
}
// Anti-Windup. Needed if we don't use the saturation above.
if (pid->intmax != 0.0) {
if (i > pid->intmax) {
pid->integral = pid->intmax;
} else if (i < -pid->intmax) {
pid->integral = -pid->intmax;
} else {
pid->integral = i;
}
//Send Controller integrals
// Disabled because of new possibilities with debug_vect.
// Now sent in Main Loop at 5 Hz. 26.06.2010 Laurens
// if (pid->plot_i && (pid->count++ % 16 == 0)&&(global_data.param[PARAM_SEND_SLOT_DEBUG_2] == 1))
// {
// mavlink_msg_debug_send(MAVLINK_COMM_1, pid->plot_i, pid->integral);
// }
}
if (pid->mode == PID_MODE_DERIVATIV_CALC) {
d = (error - pid->error_previous) / dt;
} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
d = -val_dot;
} else {
d = 0;
}
pid->error_previous = error;
return (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
}

40
apps/multirotor_position_control/pid.h
View File

@ -1,40 +0,0 @@
/*
* pid.h
*
* Created on: May 29, 2012
* Author: thomasgubler
*/
#ifndef PID_H_
#define PID_H_
#include <stdint.h>
/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
* val_dot in pid_calculate() will be ignored */
#define PID_MODE_DERIVATIV_CALC 0
/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
#define PID_MODE_DERIVATIV_SET 1
typedef struct {
float kp;
float ki;
float kd;
float intmax;
float sp;
float integral;
float error_previous;
uint8_t mode;
uint8_t plot_i;
uint8_t count;
uint8_t saturated;
} PID_t;
void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
//void pid_set(PID_t *pid, float sp);
float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
#endif /* PID_H_ */

13
apps/multirotor_position_control/position_control.h
View File

@ -1,13 +0,0 @@
/*
* position_control.h
*
* Created on: May 29, 2012
* Author: thomasgubler
*/
#ifndef POSITION_CONTROL_H_
#define POSITION_CONTROL_H_
void control_position(void);
#endif /* POSITION_CONTROL_H_ */

320
apps/multirotor_position_control/rate_control.c
View File

@ -1,320 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <nagelit@student.ethz.ch>
* Lorenz Meier <lm@inf.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 Implementation of attitude rate control
*/
#include "rate_control.h"
#include "ardrone_control_helper.h"
#include "ardrone_motor_control.h"
#include <arch/board/up_hrt.h>
extern int ardrone_write;
extern int gpios;
typedef struct {
uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration
uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration
uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration
uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration
uint8_t target_system; ///< System ID of the system that should set these motor commands
} quad_motors_setpoint_t;
void control_rates(struct sensor_combined_s *raw, struct ardrone_motors_setpoint_s *setpoints)
{
static quad_motors_setpoint_t actuators_desired;
//static quad_motors_setpoint_t quad_motors_setpoint_desired;
static int16_t outputBand = 0;
// static uint16_t control_counter;
static hrt_abstime now_time;
static hrt_abstime last_time;
static float setpointXrate;
static float setpointYrate;
static float setpointZrate;
static float setpointRateCast[3];
static float Kp;
// static float Ki;
static float setpointThrustCast;
static float startpointFullControll;
static float maxThrustSetpoints;
static float gyro_filtered[3];
static float gyro_filtered_offset[3];
static float gyro_alpha;
static float gyro_alpha_offset;
// static float errXrate;
static float attRatesScaled[3];
static uint16_t offsetCnt;
// static float antiwindup;
static int motor_skip_counter;
static int read_ret;
static bool initialized;
if (initialized == false) {
initialized = true;
/* Read sensors for initial values */
gyro_filtered_offset[0] = 0.00026631611f * (float)raw->gyro_raw[0];
gyro_filtered_offset[1] = 0.00026631611f * (float)raw->gyro_raw[1];
gyro_filtered_offset[2] = 0.00026631611f * (float)raw->gyro_raw[2];
gyro_filtered[0] = 0.00026631611f * (float)raw->gyro_raw[0];
gyro_filtered[1] = 0.00026631611f * (float)raw->gyro_raw[1];
gyro_filtered[2] = 0.00026631611f * (float)raw->gyro_raw[2];
outputBand = 0;
startpointFullControll = 150.0f;
maxThrustSetpoints = 511.0f;
//Kp=60;
//Kp=40.0f;
//Kp=45;
Kp = 30.0f;
// Ki=0.0f;
// antiwindup=50.0f;
}
/* Get setpoint */
//Rate Controller
setpointRateCast[0] = -((float)setpoints->motor_right_ne - 9999.0f) * 0.01f / 180.0f * 3.141f;
setpointRateCast[1] = -((float)setpoints->motor_front_nw - 9999.0f) * 0.01f / 180.0f * 3.141f;
setpointRateCast[2] = 0; //-((float)setpoints->motor_back_se-9999.0f)*0.01f;
//Ki=actuatorDesired.motorRight_NE*0.001f;
setpointThrustCast = setpoints->motor_left_sw;
attRatesScaled[0] = 0.000317603994f * (float)raw->gyro_raw[0];
attRatesScaled[1] = 0.000317603994f * (float)raw->gyro_raw[1];
attRatesScaled[2] = 0.000317603994f * (float)raw->gyro_raw[2];
//filtering of the gyroscope values
//compute filter coefficient alpha
//gyro_alpha=0.005/(2.0f*3.1415f*200.0f+0.005f);
//gyro_alpha=0.009;
gyro_alpha = 0.09f;
gyro_alpha_offset = 0.001f;
//gyro_alpha=0.001;
//offset estimation and filtering
offsetCnt++;
uint8_t i;
for (i = 0; i < 3; i++) {
if (offsetCnt < 5000) {
gyro_filtered_offset[i] = attRatesScaled[i] * gyro_alpha_offset + gyro_filtered_offset[i] * (1 - gyro_alpha_offset);
}
gyro_filtered[i] = 1.0f * ((attRatesScaled[i] - gyro_filtered_offset[i]) * gyro_alpha + gyro_filtered[i] * (1 - gyro_alpha)) - 0 * setpointRateCast[i];
}
// //START DEBUG
// /* write filtered values to global_data_attitude */
// global_data_attitude->rollspeed = gyro_filtered[0];
// global_data_attitude->pitchspeed = gyro_filtered[1];
// global_data_attitude->yawspeed = gyro_filtered[2];
// //END DEBUG
//rate controller
//X-axis
setpointXrate = -Kp * (setpointRateCast[0] - gyro_filtered[0]);
//Y-axis
setpointYrate = -Kp * (setpointRateCast[1] - gyro_filtered[1]);
//Z-axis
setpointZrate = -Kp * (setpointRateCast[2] - gyro_filtered[2]);
//Mixing
if (setpointThrustCast <= 0) {
setpointThrustCast = 0;
outputBand = 0;
}
if ((setpointThrustCast < startpointFullControll) && (setpointThrustCast > 0)) {
outputBand = 0.75f * setpointThrustCast;
}
if ((setpointThrustCast >= startpointFullControll) && (setpointThrustCast < maxThrustSetpoints - 0.75f * startpointFullControll)) {
outputBand = 0.75f * startpointFullControll;
}
if (setpointThrustCast >= maxThrustSetpoints - 0.75f * startpointFullControll) {
setpointThrustCast = 0.75f * startpointFullControll;
outputBand = 0.75f * startpointFullControll;
}
actuators_desired.motor_front_nw = setpointThrustCast + (setpointXrate + setpointYrate + setpointZrate);
actuators_desired.motor_right_ne = setpointThrustCast + (-setpointXrate + setpointYrate - setpointZrate);
actuators_desired.motor_back_se = setpointThrustCast + (-setpointXrate - setpointYrate + setpointZrate);
actuators_desired.motor_left_sw = setpointThrustCast + (setpointXrate - setpointYrate - setpointZrate);
if ((setpointThrustCast + setpointXrate + setpointYrate + setpointZrate) > (setpointThrustCast + outputBand)) {
actuators_desired.motor_front_nw = setpointThrustCast + outputBand;
}
if ((setpointThrustCast + setpointXrate + setpointYrate + setpointZrate) < (setpointThrustCast - outputBand)) {
actuators_desired.motor_front_nw = setpointThrustCast - outputBand;
}
if ((setpointThrustCast + (-setpointXrate) + setpointYrate - setpointZrate) > (setpointThrustCast + outputBand)) {
actuators_desired.motor_right_ne = setpointThrustCast + outputBand;
}
if ((setpointThrustCast + (-setpointXrate) + setpointYrate - setpointZrate) < (setpointThrustCast - outputBand)) {
actuators_desired.motor_right_ne = setpointThrustCast - outputBand;
}
if ((setpointThrustCast + (-setpointXrate) + (-setpointYrate) + setpointZrate) > (setpointThrustCast + outputBand)) {
actuators_desired.motor_back_se = setpointThrustCast + outputBand;
}
if ((setpointThrustCast + (-setpointXrate) + (-setpointYrate) + setpointZrate) < (setpointThrustCast - outputBand)) {
actuators_desired.motor_back_se = setpointThrustCast - outputBand;
}
if ((setpointThrustCast + setpointXrate + (-setpointYrate) - setpointZrate) > (setpointThrustCast + outputBand)) {
actuators_desired.motor_left_sw = setpointThrustCast + outputBand;
}
if ((setpointThrustCast + setpointXrate + (-setpointYrate) - setpointZrate) < (setpointThrustCast - outputBand)) {
actuators_desired.motor_left_sw = setpointThrustCast - outputBand;
}
//printf("%lu,%lu,%lu,%lu\n",actuators_desired.motor_front_nw, actuators_desired.motor_right_ne, actuators_desired.motor_back_se, actuators_desired.motor_left_sw);
if (motor_skip_counter % 5 == 0) {
uint8_t motorSpeedBuf[5];
ar_get_motor_packet(motorSpeedBuf, actuators_desired.motor_front_nw, actuators_desired.motor_right_ne, actuators_desired.motor_back_se, actuators_desired.motor_left_sw);
// uint8_t* motorSpeedBuf = ar_get_motor_packet(1, 1, 1, 1);
// if(motor_skip_counter %50 == 0)
// {
// if(0==actuators_desired.motor_front_nw || 0 == actuators_desired.motor_right_ne || 0 == actuators_desired.motor_back_se || 0 == actuators_desired.motor_left_sw)
// printf("Motors set: %u, %u, %u, %u\n", actuators_desired.motor_front_nw, actuators_desired.motor_right_ne, actuators_desired.motor_back_se, actuators_desired.motor_left_sw);
// printf("input: %u\n", setpoints->motor_front_nw);
// printf("Roll casted desired: %f, Pitch casted desired: %f, Yaw casted desired: %f\n", setpointRateCast[0], setpointRateCast[1], setpointRateCast[2]);
// }
write(ardrone_write, motorSpeedBuf, 5);
// motor_skip_counter = 0;
}
motor_skip_counter++;
//START DEBUG
// global_data_lock(&global_data_ardrone_control->access_conf);
// global_data_ardrone_control->timestamp = hrt_absolute_time();
// global_data_ardrone_control->gyro_scaled[0] = attRatesScaled[0];
// global_data_ardrone_control->gyro_scaled[1] = attRatesScaled[1];
// global_data_ardrone_control->gyro_scaled[2] = attRatesScaled[2];
// global_data_ardrone_control->gyro_filtered[0] = gyro_filtered[0];
// global_data_ardrone_control->gyro_filtered[1] = gyro_filtered[1];
// global_data_ardrone_control->gyro_filtered[2] = gyro_filtered[2];
// global_data_ardrone_control->gyro_filtered_offset[0] = gyro_filtered_offset[0];
// global_data_ardrone_control->gyro_filtered_offset[1] = gyro_filtered_offset[1];
// global_data_ardrone_control->gyro_filtered_offset[2] = gyro_filtered_offset[2];
// global_data_ardrone_control->setpoint_rate_cast[0] = setpointRateCast[0];
// global_data_ardrone_control->setpoint_rate_cast[1] = setpointRateCast[1];
// global_data_ardrone_control->setpoint_rate_cast[2] = setpointRateCast[2];
// global_data_ardrone_control->setpoint_thrust_cast = setpointThrustCast;
// global_data_ardrone_control->setpoint_rate[0] = setpointXrate;
// global_data_ardrone_control->setpoint_rate[1] = setpointYrate;
// global_data_ardrone_control->setpoint_rate[2] = setpointZrate;
// global_data_ardrone_control->motor_front_nw = actuators_desired.motor_front_nw;
// global_data_ardrone_control->motor_right_ne = actuators_desired.motor_right_ne;
// global_data_ardrone_control->motor_back_se = actuators_desired.motor_back_se;
// global_data_ardrone_control->motor_left_sw = actuators_desired.motor_left_sw;
// global_data_unlock(&global_data_ardrone_control->access_conf);
// global_data_broadcast(&global_data_ardrone_control->access_conf);
//END DEBUG
// gettimeofday(&tv, NULL);
// now = ((uint32_t)tv.tv_sec) * 1000 + tv.tv_usec/1000;
// time_elapsed = now - last_run;
// if (time_elapsed*1000 > CONTROL_LOOP_USLEEP)
// {
// sleep_time = (int32_t)CONTROL_LOOP_USLEEP - ((int32_t)time_elapsed*1000 - (int32_t)CONTROL_LOOP_USLEEP);
//
// if(motor_skip_counter %500 == 0)
// {
// printf("Desired: %u, New usleep: %i, Time elapsed: %u, Now: %u, Last run: %u\n",(uint32_t)CONTROL_LOOP_USLEEP, sleep_time, time_elapsed*1000, now, last_run);
// }
// }
//
// if (sleep_time <= 0)
// {
// printf("WARNING: CPU Overload!\n");
// printf("Desired: %u, New usleep: %i, Time elapsed: %u, Now: %u, Last run: %u\n",(uint32_t)CONTROL_LOOP_USLEEP, sleep_time, time_elapsed*1000, now, last_run);
// usleep(CONTROL_LOOP_USLEEP);
// }
// else
// {
// usleep(sleep_time);
// }
// last_run = now;
//
// now_time = hrt_absolute_time();
// if(control_counter % 500 == 0)
// {
// printf("Now: %lu\n",(unsigned long)now_time);
// printf("Last: %lu\n",(unsigned long)last_time);
// printf("Difference: %lu\n", (unsigned long)(now_time - last_time));
// printf("now seconds: %lu\n", (unsigned long)(now_time / 1000000));
// }
// last_time = now_time;
//
// now_time = hrt_absolute_time() / 1000000;
// if(now_time - last_time > 0)
// {
// printf("Counter: %ld\n",control_counter);
// last_time = now_time;
// control_counter = 0;
// }
// control_counter++;
}

4
apps/sensors/sensors.c
View File

@ -433,7 +433,7 @@ int sensors_thread_main(int argc, char *argv[])
thread_running = true;
while (1) {
while (!thread_should_exit) {
pthread_mutex_lock(&sensors_read_ready_mutex);
struct timespec time_to_wait = {0, 0};
@ -966,7 +966,7 @@ int sensors_main(int argc, char *argv[])
if (!thread_running) {
printf("sensors app not started\n");
} else {
printf("stopping sensors app");
printf("stopping sensors app\n");
thread_should_exit = true;
}
exit(0);

3
apps/systemlib/Makefile
View File

@ -46,7 +46,8 @@ CSRCS = err.c \
# XXX this really should be a CONFIG_* test
#
ifeq ($(TARGET),px4fmu)
CSRCS += systemlib.c
CSRCS += systemlib.c \
pid/pid.c
endif
include $(APPDIR)/mk/app.mk

148
apps/systemlib/pid/pid.c Normal file
View File

@ -0,0 +1,148 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@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 pid.c
* Implementation of generic PID control interface
*/
#include "pid.h"
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
uint8_t mode, uint8_t plot_i)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
pid->mode = mode;
pid->plot_i = plot_i;
pid->count = 0;
pid->saturated = 0;
pid->sp = 0;
pid->error_previous = 0;
pid->integral = 0;
}
__EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
// pid->mode = mode;
// pid->sp = 0;
// pid->error_previous = 0;
// pid->integral = 0;
}
//void pid_set(PID_t *pid, float sp)
//{
// pid->sp = sp;
// pid->error_previous = 0;
// pid->integral = 0;
//}
/**
*
* @param pid
* @param val
* @param dt
* @return
*/
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
{
/* error = setpoint - actual_position
integral = integral + (error*dt)
derivative = (error - previous_error)/dt
output = (Kp*error) + (Ki*integral) + (Kd*derivative)
previous_error = error
wait(dt)
goto start
*/
float i, d;
pid->sp = sp;
float error = pid->sp - val;
if (pid->saturated && (pid->integral * error > 0)) {
//Output is saturated and the integral would get bigger (positive or negative)
i = pid->integral;
//Reset saturation. If we are still saturated this will be set again at output limit check.
pid->saturated = 0;
} else {
i = pid->integral + (error * dt);
}
// Anti-Windup. Needed if we don't use the saturation above.
if (pid->intmax != 0.0) {
if (i > pid->intmax) {
pid->integral = pid->intmax;
} else if (i < -pid->intmax) {
pid->integral = -pid->intmax;
} else {
pid->integral = i;
}
//Send Controller integrals
// Disabled because of new possibilities with debug_vect.
// Now sent in Main Loop at 5 Hz. 26.06.2010 Laurens
// if (pid->plot_i && (pid->count++ % 16 == 0)&&(global_data.param[PARAM_SEND_SLOT_DEBUG_2] == 1))
// {
// mavlink_msg_debug_send(MAVLINK_COMM_1, pid->plot_i, pid->integral);
// }
}
if (pid->mode == PID_MODE_DERIVATIV_CALC) {
d = (error - pid->error_previous) / dt;
} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
d = -val_dot;
} else {
d = 0;
}
pid->error_previous = error;
return (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
}

54
apps/multirotor_position_control/attitude_control.h → apps/systemlib/pid/pid.h
View File

@ -1,9 +1,9 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -34,19 +34,41 @@
*
****************************************************************************/
/* @file attitude control for quadrotors */
/**
* @file pid.h
* Definition of generic PID control interface
*/
#ifndef ATTITUDE_CONTROL_H_
#define ATTITUDE_CONTROL_H_
#ifndef PID_H_
#define PID_H_
#include <uORB/uORB.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/ardrone_control.h>
#include <uORB/topics/vehicle_status.h>
#include <stdint.h>
void control_attitude(float roll, float pitch, float yaw, float thrust, const struct vehicle_attitude_s *att,
const struct vehicle_status_s *status, int ardrone_pub,
struct ardrone_control_s *ar_control);
/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
* val_dot in pid_calculate() will be ignored */
#define PID_MODE_DERIVATIV_CALC 0
/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
#define PID_MODE_DERIVATIV_SET 1
#endif /* ATTITUDE_CONTROL_H_ */
typedef struct {
float kp;
float ki;
float kd;
float intmax;
float sp;
float integral;
float error_previous;
uint8_t mode;
uint8_t plot_i;
uint8_t count;
uint8_t saturated;
} PID_t;
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
__EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
//void pid_set(PID_t *pid, float sp);
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
#endif /* PID_H_ */

7
nuttx/configs/px4fmu/nsh/appconfig
View File

@ -57,6 +57,10 @@ CONFIGURED_APPS += systemcmds/eeprom
# https://pixhawk.ethz.ch/px4/dev/hello_sky
# CONFIGURED_APPS += examples/px4_simple_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/deamon
# CONFIGURED_APPS += examples/px4_deamon_app
CONFIGURED_APPS += uORB
ifeq ($(CONFIG_MAVLINK),y)
@ -68,7 +72,8 @@ CONFIGURED_APPS += commander
#CONFIGURED_APPS += sdlog
CONFIGURED_APPS += sensors
CONFIGURED_APPS += ardrone_control
CONFIGURED_APPS += multirotor_control
CONFIGURED_APPS += ardrone_interface
CONFIGURED_APPS += multirotor_att_control
CONFIGURED_APPS += px4/attitude_estimator_bm
CONFIGURED_APPS += fixedwing_control
CONFIGURED_APPS += mix_and_link