dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

mc_pos_control: AUTO implemented, fixes

This commit is contained in:
Anton Babushkin 2013-12-28 11:47:25 +04:00
parent 7b7539fbbd
commit f084ddfeb0
3 changed files with 79 additions and 737 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -319,11 +319,11 @@ private:
/**
* Control position.
*/
bool control_position(const math::Vector2f &global_pos, const math::Vector2f &ground_speed,
bool control_position(const math::Vector<2> &global_pos, const math::Vector<2> &ground_speed,
const struct mission_item_triplet_s &_mission_item_triplet);
float calculate_target_airspeed(float airspeed_demand);
void calculate_gndspeed_undershoot(const math::Vector2f &current_position, const math::Vector2f &ground_speed, const struct mission_item_triplet_s &mission_item_triplet);
void calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed, const struct mission_item_triplet_s &mission_item_triplet);
/**
* Shim for calling task_main from task_create.
@ -680,13 +680,13 @@ FixedwingPositionControl::calculate_target_airspeed(float airspeed_demand)
}
void
FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector2f &current_position, const math::Vector2f &ground_speed, const struct mission_item_triplet_s &mission_item_triplet)
FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed, const struct mission_item_triplet_s &mission_item_triplet)
{
if (_global_pos_valid) {
/* rotate ground speed vector with current attitude */
math::Vector2f yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
yaw_vector.normalize();
float ground_speed_body = yaw_vector * ground_speed;
@ -697,7 +697,7 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector2f &cu
distance = get_distance_to_next_waypoint(mission_item_triplet.previous.lat, mission_item_triplet.previous.lon, mission_item_triplet.current.lat, mission_item_triplet.current.lon);
delta_altitude = mission_item_triplet.current.altitude - mission_item_triplet.previous.altitude;
} else {
distance = get_distance_to_next_waypoint(current_position.getX(), current_position.getY(), mission_item_triplet.current.lat, mission_item_triplet.current.lon);
distance = get_distance_to_next_waypoint(current_position(0), current_position(1), mission_item_triplet.current.lat, mission_item_triplet.current.lon);
delta_altitude = mission_item_triplet.current.altitude - _global_pos.alt;
}
@ -730,7 +730,7 @@ void FixedwingPositionControl::navigation_capabilities_publish()
}
bool
FixedwingPositionControl::control_position(const math::Vector2f &current_position, const math::Vector2f &ground_speed,
FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed,
const struct mission_item_triplet_s &mission_item_triplet)
{
bool setpoint = true;
@ -765,26 +765,26 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
_tecs.set_speed_weight(_parameters.speed_weight);
/* current waypoint (the one currently heading for) */
math::Vector2f next_wp(mission_item_triplet.current.lat, mission_item_triplet.current.lon);
math::Vector<2> next_wp(mission_item_triplet.current.lat, mission_item_triplet.current.lon);
/* current waypoint (the one currently heading for) */
math::Vector2f curr_wp(mission_item_triplet.current.lat, mission_item_triplet.current.lon);
math::Vector<2> curr_wp(mission_item_triplet.current.lat, mission_item_triplet.current.lon);
/* previous waypoint */
math::Vector2f prev_wp;
math::Vector<2> prev_wp;
if (mission_item_triplet.previous_valid) {
prev_wp.setX(mission_item_triplet.previous.lat);
prev_wp.setY(mission_item_triplet.previous.lon);
prev_wp(0) = mission_item_triplet.previous.lat;
prev_wp(1) = mission_item_triplet.previous.lon;
} else {
/*
* No valid previous waypoint, go for the current wp.
* This is automatically handled by the L1 library.
*/
prev_wp.setX(mission_item_triplet.current.lat);
prev_wp.setY(mission_item_triplet.current.lon);
prev_wp(0) = mission_item_triplet.current.lat;
prev_wp(1) = mission_item_triplet.current.lon;
}
@ -820,7 +820,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* Horizontal landing control */
/* switch to heading hold for the last meters, continue heading hold after */
float wp_distance = get_distance_to_next_waypoint(current_position.getX(), current_position.getY(), curr_wp.getX(), curr_wp.getY());
float wp_distance = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
//warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
const float heading_hold_distance = 15.0f;
if (wp_distance < heading_hold_distance || land_noreturn_horizontal) {
@ -829,7 +829,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
// if (mission_item_triplet.previous_valid) {
// target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY());
// target_bearing = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), next_wp(0), next_wp(1));
// } else {
if (!land_noreturn_horizontal) //set target_bearing in first occurrence
@ -870,7 +870,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
float L_wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()) * _parameters.land_slope_length;
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length;
float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
@ -989,8 +989,8 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
// warnx("nav bearing: %8.4f bearing err: %8.4f target bearing: %8.4f", (double)_l1_control.nav_bearing(),
// (double)_l1_control.bearing_error(), (double)_l1_control.target_bearing());
// warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp.getX(), (double)prev_wp.getY(),
// (double)next_wp.getX(), (double)next_wp.getY(), (mission_item_triplet.previous_valid) ? "valid" : "invalid");
// warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp(0), (double)prev_wp(1),
// (double)next_wp(0), (double)next_wp(1), (mission_item_triplet.previous_valid) ? "valid" : "invalid");
// XXX at this point we always want no loiter hold if a
// mission is active

95
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -61,7 +61,7 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
@ -113,7 +113,7 @@ private:
int _manual_sub; /**< notification of manual control updates */
int _arming_sub; /**< arming status of outputs */
int _local_pos_sub; /**< vehicle local position */
int _global_pos_sp_sub; /**< vehicle global position setpoint */
int _mission_items_sub; /**< mission item triplet */
orb_advert_t _local_pos_sp_pub; /**< local position setpoint publication */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
@ -126,7 +126,7 @@ private:
struct actuator_armed_s _arming; /**< actuator arming status */
struct vehicle_local_position_s _local_pos; /**< vehicle local position */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position */
struct vehicle_global_position_setpoint_s _global_pos_sp; /**< vehicle global position setpoint */
struct mission_item_triplet_s _mission_items; /**< vehicle global position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
struct {
@ -232,7 +232,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_manual_sub(-1),
_arming_sub(-1),
_local_pos_sub(-1),
_global_pos_sp_sub(-1),
_mission_items_sub(-1),
/* publications */
_local_pos_sp_pub(-1),
@ -246,7 +246,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
memset(&_arming, 0, sizeof(_arming));
memset(&_local_pos, 0, sizeof(_local_pos));
memset(&_local_pos_sp, 0, sizeof(_local_pos_sp));
memset(&_global_pos_sp, 0, sizeof(_global_pos_sp));
memset(&_mission_items, 0, sizeof(_mission_items));
memset(&_global_vel_sp, 0, sizeof(_global_vel_sp));
_params.pos_p.zero();
@ -395,9 +395,9 @@ MulticopterPositionControl::poll_subscriptions()
if (updated)
orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming);
orb_check(_global_pos_sp_sub, &updated);
orb_check(_mission_items_sub, &updated);
if (updated)
orb_copy(ORB_ID(vehicle_global_position_setpoint), _global_pos_sp_sub, &_global_pos_sp);
orb_copy(ORB_ID(mission_item_triplet), _mission_items_sub, &_mission_items);
}
float
@ -439,7 +439,7 @@ MulticopterPositionControl::task_main()
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
_mission_items_sub = orb_subscribe(ORB_ID(mission_item_triplet));
parameters_update(true);
@ -449,8 +449,6 @@ MulticopterPositionControl::task_main()
/* get an initial update for all sensor and status data */
poll_subscriptions();
bool reset_mission_sp = false;
bool global_pos_sp_valid = false;
bool reset_man_sp_z = true;
bool reset_man_sp_xy = true;
bool reset_int_z = true;
@ -466,9 +464,10 @@ MulticopterPositionControl::task_main()
const float alt_ctl_dz = 0.2f;
const float pos_ctl_dz = 0.05f;
hrt_abstime ref_timestamp = 0;
int32_t ref_lat = 0.0f;
int32_t ref_lon = 0.0f;
float ref_alt = 0.0f;
hrt_abstime ref_alt_t = 0;
hrt_abstime local_ref_timestamp = 0;
math::Vector<3> sp_move_rate;
sp_move_rate.zero();
@ -533,22 +532,32 @@ MulticopterPositionControl::task_main()
sp_move_rate.zero();
if (_local_pos.ref_timestamp != ref_timestamp) {
/* initialize local projection with new reference */
double lat_home = _local_pos.ref_lat * 1e-7;
double lon_home = _local_pos.ref_lon * 1e-7;
map_projection_init(lat_home, lon_home);
mavlink_log_info(mavlink_fd, "[mpc] local pos ref: %.7f, %.7f", (double)lat_home, (double)lon_home);
if (_control_mode.flag_control_manual_enabled && ref_timestamp != 0) {
/* correct setpoint in manual mode to stay in the same point */
float ref_change_x = 0.0f;
float ref_change_y = 0.0f;
map_projection_project(ref_lat, ref_lon, &ref_change_x, &ref_change_y);
_pos_sp(0) += ref_change_x;
_pos_sp(1) += ref_change_y;
_pos_sp(2) += _local_pos.ref_alt - ref_alt;
}
ref_timestamp = _local_pos.ref_timestamp;
ref_lat = _local_pos.ref_lat;
ref_lon = _local_pos.ref_lon;
ref_alt = _local_pos.ref_alt;
}
if (_control_mode.flag_control_manual_enabled) {
/* manual control */
/* check for reference point updates and correct setpoint */
if (_local_pos.ref_timestamp != ref_alt_t) {
if (ref_alt_t != 0) {
/* home alt changed, don't follow large ground level changes in manual flight */
_pos_sp(2) += _local_pos.ref_alt - ref_alt;
}
ref_alt_t = _local_pos.ref_timestamp;
ref_alt = _local_pos.ref_alt;
// TODO also correct XY setpoint
}
/* reset setpoints to current position if needed */
if (_control_mode.flag_control_altitude_enabled) {
/* reset setpoint Z to current altitude if needed */
if (reset_man_sp_z) {
reset_man_sp_z = false;
_pos_sp(2) = _pos(2);
@ -560,6 +569,7 @@ MulticopterPositionControl::task_main()
}
if (_control_mode.flag_control_position_enabled) {
/* reset setpoint XY to current position if needed */
if (reset_man_sp_xy) {
reset_man_sp_xy = false;
_pos_sp(0) = _pos(0);
@ -594,21 +604,39 @@ MulticopterPositionControl::task_main()
_pos_sp = _pos + pos_sp_offs.emult(_params.vel_max);
}
/* copy yaw setpoint to vehicle_local_position_setpoint topic */
_local_pos_sp.yaw = _att_sp.yaw_body;
/* local position setpoint is valid and can be used for auto loiter after position controlled mode */
reset_auto_sp_xy = !_control_mode.flag_control_position_enabled;
reset_auto_sp_z = !_control_mode.flag_control_altitude_enabled;
reset_takeoff_sp = true;
/* force reprojection of global setpoint after manual mode */
reset_mission_sp = true;
} else {
// TODO AUTO
_pos_sp = _pos;
/* AUTO */
if (_mission_items.current_valid) {
struct mission_item_s item = _mission_items.current;
map_projection_project(item.lat, item.lon, &_pos_sp(0), &_pos_sp(1));
// TODO home altitude can be != ref_alt, check home_position topic
_pos_sp(2) = -(item.altitude_is_relative ? item.altitude : item.altitude - ref_alt);
/* in case of interrupted mission don't go to waypoint but stop */
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
} else {
/* no waypoint, loiter, reset position setpoint if needed */
if (reset_auto_sp_xy) {
reset_auto_sp_xy = false;
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
}
if (reset_auto_sp_z) {
reset_auto_sp_z = false;
_pos_sp(2) = _pos(2);
}
}
}
/* copy resulting setpoint to vehicle_local_position_setpoint topic for logging */
_local_pos_sp.yaw = _att_sp.yaw_body;
_local_pos_sp.x = _pos_sp(0);
_local_pos_sp.y = _pos_sp(1);
_local_pos_sp.z = _pos_sp(2);
@ -874,7 +902,6 @@ MulticopterPositionControl::task_main()
reset_man_sp_xy = true;
reset_int_z = true;
reset_int_xy = true;
reset_mission_sp = true;
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
}

685
src/modules/multirotor_pos_control/multirotor_pos_control.c
View File

@ -1,685 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.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 multirotor_pos_control.c
*
* Multirotor position controller
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.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 <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/mission_item_triplet.h>
#include <systemlib/systemlib.h>
#include <systemlib/pid/pid.h>
#include <mavlink/mavlink_log.h>
#include "multirotor_pos_control_params.h"
#include "thrust_pid.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 */
__EXPORT int multirotor_pos_control_main(int argc, char *argv[]);
/**
* Mainloop of position controller.
*/
static int multirotor_pos_control_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static float scale_control(float ctl, float end, float dz);
static float norm(float x, float y);
static void usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: multirotor_pos_control {start|stop|status}\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_spawn().
*/
int multirotor_pos_control_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
/* this is not an error */
exit(0);
}
warnx("start");
thread_should_exit = false;
deamon_task = task_spawn_cmd("multirotor_pos_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 60,
4096,
multirotor_pos_control_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
warnx("stop");
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("app is running");
} else {
warnx("app not started");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
static float scale_control(float ctl, float end, float dz)
{
if (ctl > dz) {
return (ctl - dz) / (end - dz);
} else if (ctl < -dz) {
return (ctl + dz) / (end - dz);
} else {
return 0.0f;
}
}
static float norm(float x, float y)
{
return sqrtf(x * x + y * y);
}
static int multirotor_pos_control_thread_main(int argc, char *argv[])
{
/* welcome user */
warnx("started");
static int mavlink_fd;
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd, "[mpc] started");
/* structures */
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
struct vehicle_local_position_s local_pos;
memset(&local_pos, 0, sizeof(local_pos));
struct mission_item_triplet_s triplet;
memset(&triplet, 0, sizeof(triplet));
struct vehicle_global_velocity_setpoint_s global_vel_sp;
memset(&global_vel_sp, 0, sizeof(global_vel_sp));
struct vehicle_local_position_setpoint_s local_pos_sp;
memset(&local_pos_sp, 0, sizeof(local_pos_sp));
/* subscribe to attitude, motor setpoints and system state */
int param_sub = orb_subscribe(ORB_ID(parameter_update));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int mission_triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
/* publish setpoint */
orb_advert_t local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &local_pos_sp);
orb_advert_t global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &global_vel_sp);
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
bool reset_mission_sp = false;
bool global_pos_sp_valid = false;
bool reset_man_sp_z = true;
bool reset_man_sp_xy = true;
bool reset_int_z = true;
bool reset_int_z_manual = false;
bool reset_int_xy = true;
bool was_armed = false;
bool reset_auto_sp_xy = true;
bool reset_auto_sp_z = true;
bool reset_takeoff_sp = true;
hrt_abstime t_prev = 0;
const float alt_ctl_dz = 0.2f;
const float pos_ctl_dz = 0.05f;
float ref_alt = 0.0f;
hrt_abstime ref_alt_t = 0;
uint64_t local_ref_timestamp = 0;
PID_t xy_pos_pids[2];
PID_t xy_vel_pids[2];
PID_t z_pos_pid;
thrust_pid_t z_vel_pid;
thread_running = true;
struct multirotor_position_control_params params;
struct multirotor_position_control_param_handles params_h;
parameters_init(&params_h);
parameters_update(&params_h, &params);
for (int i = 0; i < 2; i++) {
pid_init(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f);
pid_init(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
}
pid_init(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max, PID_MODE_DERIVATIV_SET, 0.02f);
thrust_pid_init(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
while (!thread_should_exit) {
bool param_updated;
orb_check(param_sub, &param_updated);
if (param_updated) {
/* clear updated flag */
struct parameter_update_s ps;
orb_copy(ORB_ID(parameter_update), param_sub, &ps);
/* update params */
parameters_update(&params_h, &params);
for (int i = 0; i < 2; i++) {
pid_set_parameters(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f);
/* use integral_limit_out = tilt_max / 2 */
float i_limit;
if (params.xy_vel_i > 0.0f) {
i_limit = params.tilt_max / params.xy_vel_i / 2.0f;
} else {
i_limit = 0.0f; // not used
}
pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, i_limit, params.tilt_max);
}
pid_set_parameters(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max);
thrust_pid_set_parameters(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min);
}
bool updated;
orb_check(control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
}
orb_check(mission_triplet_sub, &updated);
if (updated) {
orb_copy(ORB_ID(mission_item_triplet), mission_triplet_sub, &triplet);
global_pos_sp_valid = triplet.current_valid;
reset_mission_sp = true;
}
hrt_abstime t = hrt_absolute_time();
float dt;
if (t_prev != 0) {
dt = (t - t_prev) * 0.000001f;
} else {
dt = 0.0f;
}
if (control_mode.flag_armed && !was_armed) {
/* reset setpoints and integrals on arming */
reset_man_sp_z = true;
reset_man_sp_xy = true;
reset_auto_sp_z = true;
reset_auto_sp_xy = true;
reset_takeoff_sp = true;
reset_int_z = true;
reset_int_xy = true;
}
was_armed = control_mode.flag_armed;
t_prev = t;
if (control_mode.flag_control_altitude_enabled || control_mode.flag_control_velocity_enabled || control_mode.flag_control_position_enabled) {
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
float z_sp_offs_max = params.z_vel_max / params.z_p * 2.0f;
float xy_sp_offs_max = params.xy_vel_max / params.xy_p * 2.0f;
float sp_move_rate[3] = { 0.0f, 0.0f, 0.0f };
if (control_mode.flag_control_manual_enabled) {
/* manual control */
/* check for reference point updates and correct setpoint */
if (local_pos.ref_timestamp != ref_alt_t) {
if (ref_alt_t != 0) {
/* home alt changed, don't follow large ground level changes in manual flight */
local_pos_sp.z += local_pos.ref_alt - ref_alt;
}
ref_alt_t = local_pos.ref_timestamp;
ref_alt = local_pos.ref_alt;
// TODO also correct XY setpoint
}
/* reset setpoints to current position if needed */
if (control_mode.flag_control_altitude_enabled) {
if (reset_man_sp_z) {
reset_man_sp_z = false;
local_pos_sp.z = local_pos.z;
mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", (double) - local_pos_sp.z);
}
/* move altitude setpoint with throttle stick */
float z_sp_ctl = scale_control(manual.throttle - 0.5f, 0.5f, alt_ctl_dz);
if (z_sp_ctl != 0.0f) {
sp_move_rate[2] = -z_sp_ctl * params.z_vel_max;
local_pos_sp.z += sp_move_rate[2] * dt;
if (local_pos_sp.z > local_pos.z + z_sp_offs_max) {
local_pos_sp.z = local_pos.z + z_sp_offs_max;
} else if (local_pos_sp.z < local_pos.z - z_sp_offs_max) {
local_pos_sp.z = local_pos.z - z_sp_offs_max;
}
}
}
if (control_mode.flag_control_position_enabled) {
if (reset_man_sp_xy) {
reset_man_sp_xy = false;
local_pos_sp.x = local_pos.x;
local_pos_sp.y = local_pos.y;
pid_reset_integral(&xy_vel_pids[0]);
pid_reset_integral(&xy_vel_pids[1]);
mavlink_log_info(mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y);
}
/* move position setpoint with roll/pitch stick */
float pos_pitch_sp_ctl = scale_control(-manual.pitch / params.rc_scale_pitch, 1.0f, pos_ctl_dz);
float pos_roll_sp_ctl = scale_control(manual.roll / params.rc_scale_roll, 1.0f, pos_ctl_dz);
if (pos_pitch_sp_ctl != 0.0f || pos_roll_sp_ctl != 0.0f) {
/* calculate direction and increment of control in NED frame */
float xy_sp_ctl_dir = att.yaw + atan2f(pos_roll_sp_ctl, pos_pitch_sp_ctl);
float xy_sp_ctl_speed = norm(pos_pitch_sp_ctl, pos_roll_sp_ctl) * params.xy_vel_max;
sp_move_rate[0] = cosf(xy_sp_ctl_dir) * xy_sp_ctl_speed;
sp_move_rate[1] = sinf(xy_sp_ctl_dir) * xy_sp_ctl_speed;
local_pos_sp.x += sp_move_rate[0] * dt;
local_pos_sp.y += sp_move_rate[1] * dt;
/* limit maximum setpoint from position offset and preserve direction
* fail safe, should not happen in normal operation */
float pos_vec_x = local_pos_sp.x - local_pos.x;
float pos_vec_y = local_pos_sp.y - local_pos.y;
float pos_vec_norm = norm(pos_vec_x, pos_vec_y) / xy_sp_offs_max;
if (pos_vec_norm > 1.0f) {
local_pos_sp.x = local_pos.x + pos_vec_x / pos_vec_norm;
local_pos_sp.y = local_pos.y + pos_vec_y / pos_vec_norm;
}
}
}
/* copy yaw setpoint to vehicle_local_position_setpoint topic */
local_pos_sp.yaw = att_sp.yaw_body;
/* local position setpoint is valid and can be used for auto loiter after position controlled mode */
reset_auto_sp_xy = !control_mode.flag_control_position_enabled;
reset_auto_sp_z = !control_mode.flag_control_altitude_enabled;
reset_takeoff_sp = true;
/* force reprojection of global setpoint after manual mode */
reset_mission_sp = true;
} else if (control_mode.flag_control_auto_enabled) {
/* AUTO mode, use global setpoint */
if (control_mode.auto_state == NAVIGATION_STATE_AUTO_READY) {
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
} else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
if (reset_takeoff_sp) {
reset_takeoff_sp = false;
local_pos_sp.x = local_pos.x;
local_pos_sp.y = local_pos.y;
local_pos_sp.z = - params.takeoff_alt - params.takeoff_gap;
att_sp.yaw_body = att.yaw;
mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double) - local_pos_sp.z);
}
reset_auto_sp_xy = false;
reset_auto_sp_z = true;
} else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_RTL) {
// TODO
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
} else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_MISSION) {
/* init local projection using local position ref */
if (local_pos.ref_timestamp != local_ref_timestamp) {
reset_mission_sp = true;
local_ref_timestamp = local_pos.ref_timestamp;
double lat_home = local_pos.ref_lat * 1e-7;
double lon_home = local_pos.ref_lon * 1e-7;
map_projection_init(lat_home, lon_home);
mavlink_log_info(mavlink_fd, "[mpc] local pos ref: %.7f, %.7f", (double)lat_home, (double)lon_home);
}
if (reset_mission_sp) {
reset_mission_sp = false;
/* update global setpoint projection */
if (global_pos_sp_valid) {
/* project global setpoint to local setpoint */
map_projection_project(triplet.current.lat, triplet.current.lon, &(local_pos_sp.x), &(local_pos_sp.y));
if (triplet.current.altitude_is_relative) {
local_pos_sp.z = -triplet.current.altitude;
} else {
local_pos_sp.z = local_pos.ref_alt - triplet.current.lat;
}
/* update yaw setpoint only if value is valid */
if (isfinite(triplet.current.yaw) && fabsf(triplet.current.yaw) < M_TWOPI) {
att_sp.yaw_body = triplet.current.yaw;
}
mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", triplet.current.lat, triplet.current.lon, (double)local_pos_sp.x, (double)local_pos_sp.y);
} else {
if (reset_auto_sp_xy) {
reset_auto_sp_xy = false;
/* local position setpoint is invalid,
* use current position as setpoint for loiter */
local_pos_sp.x = local_pos.x;
local_pos_sp.y = local_pos.y;
local_pos_sp.yaw = att.yaw;
}
if (reset_auto_sp_z) {
reset_auto_sp_z = false;
local_pos_sp.z = local_pos.z;
}
mavlink_log_info(mavlink_fd, "[mpc] no global pos sp, loiter: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y);
}
}
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
}
if (control_mode.auto_state != NAVIGATION_STATE_AUTO_TAKEOFF) {
reset_takeoff_sp = true;
}
if (control_mode.auto_state != NAVIGATION_STATE_AUTO_MISSION) {
reset_mission_sp = true;
}
/* copy yaw setpoint to vehicle_local_position_setpoint topic */
local_pos_sp.yaw = att_sp.yaw_body;
/* reset setpoints after AUTO mode */
reset_man_sp_xy = true;
reset_man_sp_z = true;
} else {
/* no control (failsafe), loiter or stay on ground */
if (local_pos.landed) {
/* landed: move setpoint down */
/* in air: hold altitude */
if (local_pos_sp.z < 5.0f) {
/* set altitude setpoint to 5m under ground,
* don't set it too deep to avoid unexpected landing in case of false "landed" signal */
local_pos_sp.z = 5.0f;
mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double) - local_pos_sp.z);
}
reset_man_sp_z = true;
} else {
/* in air: hold altitude */
if (reset_man_sp_z) {
reset_man_sp_z = false;
local_pos_sp.z = local_pos.z;
mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double) - local_pos_sp.z);
}
reset_auto_sp_z = false;
}
if (control_mode.flag_control_position_enabled) {
if (reset_man_sp_xy) {
reset_man_sp_xy = false;
local_pos_sp.x = local_pos.x;
local_pos_sp.y = local_pos.y;
local_pos_sp.yaw = att.yaw;
att_sp.yaw_body = att.yaw;
mavlink_log_info(mavlink_fd, "[mpc] set loiter pos: %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y);
}
reset_auto_sp_xy = false;
}
}
/* publish local position setpoint */
orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp);
/* run position & altitude controllers, calculate velocity setpoint */
if (control_mode.flag_control_altitude_enabled) {
global_vel_sp.vz = pid_calculate(&z_pos_pid, local_pos_sp.z, local_pos.z, local_pos.vz - sp_move_rate[2], dt) + sp_move_rate[2];
} else {
reset_man_sp_z = true;
global_vel_sp.vz = 0.0f;
}
if (control_mode.flag_control_position_enabled) {
/* calculate velocity set point in NED frame */
global_vel_sp.vx = pid_calculate(&xy_pos_pids[0], local_pos_sp.x, local_pos.x, local_pos.vx - sp_move_rate[0], dt) + sp_move_rate[0];
global_vel_sp.vy = pid_calculate(&xy_pos_pids[1], local_pos_sp.y, local_pos.y, local_pos.vy - sp_move_rate[1], dt) + sp_move_rate[1];
/* limit horizontal speed */
float xy_vel_sp_norm = norm(global_vel_sp.vx, global_vel_sp.vy) / params.xy_vel_max;
if (xy_vel_sp_norm > 1.0f) {
global_vel_sp.vx /= xy_vel_sp_norm;
global_vel_sp.vy /= xy_vel_sp_norm;
}
} else {
reset_man_sp_xy = true;
global_vel_sp.vx = 0.0f;
global_vel_sp.vy = 0.0f;
}
/* publish new velocity setpoint */
orb_publish(ORB_ID(vehicle_global_velocity_setpoint), global_vel_sp_pub, &global_vel_sp);
// TODO subscribe to velocity setpoint if altitude/position control disabled
if (control_mode.flag_control_climb_rate_enabled || control_mode.flag_control_velocity_enabled) {
/* run velocity controllers, calculate thrust vector with attitude-thrust compensation */
float thrust_sp[3] = { 0.0f, 0.0f, 0.0f };
if (control_mode.flag_control_climb_rate_enabled) {
if (reset_int_z) {
reset_int_z = false;
float i = params.thr_min;
if (reset_int_z_manual) {
i = manual.throttle;
if (i < params.thr_min) {
i = params.thr_min;
} else if (i > params.thr_max) {
i = params.thr_max;
}
}
thrust_pid_set_integral(&z_vel_pid, -i);
mavlink_log_info(mavlink_fd, "[mpc] reset hovering thrust: %.2f", (double)i);
}
thrust_sp[2] = thrust_pid_calculate(&z_vel_pid, global_vel_sp.vz, local_pos.vz, dt, att.R[2][2]);
att_sp.thrust = -thrust_sp[2];
} else {
/* reset thrust integral when altitude control enabled */
reset_int_z = true;
}
if (control_mode.flag_control_velocity_enabled) {
/* calculate thrust set point in NED frame */
if (reset_int_xy) {
reset_int_xy = false;
pid_reset_integral(&xy_vel_pids[0]);
pid_reset_integral(&xy_vel_pids[1]);
mavlink_log_info(mavlink_fd, "[mpc] reset pos integral");
}
thrust_sp[0] = pid_calculate(&xy_vel_pids[0], global_vel_sp.vx, local_pos.vx, 0.0f, dt);
thrust_sp[1] = pid_calculate(&xy_vel_pids[1], global_vel_sp.vy, local_pos.vy, 0.0f, dt);
/* thrust_vector now contains desired acceleration (but not in m/s^2) in NED frame */
/* limit horizontal part of thrust */
float thrust_xy_dir = atan2f(thrust_sp[1], thrust_sp[0]);
/* assuming that vertical component of thrust is g,
* horizontal component = g * tan(alpha) */
float tilt = atanf(norm(thrust_sp[0], thrust_sp[1]));
if (tilt > params.tilt_max) {
tilt = params.tilt_max;
}
/* convert direction to body frame */
thrust_xy_dir -= att.yaw;
/* calculate roll and pitch */
att_sp.roll_body = sinf(thrust_xy_dir) * tilt;
att_sp.pitch_body = -cosf(thrust_xy_dir) * tilt / cosf(att_sp.roll_body);
} else {
reset_int_xy = true;
}
att_sp.timestamp = hrt_absolute_time();
/* publish new attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
} else {
/* position controller disabled, reset setpoints */
reset_man_sp_z = true;
reset_man_sp_xy = true;
reset_int_z = true;
reset_int_xy = true;
reset_mission_sp = true;
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
}
/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */
reset_int_z_manual = control_mode.flag_armed && control_mode.flag_control_manual_enabled && !control_mode.flag_control_climb_rate_enabled;
/* run at approximately 50 Hz */
usleep(20000);
}
warnx("stopped");
mavlink_log_info(mavlink_fd, "[mpc] stopped");
thread_running = false;
fflush(stdout);
return 0;
}