forked from Archive/PX4-Autopilot
Merge branch 'master' of https://github.com/PX4/Firmware
This commit is contained in:
tnaegeli
commit
f292b03772
|
|
@ -97,7 +97,6 @@ int px4_deamon_app_main(int argc, char *argv[])
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|||
4096,
|
||||
px4_deamon_thread_main,
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||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
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||||
thread_running = true;
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||||
exit(0);
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||||
}
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||||
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||||
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|
@ -123,6 +122,8 @@ int px4_deamon_thread_main(int argc, char *argv[]) {
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printf("[deamon] starting\n");
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thread_running = true;
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while (!thread_should_exit) {
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printf("Hello Deamon!\n");
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sleep(10);
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@ -130,5 +131,7 @@ int px4_deamon_thread_main(int argc, char *argv[]) {
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printf("[deamon] exiting.\n");
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thread_running = false;
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return 0;
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}
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|
|
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@ -68,6 +68,7 @@
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#include <uORB/topics/offboard_control_setpoint.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_vicon_position.h>
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#include <uORB/topics/vehicle_global_position_setpoint.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/optical_flow.h>
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@ -134,6 +135,8 @@ static struct vehicle_command_s vcmd;
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static struct actuator_armed_s armed;
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static struct vehicle_vicon_position_s vicon_position;
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static orb_advert_t pub_hil_global_pos = -1;
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static orb_advert_t cmd_pub = -1;
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static orb_advert_t flow_pub = -1;
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@ -191,8 +194,10 @@ static struct mavlink_subscriptions {
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static struct mavlink_publications {
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orb_advert_t offboard_control_sp_pub;
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orb_advert_t vicon_position_pub;
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} mavlink_pubs = {
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.offboard_control_sp_pub = -1
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.offboard_control_sp_pub = -1,
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.vicon_position_pub = -1
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};
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@ -1240,9 +1245,26 @@ void handleMessage(mavlink_message_t *msg)
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/* check if topic is advertised */
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if (cmd_pub <= 0) {
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cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
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} else {
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/* create command */
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orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
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}
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}
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/* Handle Vicon position estimates */
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if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
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mavlink_vicon_position_estimate_t pos;
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mavlink_msg_vicon_position_estimate_decode(msg, &pos);
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vicon_position.x = pos.x;
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vicon_position.y = pos.y;
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vicon_position.z = pos.z;
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if (mavlink_pubs.vicon_position_pub <= 0) {
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mavlink_pubs.vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
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} else {
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orb_publish(ORB_ID(vehicle_vicon_position), mavlink_pubs.vicon_position_pub, &vicon_position);
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}
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/* create command */
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orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
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}
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/* Handle quadrotor motor setpoints */
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|
|
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@ -49,24 +49,94 @@
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#include <time.h>
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#include <sys/prctl.h>
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#include <arch/board/up_hrt.h>
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#include "ardrone_control.h"
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#include "attitude_control.h"
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#include "rate_control.h"
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#include "ardrone_motor_control.h"
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#include "position_control.h"
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_vicon_position.h>
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#include <systemlib/systemlib.h>
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#include "multirotor_pos_control_params.h"
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static bool thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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__EXPORT int multirotor_pos_control_main(int argc, char *argv[]);
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static bool thread_should_exit;
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static bool thread_running = false;
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||||
static int mpc_task;
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/**
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* Mainloop of position controller.
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*/
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static int multirotor_pos_control_thread_main(int argc, char *argv[]);
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||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
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|
||||
static void
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||||
usage(const char *reason)
|
||||
{
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||||
if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
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exit(1);
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}
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||||
|
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/**
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* The deamon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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* The actual stack size should be set in the call
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* to task_spawn().
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*/
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int multirotor_pos_control_main(int argc, char *argv[])
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{
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if (argc < 1)
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usage("missing command");
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if (!strcmp(argv[1], "start")) {
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if (thread_running) {
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printf("multirotor pos control already running\n");
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/* this is not an error */
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exit(0);
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}
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thread_should_exit = false;
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deamon_task = task_spawn("multirotor pos control",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 60,
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4096,
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multirotor_pos_control_thread_main,
|
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(argv) ? (const char **)&argv[2] : (const char **)NULL);
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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thread_should_exit = true;
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exit(0);
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}
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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printf("\tmultirotor pos control app is running\n");
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} else {
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printf("\tmultirotor pos control app not started\n");
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||||
}
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||||
exit(0);
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||||
}
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||||
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||||
usage("unrecognized command");
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exit(1);
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}
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||||
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static int
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mpc_thread_main(int argc, char *argv[])
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multirotor_pos_control_thread_main(int argc, char *argv[])
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{
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/* welcome user */
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||||
printf("[multirotor pos control] Control started, taking over position control\n");
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@ -76,7 +146,7 @@ mpc_thread_main(int argc, char *argv[])
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struct vehicle_attitude_s att;
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//struct vehicle_global_position_setpoint_s global_pos_sp;
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struct vehicle_local_position_setpoint_s local_pos_sp;
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struct vehicle_local_position_s local_pos;
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struct vehicle_vicon_position_s local_pos;
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struct manual_control_setpoint_s manual;
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||||
struct vehicle_attitude_setpoint_s att_sp;
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@ -84,13 +154,23 @@ mpc_thread_main(int argc, char *argv[])
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int state_sub = orb_subscribe(ORB_ID(vehicle_status));
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int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
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int local_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
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//int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
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int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
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/* publish attitude setpoint */
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orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
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thread_running = true;
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int loopcounter = 0;
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struct multirotor_position_control_params p;
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struct multirotor_position_control_param_handles h;
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parameters_init(&h);
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parameters_update(&h, &p);
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while (1) {
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/* get a local copy of the vehicle state */
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orb_copy(ORB_ID(vehicle_status), state_sub, &state);
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@ -99,15 +179,34 @@ mpc_thread_main(int argc, char *argv[])
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/* get a local copy of attitude */
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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/* get a local copy of local position */
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orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
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orb_copy(ORB_ID(vehicle_vicon_position), local_pos_sub, &local_pos);
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/* get a local copy of local position setpoint */
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orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp);
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|
||||
if (state.state_machine == SYSTEM_STATE_AUTO) {
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position_control(&state, &manual, &att, &local_pos, &local_pos_sp, &att_sp);
|
||||
if (loopcounter == 500) {
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parameters_update(&h, &p);
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loopcounter = 0;
|
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}
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|
||||
// if (state.state_machine == SYSTEM_STATE_AUTO) {
|
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|
||||
// XXX IMPLEMENT POSITION CONTROL HERE
|
||||
|
||||
float dT = 1.0f / 50.0f;
|
||||
|
||||
float x_setpoint = 0.0f;
|
||||
|
||||
/* local pos is the Vicon position */
|
||||
|
||||
att_sp.pitch_body = (local_pos.x - x_setpoint) * p.p * dT;
|
||||
att_sp.roll_body = 0.0f;
|
||||
att_sp.yaw_body = 0.0f;
|
||||
att_sp.thrust = 0.4f;
|
||||
att_sp.timestamp = hrt_absolute_time();
|
||||
|
||||
/* publish new attitude setpoint */
|
||||
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
|
||||
} else if (state.state_machine == SYSTEM_STATE_STABILIZE) {
|
||||
// } else if (state.state_machine == SYSTEM_STATE_STABILIZED) {
|
||||
/* set setpoint to current position */
|
||||
// XXX select pos reset channel on remote
|
||||
/* reset setpoint to current position (position hold) */
|
||||
|
|
@ -117,19 +216,18 @@ mpc_thread_main(int argc, char *argv[])
|
|||
// local_pos_sp.z = local_pos.z;
|
||||
// local_pos_sp.yaw = att.yaw;
|
||||
// }
|
||||
}
|
||||
// }
|
||||
|
||||
/* run at approximately 50 Hz */
|
||||
usleep(20000);
|
||||
loopcounter++;
|
||||
|
||||
counter++;
|
||||
}
|
||||
|
||||
/* close uarts */
|
||||
close(ardrone_write);
|
||||
ar_multiplexing_deinit(gpios);
|
||||
printf("[multirotor pos control] ending now...\n");
|
||||
|
||||
thread_running = false;
|
||||
|
||||
printf("[multirotor pos control] ending now...\r\n");
|
||||
fflush(stdout);
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,62 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Tobias Naegeli <naegelit@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_position_control_params.c
|
||||
*
|
||||
* Parameters for EKF filter
|
||||
*/
|
||||
|
||||
#include "multirotor_pos_control_params.h"
|
||||
|
||||
/* Extended Kalman Filter covariances */
|
||||
|
||||
/* controller parameters */
|
||||
PARAM_DEFINE_FLOAT(MC_POS_P, 0.2f);
|
||||
|
||||
int parameters_init(struct multirotor_position_control_param_handles *h)
|
||||
{
|
||||
/* PID parameters */
|
||||
h->p = param_find("MC_POS_P");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p)
|
||||
{
|
||||
param_get(h->p, &(p->p));
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
|
@ -0,0 +1,66 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Tobias Naegeli <naegelit@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_position_control_params.h
|
||||
*
|
||||
* Parameters for position controller
|
||||
*/
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
struct multirotor_position_control_params {
|
||||
float p;
|
||||
float i;
|
||||
float d;
|
||||
};
|
||||
|
||||
struct multirotor_position_control_param_handles {
|
||||
param_t p;
|
||||
param_t i;
|
||||
param_t d;
|
||||
};
|
||||
|
||||
/**
|
||||
* Initialize all parameter handles and values
|
||||
*
|
||||
*/
|
||||
int parameters_init(struct multirotor_position_control_param_handles *h);
|
||||
|
||||
/**
|
||||
* Update all parameters
|
||||
*
|
||||
*/
|
||||
int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p);
|
||||
|
|
@ -1,235 +1,235 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
// /****************************************************************************
|
||||
// *
|
||||
// * 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
|
||||
// * 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_position_control.c
|
||||
* Implementation of the position control for a multirotor VTOL
|
||||
*/
|
||||
// /**
|
||||
// * @file multirotor_position_control.c
|
||||
// * Implementation of the position control for a multirotor VTOL
|
||||
// */
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
#include <math.h>
|
||||
#include <stdbool.h>
|
||||
#include <float.h>
|
||||
#include <systemlib/pid/pid.h>
|
||||
// #include <stdio.h>
|
||||
// #include <stdlib.h>
|
||||
// #include <stdio.h>
|
||||
// #include <stdint.h>
|
||||
// #include <math.h>
|
||||
// #include <stdbool.h>
|
||||
// #include <float.h>
|
||||
// #include <systemlib/pid/pid.h>
|
||||
|
||||
#include "multirotor_position_control.h"
|
||||
// #include "multirotor_position_control.h"
|
||||
|
||||
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;
|
||||
// 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;
|
||||
|
||||
static int read_ret;
|
||||
static global_data_position_t position_estimated;
|
||||
// static int read_ret;
|
||||
// static global_data_position_t position_estimated;
|
||||
|
||||
static uint16_t counter;
|
||||
// static uint16_t counter;
|
||||
|
||||
static bool initialized;
|
||||
static uint16_t pm_counter;
|
||||
// static bool initialized;
|
||||
// static uint16_t pm_counter;
|
||||
|
||||
static float lat_next;
|
||||
static float lon_next;
|
||||
// static float lat_next;
|
||||
// static float lon_next;
|
||||
|
||||
static float pitch_current;
|
||||
// static float pitch_current;
|
||||
|
||||
static float thrust_total;
|
||||
// static float thrust_total;
|
||||
|
||||
|
||||
if (initialized == false) {
|
||||
// if (initialized == false) {
|
||||
|
||||
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],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
|
||||
PID_MODE_DERIVATIV_CALC, 150);//150
|
||||
// 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],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
|
||||
// PID_MODE_DERIVATIV_CALC, 150);//150
|
||||
|
||||
// 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];
|
||||
// // 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];
|
||||
|
||||
thrust_total = 0.0f;
|
||||
// thrust_total = 0.0f;
|
||||
|
||||
/* Position initialization */
|
||||
/* Wait for new position estimate */
|
||||
do {
|
||||
read_ret = read_lock_position(&position_estimated);
|
||||
} while (read_ret != 0);
|
||||
// /* Position initialization */
|
||||
// /* Wait for new position estimate */
|
||||
// do {
|
||||
// read_ret = read_lock_position(&position_estimated);
|
||||
// } while (read_ret != 0);
|
||||
|
||||
lat_next = position_estimated.lat;
|
||||
lon_next = position_estimated.lon;
|
||||
// lat_next = position_estimated.lat;
|
||||
// lon_next = position_estimated.lon;
|
||||
|
||||
/* attitude initialization */
|
||||
global_data_lock(&global_data_attitude->access_conf);
|
||||
pitch_current = global_data_attitude->pitch;
|
||||
global_data_unlock(&global_data_attitude->access_conf);
|
||||
// /* attitude initialization */
|
||||
// global_data_lock(&global_data_attitude->access_conf);
|
||||
// pitch_current = global_data_attitude->pitch;
|
||||
// global_data_unlock(&global_data_attitude->access_conf);
|
||||
|
||||
initialized = true;
|
||||
}
|
||||
// initialized = true;
|
||||
// }
|
||||
|
||||
/* load new parameters with 10Hz */
|
||||
if (counter % 50 == 0) {
|
||||
if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
|
||||
/* check whether new parameters are available */
|
||||
if (global_data_parameter_storage->counter > pm_counter) {
|
||||
pid_set_parameters(&distance_controller,
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
|
||||
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);
|
||||
// /* load new parameters with 10Hz */
|
||||
// if (counter % 50 == 0) {
|
||||
// if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
|
||||
// /* check whether new parameters are available */
|
||||
// if (global_data_parameter_storage->counter > pm_counter) {
|
||||
// pid_set_parameters(&distance_controller,
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
|
||||
// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);
|
||||
|
||||
//
|
||||
// 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];
|
||||
// //
|
||||
// // 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;
|
||||
printf("Position controller changed pid parameters\n");
|
||||
}
|
||||
}
|
||||
// pm_counter = global_data_parameter_storage->counter;
|
||||
// printf("Position controller changed pid parameters\n");
|
||||
// }
|
||||
// }
|
||||
|
||||
global_data_unlock(&global_data_parameter_storage->access_conf);
|
||||
}
|
||||
// global_data_unlock(&global_data_parameter_storage->access_conf);
|
||||
// }
|
||||
|
||||
|
||||
/* Wait for new position estimate */
|
||||
do {
|
||||
read_ret = read_lock_position(&position_estimated);
|
||||
} while (read_ret != 0);
|
||||
// /* Wait for new position estimate */
|
||||
// do {
|
||||
// read_ret = read_lock_position(&position_estimated);
|
||||
// } while (read_ret != 0);
|
||||
|
||||
/* Get next waypoint */ //TODO: add local copy
|
||||
// /* Get next waypoint */ //TODO: add local copy
|
||||
|
||||
if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
|
||||
lat_next = global_data_position_setpoint->x;
|
||||
lon_next = global_data_position_setpoint->y;
|
||||
global_data_unlock(&global_data_position_setpoint->access_conf);
|
||||
}
|
||||
// if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
|
||||
// lat_next = global_data_position_setpoint->x;
|
||||
// lon_next = global_data_position_setpoint->y;
|
||||
// global_data_unlock(&global_data_position_setpoint->access_conf);
|
||||
// }
|
||||
|
||||
/* Get distance to waypoint */
|
||||
float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
|
||||
// if(counter % 5 == 0)
|
||||
// printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
|
||||
// /* Get distance to waypoint */
|
||||
// float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
|
||||
// // if(counter % 5 == 0)
|
||||
// // printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
|
||||
|
||||
/* Get bearing to waypoint (direction on earth surface to next waypoint) */
|
||||
float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);
|
||||
// /* Get bearing to waypoint (direction on earth surface to next waypoint) */
|
||||
// float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);
|
||||
|
||||
if (counter % 5 == 0)
|
||||
printf("bearing: %.4f\n", bearing);
|
||||
// if (counter % 5 == 0)
|
||||
// printf("bearing: %.4f\n", bearing);
|
||||
|
||||
/* Calculate speed in direction of bearing (needed for controller) */
|
||||
float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy);
|
||||
// if(counter % 5 == 0)
|
||||
// printf("speed_norm: %.4f\n", speed_norm);
|
||||
float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
|
||||
// /* Calculate speed in direction of bearing (needed for controller) */
|
||||
// float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy);
|
||||
// // if(counter % 5 == 0)
|
||||
// // printf("speed_norm: %.4f\n", speed_norm);
|
||||
// float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
|
||||
|
||||
/* Control Thrust in bearing direction */
|
||||
float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
|
||||
CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
|
||||
// /* Control Thrust in bearing direction */
|
||||
// float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
|
||||
// CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
|
||||
|
||||
// if(counter % 5 == 0)
|
||||
// printf("horizontal thrust: %.4f\n", horizontal_thrust);
|
||||
// // if(counter % 5 == 0)
|
||||
// // printf("horizontal thrust: %.4f\n", horizontal_thrust);
|
||||
|
||||
/* Get total thrust (from remote for now) */
|
||||
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
|
||||
thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum?
|
||||
global_data_unlock(&global_data_rc_channels->access_conf);
|
||||
}
|
||||
// /* Get total thrust (from remote for now) */
|
||||
// if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
|
||||
// thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum?
|
||||
// global_data_unlock(&global_data_rc_channels->access_conf);
|
||||
// }
|
||||
|
||||
const float max_gas = 500.0f;
|
||||
thrust_total *= max_gas / 20000.0f; //TODO: check this
|
||||
thrust_total += max_gas / 2.0f;
|
||||
// const float max_gas = 500.0f;
|
||||
// thrust_total *= max_gas / 20000.0f; //TODO: check this
|
||||
// thrust_total += max_gas / 2.0f;
|
||||
|
||||
|
||||
if (horizontal_thrust > thrust_total) {
|
||||
horizontal_thrust = thrust_total;
|
||||
// if (horizontal_thrust > thrust_total) {
|
||||
// horizontal_thrust = thrust_total;
|
||||
|
||||
} else if (horizontal_thrust < -thrust_total) {
|
||||
horizontal_thrust = -thrust_total;
|
||||
}
|
||||
// } else if (horizontal_thrust < -thrust_total) {
|
||||
// horizontal_thrust = -thrust_total;
|
||||
// }
|
||||
|
||||
|
||||
|
||||
//TODO: maybe we want to add a speed controller later...
|
||||
// //TODO: maybe we want to add a speed controller later...
|
||||
|
||||
/* Calclulate thrust in east and north direction */
|
||||
float thrust_north = cosf(bearing) * horizontal_thrust;
|
||||
float thrust_east = sinf(bearing) * horizontal_thrust;
|
||||
// /* Calclulate thrust in east and north direction */
|
||||
// float thrust_north = cosf(bearing) * horizontal_thrust;
|
||||
// float thrust_east = sinf(bearing) * horizontal_thrust;
|
||||
|
||||
if (counter % 10 == 0) {
|
||||
printf("thrust north: %.4f\n", thrust_north);
|
||||
printf("thrust east: %.4f\n", thrust_east);
|
||||
fflush(stdout);
|
||||
}
|
||||
// if (counter % 10 == 0) {
|
||||
// printf("thrust north: %.4f\n", thrust_north);
|
||||
// printf("thrust east: %.4f\n", thrust_east);
|
||||
// fflush(stdout);
|
||||
// }
|
||||
|
||||
/* Get current attitude */
|
||||
if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
|
||||
pitch_current = global_data_attitude->pitch;
|
||||
global_data_unlock(&global_data_attitude->access_conf);
|
||||
}
|
||||
// /* Get current attitude */
|
||||
// if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
|
||||
// pitch_current = global_data_attitude->pitch;
|
||||
// global_data_unlock(&global_data_attitude->access_conf);
|
||||
// }
|
||||
|
||||
/* Get desired pitch & roll */
|
||||
float pitch_desired = 0.0f;
|
||||
float roll_desired = 0.0f;
|
||||
// /* Get desired pitch & roll */
|
||||
// float pitch_desired = 0.0f;
|
||||
// float roll_desired = 0.0f;
|
||||
|
||||
if (thrust_total != 0) {
|
||||
float pitch_fraction = -thrust_north / thrust_total;
|
||||
float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);
|
||||
// if (thrust_total != 0) {
|
||||
// float pitch_fraction = -thrust_north / thrust_total;
|
||||
// float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);
|
||||
|
||||
if (roll_fraction < -1) {
|
||||
roll_fraction = -1;
|
||||
// if (roll_fraction < -1) {
|
||||
// roll_fraction = -1;
|
||||
|
||||
} else if (roll_fraction > 1) {
|
||||
roll_fraction = 1;
|
||||
}
|
||||
// } else if (roll_fraction > 1) {
|
||||
// roll_fraction = 1;
|
||||
// }
|
||||
|
||||
// if(counter % 5 == 0)
|
||||
// {
|
||||
// printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
|
||||
// fflush(stdout);
|
||||
// }
|
||||
// // if(counter % 5 == 0)
|
||||
// // {
|
||||
// // printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
|
||||
// // fflush(stdout);
|
||||
// // }
|
||||
|
||||
pitch_desired = asinf(pitch_fraction);
|
||||
roll_desired = asinf(roll_fraction);
|
||||
}
|
||||
// pitch_desired = asinf(pitch_fraction);
|
||||
// roll_desired = asinf(roll_fraction);
|
||||
// }
|
||||
|
||||
att_sp.roll = roll_desired;
|
||||
att_sp.pitch = pitch_desired;
|
||||
// att_sp.roll = roll_desired;
|
||||
// att_sp.pitch = pitch_desired;
|
||||
|
||||
counter++;
|
||||
}
|
||||
// counter++;
|
||||
// }
|
||||
|
|
|
|||
|
|
@ -40,11 +40,11 @@
|
|||
* Definition of the position control for a multirotor VTOL
|
||||
*/
|
||||
|
||||
#ifndef POSITION_CONTROL_H_
|
||||
#define POSITION_CONTROL_H_
|
||||
// #ifndef POSITION_CONTROL_H_
|
||||
// #define POSITION_CONTROL_H_
|
||||
|
||||
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);
|
||||
// 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 /* POSITION_CONTROL_H_ */
|
||||
// #endif /* POSITION_CONTROL_H_ */
|
||||
|
|
|
|||
|
|
@ -77,6 +77,9 @@ ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
|
|||
#include "topics/vehicle_local_position.h"
|
||||
ORB_DEFINE(vehicle_local_position, struct vehicle_local_position_s);
|
||||
|
||||
#include "topics/vehicle_vicon_position.h"
|
||||
ORB_DEFINE(vehicle_vicon_position, struct vehicle_vicon_position_s);
|
||||
|
||||
#include "topics/vehicle_rates_setpoint.h"
|
||||
ORB_DEFINE(vehicle_rates_setpoint, struct vehicle_rates_setpoint_s);
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,78 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
* 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 vehicle_vicon_position.h
|
||||
* Definition of the raw VICON Motion Capture position
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_VICON_POSITION_H_
|
||||
#define TOPIC_VEHICLE_VICON_POSITION_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Fused local position in NED.
|
||||
*/
|
||||
struct vehicle_vicon_position_s
|
||||
{
|
||||
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
|
||||
bool valid; /**< true if position satisfies validity criteria of estimator */
|
||||
|
||||
float x; /**< X positin in meters in NED earth-fixed frame */
|
||||
float y; /**< X positin in meters in NED earth-fixed frame */
|
||||
float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */
|
||||
float vx;
|
||||
float vy;
|
||||
float vz;
|
||||
|
||||
// TODO Add covariances here
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_vicon_position);
|
||||
|
||||
#endif
|
||||
|
|
@ -74,6 +74,7 @@ CONFIGURED_APPS += sdlog
|
|||
CONFIGURED_APPS += sensors
|
||||
CONFIGURED_APPS += ardrone_interface
|
||||
CONFIGURED_APPS += multirotor_att_control
|
||||
CONFIGURED_APPS += multirotor_pos_control
|
||||
CONFIGURED_APPS += px4/attitude_estimator_bm
|
||||
CONFIGURED_APPS += fixedwing_control
|
||||
CONFIGURED_APPS += position_estimator
|
||||
|
|
|
|||
Loading…
Reference in New Issue