forked from Archive/PX4-Autopilot
Merge branch 'master' of https://github.com/PX4/Firmware
This commit is contained in:
commit
f292b03772
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@ -97,7 +97,6 @@ int px4_deamon_app_main(int argc, char *argv[])
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||||||
4096,
|
4096,
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||||||
px4_deamon_thread_main,
|
px4_deamon_thread_main,
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||||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
(argv) ? (const char **)&argv[2] : (const char **)NULL);
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||||||
thread_running = true;
|
|
||||||
exit(0);
|
exit(0);
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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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|
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||||||
printf("[deamon] starting\n");
|
printf("[deamon] starting\n");
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||||||
|
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||||||
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thread_running = true;
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||||||
|
|
||||||
while (!thread_should_exit) {
|
while (!thread_should_exit) {
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printf("Hello Deamon!\n");
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printf("Hello Deamon!\n");
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sleep(10);
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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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|
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||||||
printf("[deamon] exiting.\n");
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printf("[deamon] exiting.\n");
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||||||
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thread_running = false;
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||||||
return 0;
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return 0;
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}
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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/offboard_control_setpoint.h>
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#include <uORB/topics/vehicle_command.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_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_global_position_setpoint.h>
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#include <uORB/topics/vehicle_attitude_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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#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 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 pub_hil_global_pos = -1;
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static orb_advert_t cmd_pub = -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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static orb_advert_t flow_pub = -1;
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@ -191,8 +194,10 @@ static struct mavlink_subscriptions {
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|
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||||||
static struct mavlink_publications {
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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 offboard_control_sp_pub;
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orb_advert_t vicon_position_pub;
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} mavlink_pubs = {
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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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};
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||||||
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||||||
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@ -1240,10 +1245,27 @@ void handleMessage(mavlink_message_t *msg)
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/* check if topic is advertised */
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/* check if topic is advertised */
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if (cmd_pub <= 0) {
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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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cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
|
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}
|
} else {
|
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/* create command */
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/* create command */
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orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
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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);
|
||||||
|
|
||||||
|
vicon_position.x = pos.x;
|
||||||
|
vicon_position.y = pos.y;
|
||||||
|
vicon_position.z = pos.z;
|
||||||
|
|
||||||
|
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);
|
||||||
|
} else {
|
||||||
|
orb_publish(ORB_ID(vehicle_vicon_position), mavlink_pubs.vicon_position_pub, &vicon_position);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
/* Handle quadrotor motor setpoints */
|
/* Handle quadrotor motor setpoints */
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||||||
|
|
||||||
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|
|
@ -49,24 +49,94 @@
|
||||||
#include <time.h>
|
#include <time.h>
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||||||
#include <sys/prctl.h>
|
#include <sys/prctl.h>
|
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#include <arch/board/up_hrt.h>
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#include <arch/board/up_hrt.h>
|
||||||
#include "ardrone_control.h"
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|
||||||
#include "attitude_control.h"
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|
||||||
#include "rate_control.h"
|
|
||||||
#include "ardrone_motor_control.h"
|
|
||||||
#include "position_control.h"
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|
||||||
#include <uORB/uORB.h>
|
#include <uORB/uORB.h>
|
||||||
#include <uORB/topics/vehicle_status.h>
|
#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_attitude.h>
|
#include <uORB/topics/vehicle_attitude.h>
|
||||||
#include <uORB/topics/manual_control_setpoint.h>
|
#include <uORB/topics/manual_control_setpoint.h>
|
||||||
|
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||||
|
#include <uORB/topics/vehicle_local_position_setpoint.h>
|
||||||
|
#include <uORB/topics/vehicle_vicon_position.h>
|
||||||
|
#include <systemlib/systemlib.h>
|
||||||
|
|
||||||
|
#include "multirotor_pos_control_params.h"
|
||||||
|
|
||||||
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|
||||||
|
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||||
|
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[]);
|
__EXPORT int multirotor_pos_control_main(int argc, char *argv[]);
|
||||||
|
|
||||||
static bool thread_should_exit;
|
/**
|
||||||
static bool thread_running = false;
|
* Mainloop of position controller.
|
||||||
static int mpc_task;
|
*/
|
||||||
|
static int multirotor_pos_control_thread_main(int argc, char *argv[]);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Print the correct usage.
|
||||||
|
*/
|
||||||
|
static void usage(const char *reason);
|
||||||
|
|
||||||
|
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_spawn().
|
||||||
|
*/
|
||||||
|
int multirotor_pos_control_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
if (argc < 1)
|
||||||
|
usage("missing command");
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "start")) {
|
||||||
|
|
||||||
|
if (thread_running) {
|
||||||
|
printf("multirotor pos control already running\n");
|
||||||
|
/* this is not an error */
|
||||||
|
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",
|
||||||
|
SCHED_DEFAULT,
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||||||
|
SCHED_PRIORITY_MAX - 60,
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||||||
|
4096,
|
||||||
|
multirotor_pos_control_thread_main,
|
||||||
|
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "stop")) {
|
||||||
|
thread_should_exit = true;
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "status")) {
|
||||||
|
if (thread_running) {
|
||||||
|
printf("\tmultirotor pos control app is running\n");
|
||||||
|
} else {
|
||||||
|
printf("\tmultirotor pos control app not started\n");
|
||||||
|
}
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
usage("unrecognized command");
|
||||||
|
exit(1);
|
||||||
|
}
|
||||||
|
|
||||||
static int
|
static int
|
||||||
mpc_thread_main(int argc, char *argv[])
|
multirotor_pos_control_thread_main(int argc, char *argv[])
|
||||||
{
|
{
|
||||||
/* welcome user */
|
/* welcome user */
|
||||||
printf("[multirotor pos control] Control started, taking over position control\n");
|
printf("[multirotor pos control] Control started, taking over position control\n");
|
||||||
|
@ -76,7 +146,7 @@ mpc_thread_main(int argc, char *argv[])
|
||||||
struct vehicle_attitude_s att;
|
struct vehicle_attitude_s att;
|
||||||
//struct vehicle_global_position_setpoint_s global_pos_sp;
|
//struct vehicle_global_position_setpoint_s global_pos_sp;
|
||||||
struct vehicle_local_position_setpoint_s local_pos_sp;
|
struct vehicle_local_position_setpoint_s local_pos_sp;
|
||||||
struct vehicle_local_position_s local_pos;
|
struct vehicle_vicon_position_s local_pos;
|
||||||
struct manual_control_setpoint_s manual;
|
struct manual_control_setpoint_s manual;
|
||||||
struct vehicle_attitude_setpoint_s att_sp;
|
struct vehicle_attitude_setpoint_s att_sp;
|
||||||
|
|
||||||
|
@ -84,13 +154,23 @@ mpc_thread_main(int argc, char *argv[])
|
||||||
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||||
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
|
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||||
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
|
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
|
||||||
int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
|
int local_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
|
||||||
//int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
|
//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));
|
int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
|
||||||
|
|
||||||
/* publish attitude setpoint */
|
/* publish attitude setpoint */
|
||||||
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
|
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
|
||||||
|
|
||||||
|
thread_running = true;
|
||||||
|
|
||||||
|
int loopcounter = 0;
|
||||||
|
|
||||||
|
struct multirotor_position_control_params p;
|
||||||
|
struct multirotor_position_control_param_handles h;
|
||||||
|
parameters_init(&h);
|
||||||
|
parameters_update(&h, &p);
|
||||||
|
|
||||||
|
|
||||||
while (1) {
|
while (1) {
|
||||||
/* get a local copy of the vehicle state */
|
/* get a local copy of the vehicle state */
|
||||||
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
|
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
|
||||||
|
@ -99,15 +179,34 @@ mpc_thread_main(int argc, char *argv[])
|
||||||
/* get a local copy of attitude */
|
/* get a local copy of attitude */
|
||||||
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
|
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
|
||||||
/* get a local copy of local position */
|
/* get a local copy of local position */
|
||||||
orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
|
orb_copy(ORB_ID(vehicle_vicon_position), local_pos_sub, &local_pos);
|
||||||
/* get a local copy of local position setpoint */
|
/* get a local copy of local position setpoint */
|
||||||
orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp);
|
orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp);
|
||||||
|
|
||||||
if (state.state_machine == SYSTEM_STATE_AUTO) {
|
if (loopcounter == 500) {
|
||||||
position_control(&state, &manual, &att, &local_pos, &local_pos_sp, &att_sp);
|
parameters_update(&h, &p);
|
||||||
|
loopcounter = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// if (state.state_machine == SYSTEM_STATE_AUTO) {
|
||||||
|
|
||||||
|
// 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 */
|
/* publish new attitude setpoint */
|
||||||
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
|
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 */
|
/* set setpoint to current position */
|
||||||
// XXX select pos reset channel on remote
|
// XXX select pos reset channel on remote
|
||||||
/* reset setpoint to current position (position hold) */
|
/* 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.z = local_pos.z;
|
||||||
// local_pos_sp.yaw = att.yaw;
|
// local_pos_sp.yaw = att.yaw;
|
||||||
// }
|
// }
|
||||||
}
|
// }
|
||||||
|
|
||||||
/* run at approximately 50 Hz */
|
/* run at approximately 50 Hz */
|
||||||
usleep(20000);
|
usleep(20000);
|
||||||
|
loopcounter++;
|
||||||
|
|
||||||
counter++;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/* close uarts */
|
printf("[multirotor pos control] ending now...\n");
|
||||||
close(ardrone_write);
|
|
||||||
ar_multiplexing_deinit(gpios);
|
thread_running = false;
|
||||||
|
|
||||||
printf("[multirotor pos control] ending now...\r\n");
|
|
||||||
fflush(stdout);
|
fflush(stdout);
|
||||||
return 0;
|
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.
|
// * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
// * Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||||
* @author Laurens Mackay <mackayl@student.ethz.ch>
|
// * @author Laurens Mackay <mackayl@student.ethz.ch>
|
||||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
// * @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||||
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
|
// * @author Martin Rutschmann <rutmarti@student.ethz.ch>
|
||||||
*
|
// *
|
||||||
* Redistribution and use in source and binary forms, with or without
|
// * Redistribution and use in source and binary forms, with or without
|
||||||
* modification, are permitted provided that the following conditions
|
// * modification, are permitted provided that the following conditions
|
||||||
* are met:
|
// * are met:
|
||||||
*
|
// *
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
// * 1. Redistributions of source code must retain the above copyright
|
||||||
* notice, this list of conditions and the following disclaimer.
|
// * notice, this list of conditions and the following disclaimer.
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
// * 2. Redistributions in binary form must reproduce the above copyright
|
||||||
* notice, this list of conditions and the following disclaimer in
|
// * notice, this list of conditions and the following disclaimer in
|
||||||
* the documentation and/or other materials provided with the
|
// * the documentation and/or other materials provided with the
|
||||||
* distribution.
|
// * distribution.
|
||||||
* 3. Neither the name PX4 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
|
// * used to endorse or promote products derived from this software
|
||||||
* without specific prior written permission.
|
// * without specific prior written permission.
|
||||||
*
|
// *
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
// * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
// * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
// * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
// * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
// * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
// * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
// * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
// * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
// * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
// * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
// * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
// * POSSIBILITY OF SUCH DAMAGE.
|
||||||
*
|
// *
|
||||||
****************************************************************************/
|
// ****************************************************************************/
|
||||||
|
|
||||||
/**
|
// /**
|
||||||
* @file multirotor_position_control.c
|
// * @file multirotor_position_control.c
|
||||||
* Implementation of the position control for a multirotor VTOL
|
// * Implementation of the position control for a multirotor VTOL
|
||||||
*/
|
// */
|
||||||
|
|
||||||
#include <stdio.h>
|
// #include <stdio.h>
|
||||||
#include <stdlib.h>
|
// #include <stdlib.h>
|
||||||
#include <stdio.h>
|
// #include <stdio.h>
|
||||||
#include <stdint.h>
|
// #include <stdint.h>
|
||||||
#include <math.h>
|
// #include <math.h>
|
||||||
#include <stdbool.h>
|
// #include <stdbool.h>
|
||||||
#include <float.h>
|
// #include <float.h>
|
||||||
#include <systemlib/pid/pid.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,
|
// 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_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)
|
// 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 uint16_t counter;
|
|
||||||
|
|
||||||
static bool initialized;
|
|
||||||
static uint16_t pm_counter;
|
|
||||||
|
|
||||||
static float lat_next;
|
|
||||||
static float lon_next;
|
|
||||||
|
|
||||||
static float pitch_current;
|
|
||||||
|
|
||||||
static float thrust_total;
|
|
||||||
|
|
||||||
|
|
||||||
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_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;
|
|
||||||
|
|
||||||
/* 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;
|
|
||||||
|
|
||||||
/* 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;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 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];
|
|
||||||
|
|
||||||
pm_counter = global_data_parameter_storage->counter;
|
|
||||||
printf("Position controller changed pid parameters\n");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
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);
|
|
||||||
|
|
||||||
/* 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);
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 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);
|
|
||||||
|
|
||||||
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
|
|
||||||
|
|
||||||
/* 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);
|
|
||||||
|
|
||||||
/* 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;
|
|
||||||
|
|
||||||
|
|
||||||
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...
|
|
||||||
|
|
||||||
/* 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);
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 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;
|
|
||||||
|
|
||||||
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;
|
|
||||||
|
|
||||||
} else if (roll_fraction > 1) {
|
|
||||||
roll_fraction = 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
// if(counter % 5 == 0)
|
|
||||||
// {
|
// {
|
||||||
// printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
|
// static PID_t distance_controller;
|
||||||
|
|
||||||
|
// static int read_ret;
|
||||||
|
// static global_data_position_t position_estimated;
|
||||||
|
|
||||||
|
// static uint16_t counter;
|
||||||
|
|
||||||
|
// static bool initialized;
|
||||||
|
// static uint16_t pm_counter;
|
||||||
|
|
||||||
|
// static float lat_next;
|
||||||
|
// static float lon_next;
|
||||||
|
|
||||||
|
// static float pitch_current;
|
||||||
|
|
||||||
|
// static float thrust_total;
|
||||||
|
|
||||||
|
|
||||||
|
// 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_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;
|
||||||
|
|
||||||
|
// /* 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;
|
||||||
|
|
||||||
|
// /* 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;
|
||||||
|
// }
|
||||||
|
|
||||||
|
// /* 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];
|
||||||
|
|
||||||
|
// pm_counter = global_data_parameter_storage->counter;
|
||||||
|
// printf("Position controller changed pid parameters\n");
|
||||||
|
// }
|
||||||
|
// }
|
||||||
|
|
||||||
|
// 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);
|
||||||
|
|
||||||
|
// /* 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);
|
||||||
|
// }
|
||||||
|
|
||||||
|
// /* 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);
|
||||||
|
|
||||||
|
// 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
|
||||||
|
|
||||||
|
// /* 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);
|
||||||
|
|
||||||
|
// /* 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;
|
||||||
|
|
||||||
|
|
||||||
|
// 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...
|
||||||
|
|
||||||
|
// /* 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);
|
// fflush(stdout);
|
||||||
// }
|
// }
|
||||||
|
|
||||||
pitch_desired = asinf(pitch_fraction);
|
// /* Get current attitude */
|
||||||
roll_desired = asinf(roll_fraction);
|
// if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
|
||||||
}
|
// pitch_current = global_data_attitude->pitch;
|
||||||
|
// global_data_unlock(&global_data_attitude->access_conf);
|
||||||
|
// }
|
||||||
|
|
||||||
att_sp.roll = roll_desired;
|
// /* Get desired pitch & roll */
|
||||||
att_sp.pitch = pitch_desired;
|
// float pitch_desired = 0.0f;
|
||||||
|
// float roll_desired = 0.0f;
|
||||||
|
|
||||||
counter++;
|
// 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;
|
||||||
|
|
||||||
|
// } 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);
|
||||||
|
// // }
|
||||||
|
|
||||||
|
// pitch_desired = asinf(pitch_fraction);
|
||||||
|
// roll_desired = asinf(roll_fraction);
|
||||||
|
// }
|
||||||
|
|
||||||
|
// att_sp.roll = roll_desired;
|
||||||
|
// att_sp.pitch = pitch_desired;
|
||||||
|
|
||||||
|
// counter++;
|
||||||
|
// }
|
||||||
|
|
|
@ -40,11 +40,11 @@
|
||||||
* Definition of the position control for a multirotor VTOL
|
* Definition of the position control for a multirotor VTOL
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#ifndef POSITION_CONTROL_H_
|
// #ifndef POSITION_CONTROL_H_
|
||||||
#define POSITION_CONTROL_H_
|
// #define POSITION_CONTROL_H_
|
||||||
|
|
||||||
void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
|
// 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_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);
|
// 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"
|
#include "topics/vehicle_local_position.h"
|
||||||
ORB_DEFINE(vehicle_local_position, struct vehicle_local_position_s);
|
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"
|
#include "topics/vehicle_rates_setpoint.h"
|
||||||
ORB_DEFINE(vehicle_rates_setpoint, struct vehicle_rates_setpoint_s);
|
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 += sensors
|
||||||
CONFIGURED_APPS += ardrone_interface
|
CONFIGURED_APPS += ardrone_interface
|
||||||
CONFIGURED_APPS += multirotor_att_control
|
CONFIGURED_APPS += multirotor_att_control
|
||||||
|
CONFIGURED_APPS += multirotor_pos_control
|
||||||
CONFIGURED_APPS += px4/attitude_estimator_bm
|
CONFIGURED_APPS += px4/attitude_estimator_bm
|
||||||
CONFIGURED_APPS += fixedwing_control
|
CONFIGURED_APPS += fixedwing_control
|
||||||
CONFIGURED_APPS += position_estimator
|
CONFIGURED_APPS += position_estimator
|
||||||
|
|
Loading…
Reference in New Issue