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Added actuator controls effective topic

This commit is contained in:
Lorenz Meier 2012-11-21 14:59:55 +01:00
parent d1cde9858d
commit ffda224b41
3 changed files with 105 additions and 4 deletions
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32
apps/ardrone_interface/ardrone_motor_control.c
View File

@ -45,6 +45,7 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <systemlib/err.h>
#include "ardrone_motor_control.h"
@ -385,6 +386,11 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */
float yaw_factor = 1.0f;
static bool initialized = false;
/* publish effective outputs */
static struct actuator_controls_effective_s actuator_controls_effective;
static orb_advert_t actuator_controls_effective_pub;
if (motor_thrust <= min_thrust) {
motor_thrust = min_thrust;
output_band = 0.0f;
@ -417,17 +423,18 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
&& motor_calc[3] < motor_thrust + output_band && motor_calc[3] > motor_thrust - output_band)) {
yaw_factor = 0.5f;
yaw_control *= yaw_factor;
// FRONT (MOTOR 1)
motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control * yaw_factor);
motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control);
// RIGHT (MOTOR 2)
motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control * yaw_factor);
motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control);
// BACK (MOTOR 3)
motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control * yaw_factor);
motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control);
// LEFT (MOTOR 4)
motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control * yaw_factor);
motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control);
}
for (int i = 0; i < 4; i++) {
@ -441,6 +448,23 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
}
}
/* publish effective outputs */
actuator_controls_effective.control_effective[0] = roll_control;
actuator_controls_effective.control_effective[1] = pitch_control;
/* yaw output after limiting */
actuator_controls_effective.control_effective[2] = yaw_control;
/* possible motor thrust limiting */
actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f;
if (!initialized) {
/* advertise and publish */
actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective);
initialized = true;
} else {
/* already initialized, just publishing */
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective);
}
/* set the motor values */
/* scale up from 0..1 to 10..512) */

8
apps/uORB/objects_common.cpp
View File

@ -113,6 +113,7 @@ ORB_DEFINE(optical_flow, struct optical_flow_s);
#include "topics/subsystem_info.h"
ORB_DEFINE(subsystem_info, struct subsystem_info_s);
/* actuator controls, as requested by controller */
#include "topics/actuator_controls.h"
ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
@ -120,6 +121,13 @@ ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
ORB_DEFINE(actuator_armed, struct actuator_armed_s);
/* actuator controls, as set by actuators / mixers after limiting */
#include "topics/actuator_controls_effective.h"
ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
#include "topics/actuator_outputs.h"
ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);

69
apps/uORB/topics/actuator_controls_effective.h Normal file
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@ -0,0 +1,69 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file actuator_controls.h
*
* Actuator control topics - mixer inputs.
*
* Values published to these topics are the outputs of the vehicle control
* system, and are expected to be mixed and used to drive the actuators
* (servos, speed controls, etc.) that operate the vehicle.
*
* Each topic can be published by a single controller
*/
#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
#include <stdint.h>
#include "../uORB.h"
#define NUM_ACTUATOR_CONTROLS 8
#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */
struct actuator_controls_effective_s {
uint64_t timestamp;
float control_effective[NUM_ACTUATOR_CONTROLS];
};
/* actuator control sets; this list can be expanded as more controllers emerge */
ORB_DECLARE(actuator_controls_effective_0);
ORB_DECLARE(actuator_controls_effective_1);
ORB_DECLARE(actuator_controls_effective_2);
ORB_DECLARE(actuator_controls_effective_3);
/* control sets with pre-defined applications */
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0)
#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */