forked from Archive/PX4-Autopilot
477 lines
14 KiB
C
477 lines
14 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Ivan Ovinnikov <oivan@ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file fixedwing_control.c
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* Implementation of a fixed wing attitude and position controller.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <math.h>
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#include <poll.h>
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#include <time.h>
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#include <arch/board/up_hrt.h>
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#include <arch/board/board.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_global_position_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/actuator_controls.h>
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#include <systemlib/param/param.h>
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#include <systemlib/pid/pid.h>
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#include <systemlib/geo/geo.h>
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#include <uORB/topics/debug_key_value.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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/**
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* Deamon management function.
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*/
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__EXPORT int fixedwing_control_main(int argc, char *argv[]);
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/**
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* Mainloop of deamon.
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*/
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int fixedwing_control_thread_main(int argc, char *argv[]);
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/**
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* Print the correct usage.
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*/
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static void usage(const char *reason);
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/*
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* Controller parameters, accessible via MAVLink
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*
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*/
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PARAM_DEFINE_FLOAT(FW_ROLL_POS_P, 0.3f);
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PARAM_DEFINE_FLOAT(FW_ROLL_POS_I, 0.002f);
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PARAM_DEFINE_FLOAT(FW_ROLL_POS_AWU, 0.2f);
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PARAM_DEFINE_FLOAT(FW_ROLL_POS_LIM, 0.6f);
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struct fw_att_control_params {
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float roll_pos_p;
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float roll_pos_i;
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float roll_pos_awu;
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float roll_pos_lim;
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};
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struct fw_att_control_param_handles {
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param_t roll_pos_p;
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param_t roll_pos_i;
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param_t roll_pos_awu;
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param_t roll_pos_lim;
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};
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// XXX outsource position control to a separate app some time
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PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
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PARAM_DEFINE_FLOAT(FW_HEADING_LIM, 0.15f);
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struct fw_pos_control_params {
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float heading_p;
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float heading_lim;
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};
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struct fw_pos_control_param_handles {
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param_t heading_p;
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param_t heading_lim;
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};
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/**
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* Initialize all parameter handles and values
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*
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*/
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static int att_parameters_init(struct fw_att_control_param_handles *h);
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/**
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* Update all parameters
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*
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*/
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static int att_parameters_update(const struct fw_att_control_param_handles *h, struct fw_att_control_params *p);
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/**
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* Initialize all parameter handles and values
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*
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*/
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static int pos_parameters_init(struct fw_pos_control_param_handles *h);
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/**
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* Update all parameters
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*
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*/
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static int pos_parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p);
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/**
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* The fixed wing control main loop.
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*
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* This loop executes continously and calculates the control
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* response.
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*
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* @param argc number of arguments
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* @param argv argument array
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*
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* @return 0
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*
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*/
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int fixedwing_control_thread_main(int argc, char *argv[])
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{
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/* read arguments */
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bool verbose = false;
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for (int i = 1; i < argc; i++) {
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if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
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verbose = true;
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}
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}
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/* welcome user */
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printf("[fixedwing control] started\n");
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/* output structs */
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struct actuator_controls_s actuators;
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struct vehicle_attitude_setpoint_s att_sp;
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memset(&att_sp, 0, sizeof(att_sp));
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/* publish actuator controls */
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
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actuators.control[i] = 0.0f;
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orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
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orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
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/* Subscribe to global position, attitude and rc */
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/* declare and safely initialize all structs */
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struct vehicle_status_s state;
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memset(&state, 0, sizeof(state));
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struct vehicle_attitude_s att;
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memset(&att_sp, 0, sizeof(att_sp));
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struct manual_control_setpoint_s manual;
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memset(&manual, 0, sizeof(manual));
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/* subscribe to attitude, motor setpoints and system state */
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struct vehicle_global_position_s global_pos;
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int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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struct vehicle_global_position_setpoint_s global_setpoint;
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int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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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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/* Mainloop setup */
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unsigned int loopcounter = 0;
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uint64_t last_run = 0;
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uint64_t last_run_pos = 0;
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bool global_sp_updated_set_once = false;
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struct fw_att_control_params p;
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struct fw_att_control_param_handles h;
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struct fw_pos_control_params ppos;
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struct fw_pos_control_param_handles hpos;
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/* initialize the pid controllers */
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att_parameters_init(&h);
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att_parameters_update(&h, &p);
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pos_parameters_init(&hpos);
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pos_parameters_update(&hpos, &ppos);
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PID_t roll_pos_controller;
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pid_init(&roll_pos_controller, p.roll_pos_p, p.roll_pos_i, 0.0f, p.roll_pos_awu,
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PID_MODE_DERIVATIV_SET);
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PID_t heading_controller;
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pid_init(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f,
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PID_MODE_DERIVATIV_SET);
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// XXX remove in production
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/* advertise debug value */
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struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
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orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
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while(!thread_should_exit) {
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struct pollfd fds[1] = {
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{ .fd = att_sub, .events = POLLIN },
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};
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int ret = poll(fds, 1, 1000);
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if (ret < 0) {
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/* XXX this is seriously bad - should be an emergency */
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} else if (ret == 0) {
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/* XXX this means no sensor data - should be critical or emergency */
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printf("[fixedwing control] WARNING: Not getting attitude - estimator running?\n");
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} else {
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// FIXME SUBSCRIBE
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if (loopcounter % 20 == 0) {
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att_parameters_update(&h, &p);
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pos_parameters_update(&hpos, &ppos);
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pid_set_parameters(&roll_pos_controller, p.roll_pos_p, p.roll_pos_i, 0.0f, p.roll_pos_awu);
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pid_set_parameters(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f);
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}
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/* if position updated, run position control loop */
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bool pos_updated;
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orb_check(global_pos_sub, &pos_updated);
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bool global_sp_updated;
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orb_check(global_setpoint_sub, &global_sp_updated);
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if (global_sp_updated) {
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global_sp_updated_set_once = true;
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}
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/* checking has to happen before the read, as the read clears the changed flag */
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/* get a local copy of system state */
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orb_copy(ORB_ID(vehicle_status), state_sub, &state);
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/* get a local copy of manual setpoint */
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orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
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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 attitude setpoint */
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//orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
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// XXX update to switch between external attitude reference and the
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// attitude calculated here
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char name[10];
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if (pos_updated) {
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/* get position */
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orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
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if (global_sp_updated_set_once) {
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orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
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/* calculate delta T */
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const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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/* calculate bearing error */
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float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
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global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
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/* shift error to prevent wrapping issues */
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float bearing_error = target_bearing - att.yaw;
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if (loopcounter % 2 == 0) {
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sprintf(name, "hdng err1");
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memcpy(dbg.key, name, sizeof(name));
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dbg.value = bearing_error;
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orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
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}
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if (bearing_error < M_PI_F) {
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bearing_error += 2.0f * M_PI_F;
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}
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if (bearing_error > M_PI_F) {
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bearing_error -= 2.0f * M_PI_F;
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}
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if (loopcounter % 2 != 0) {
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sprintf(name, "hdng err2");
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memcpy(dbg.key, name, sizeof(name));
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dbg.value = bearing_error;
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orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
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}
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/* calculate roll setpoint, do this artificially around zero */
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att_sp.roll_body = pid_calculate(&heading_controller, bearing_error,
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0.0f, att.yawspeed, deltaT);
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/* limit roll angle output */
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if (att_sp.roll_body > ppos.heading_lim) {
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att_sp.roll_body = ppos.heading_lim;
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heading_controller.saturated = 1;
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}
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if (att_sp.roll_body < -ppos.heading_lim) {
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att_sp.roll_body = -ppos.heading_lim;
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heading_controller.saturated = 1;
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}
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att_sp.pitch_body = 0.0f;
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att_sp.yaw_body = 0.0f;
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} else {
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/* no setpoint, maintain level flight */
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att_sp.roll_body = 0.0f;
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att_sp.pitch_body = 0.0f;
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att_sp.yaw_body = 0.0f;
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}
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att_sp.thrust = 0.7f;
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}
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/* calculate delta T */
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const float deltaTpos = (hrt_absolute_time() - last_run_pos) / 1000000.0f;
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last_run_pos = hrt_absolute_time();
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if (verbose && (loopcounter % 20 == 0)) {
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printf("[fixedwing control] roll sp: %8.4f, \n", att_sp.roll_body);
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}
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// actuators.control[0] = pid_calculate(&roll_pos_controller, att_sp.roll_body,
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// att.roll, att.rollspeed, deltaTpos);
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actuators.control[0] = pid_calculate(&roll_pos_controller, att_sp.roll_body,
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att.roll, att.rollspeed, deltaTpos);
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actuators.control[1] = 0;
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actuators.control[2] = 0;
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actuators.control[3] = att_sp.thrust;
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/* publish attitude setpoint (for MAVLink) */
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
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/* publish actuator setpoints (for mixer) */
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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loopcounter++;
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}
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}
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printf("[fixedwing_control] exiting.\n");
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thread_running = false;
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return 0;
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}
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static void
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usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: fixedwing_control {start|stop|status}\n\n");
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exit(1);
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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_create().
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*/
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int fixedwing_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("fixedwing_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_create("fixedwing_control", SCHED_PRIORITY_MAX - 20, 4096, fixedwing_control_thread_main, (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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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("\tfixedwing_control is running\n");
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} else {
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printf("\tfixedwing_control not started\n");
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}
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exit(0);
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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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static int att_parameters_init(struct fw_att_control_param_handles *h)
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{
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/* PID parameters */
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h->roll_pos_p = param_find("FW_ROLL_POS_P");
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h->roll_pos_i = param_find("FW_ROLL_POS_I");
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h->roll_pos_lim = param_find("FW_ROLL_POS_LIM");
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h->roll_pos_awu = param_find("FW_ROLL_POS_AWU");
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return OK;
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}
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static int att_parameters_update(const struct fw_att_control_param_handles *h, struct fw_att_control_params *p)
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{
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param_get(h->roll_pos_p, &(p->roll_pos_p));
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param_get(h->roll_pos_i, &(p->roll_pos_i));
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param_get(h->roll_pos_lim, &(p->roll_pos_lim));
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param_get(h->roll_pos_awu, &(p->roll_pos_awu));
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return OK;
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}
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static int pos_parameters_init(struct fw_pos_control_param_handles *h)
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{
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/* PID parameters */
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h->heading_p = param_find("FW_HEADING_P");
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h->heading_lim = param_find("FW_HEADING_LIM");
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return OK;
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}
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static int pos_parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
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{
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param_get(h->heading_p, &(p->heading_p));
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param_get(h->heading_lim, &(p->heading_lim));
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return OK;
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}
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