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Commit f86c0ed8 authored by Thomas Gubler's avatar Thomas Gubler
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remove fw_att_control base classes: as long as they are not integrated into... 

remove fw_att_control base classes: as long as they are not integrated into fw_att_control_main they are useless
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src/modules/fw_att_control/fw_att_control_base.cpp deleted 100644 → 0
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View file @ 94ab82ba
/* Copyright (c) 2014 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 mc_att_control_base.cpp
*
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
#include "fw_att_control_base.h"
#include <math.h>
#include <mathlib/mathlib.h>
#include <drivers/drv_hrt.h>
using namespace std;
FixedwingAttitudeControlBase::FixedwingAttitudeControlBase() :
_task_should_exit(false), _task_running(false), _control_task(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), _nonfinite_input_perf(
perf_alloc(PC_COUNT, "fw att control nonfinite input")), _nonfinite_output_perf(
perf_alloc(PC_COUNT, "fw att control nonfinite output")),
/* states */
_setpoint_valid(false), _debug(false) {
/* safely initialize structs */
_att = {};
_att_sp = {};
_manual = {};
_airspeed = {};
_vcontrol_mode = {};
_actuators = {};
_actuators_airframe = {};
_global_pos = {};
_vehicle_status = {};
}
FixedwingAttitudeControlBase::~FixedwingAttitudeControlBase() {
}
void FixedwingAttitudeControlBase::control_attitude() {
bool lock_integrator = false;
static int loop_counter = 0;
/* scale around tuning airspeed */
float airspeed;
/* if airspeed is not updating, we assume the normal average speed */
if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s)
|| hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
airspeed = _parameters.airspeed_trim;
if (nonfinite) {
perf_count(_nonfinite_input_perf);
}
} else {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _airspeed.true_airspeed_m_s);
}
/*
* For scaling our actuators using anything less than the min (close to stall)
* speed doesn't make any sense - its the strongest reasonable deflection we
* want to do in flight and its the baseline a human pilot would choose.
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
float airspeed_scaling = _parameters.airspeed_trim
/ ((airspeed < _parameters.airspeed_min) ?
_parameters.airspeed_min : airspeed);
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;
float throttle_sp = 0.0f;
if (_vcontrol_mode.flag_control_velocity_enabled
|| _vcontrol_mode.flag_control_position_enabled) {
/* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
}
if (_att_sp.pitch_reset_integral) {
_pitch_ctrl.reset_integrator();
}
if (_att_sp.yaw_reset_integral) {
_yaw_ctrl.reset_integrator();
}
} else {
/*
* Scale down roll and pitch as the setpoints are radians
* and a typical remote can only do around 45 degrees, the mapping is
* -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
*
* With this mapping the stick angle is a 1:1 representation of
* the commanded attitude.
*
* The trim gets subtracted here from the manual setpoint to get
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+ _parameters.rollsp_offset_rad;
pitch_sp = -(_manual.x * _parameters.man_pitch_max
- _parameters.trim_pitch) + _parameters.pitchsp_offset_rad;
throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
/*
* in manual mode no external source should / does emit attitude setpoints.
* emit the manual setpoint here to allow attitude controller tuning
* in attitude control mode.
*/
struct vehicle_attitude_setpoint_s att_sp;
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = roll_sp;
att_sp.pitch_body = pitch_sp;
att_sp.yaw_body = 0.0f - _parameters.trim_yaw;
att_sp.thrust = throttle_sp;
}
/* If the aircraft is on ground reset the integrators */
if (_vehicle_status.condition_landed) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();
_yaw_ctrl.reset_integrator();
}
/* Prepare speed_body_u and speed_body_w */
float speed_body_u = 0.0f;
float speed_body_v = 0.0f;
float speed_body_w = 0.0f;
if (_att.R_valid) {
speed_body_u = _att.R[0][0] * _global_pos.vel_n
+ _att.R[1][0] * _global_pos.vel_e
+ _att.R[2][0] * _global_pos.vel_d;
speed_body_v = _att.R[0][1] * _global_pos.vel_n
+ _att.R[1][1] * _global_pos.vel_e
+ _att.R[2][1] * _global_pos.vel_d;
speed_body_w = _att.R[0][2] * _global_pos.vel_n
+ _att.R[1][2] * _global_pos.vel_e
+ _att.R[2][2] * _global_pos.vel_d;
} else {
if (_debug && loop_counter % 10 == 0) {
warnx("Did not get a valid R\n");
}
}
/* Run attitude controllers */
if (isfinite(roll_sp) && isfinite(pitch_sp)) {
_roll_ctrl.control_attitude(roll_sp, _att.roll);
_pitch_ctrl.control_attitude(pitch_sp, _att.roll, _att.pitch, airspeed);
_yaw_ctrl.control_attitude(_att.roll, _att.pitch, speed_body_u,
speed_body_v, speed_body_w, _roll_ctrl.get_desired_rate(),
_pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
float roll_u = _roll_ctrl.control_bodyrate(_att.pitch, _att.rollspeed,
_att.yawspeed, _yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed,
airspeed_scaling, lock_integrator);
_actuators.control[0] =
(isfinite(roll_u)) ?
roll_u + _parameters.trim_roll : _parameters.trim_roll;
if (!isfinite(roll_u)) {
_roll_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("roll_u %.4f", (double) roll_u);
}
}
float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
_att.pitchspeed, _att.yawspeed, _yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed,
airspeed_scaling, lock_integrator);
_actuators.control[1] =
(isfinite(pitch_u)) ?
pitch_u + _parameters.trim_pitch :
_parameters.trim_pitch;
if (!isfinite(pitch_u)) {
_pitch_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f", (double) pitch_u,
(double) _yaw_ctrl.get_desired_rate(),
(double) airspeed, (double) airspeed_scaling,
(double) roll_sp, (double) pitch_sp,
(double) _roll_ctrl.get_desired_rate(),
(double) _pitch_ctrl.get_desired_rate(),
(double) _att_sp.roll_body);
}
}
float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
_att.pitchspeed, _att.yawspeed, _pitch_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed,
airspeed_scaling, lock_integrator);
_actuators.control[2] =
(isfinite(yaw_u)) ?
yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
if (!isfinite(yaw_u)) {
_yaw_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double) yaw_u);
}
}
/* throttle passed through */
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
if (!isfinite(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double) throttle_sp);
}
}
} else {
perf_count(_nonfinite_input_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f",
(double) roll_sp, (double) pitch_sp);
}
}
}
void FixedwingAttitudeControlBase::set_attitude(const Eigen::Quaternion<double> attitude) {
// watch out, still need to see where we modify attitude for the tailsitter case
math::Quaternion quat;
quat(0) = (float)attitude.w();
quat(1) = (float)attitude.x();
quat(2) = (float)attitude.y();
quat(3) = (float)attitude.z();
_att.q[0] = quat(0);
_att.q[1] = quat(1);
_att.q[2] = quat(2);
_att.q[3] = quat(3);
math::Matrix<3,3> Rot = quat.to_dcm();
_att.R[0][0] = Rot(0,0);
_att.R[1][0] = Rot(1,0);
_att.R[2][0] = Rot(2,0);
_att.R[0][1] = Rot(0,1);
_att.R[1][1] = Rot(1,1);
_att.R[2][1] = Rot(2,1);
_att.R[0][2] = Rot(0,2);
_att.R[1][2] = Rot(1,2);
_att.R[2][2] = Rot(2,2);
_att.R_valid = true;
}
void FixedwingAttitudeControlBase::set_attitude_rates(const Eigen::Vector3d& angular_rate) {
_att.rollspeed = angular_rate(0);
_att.pitchspeed = angular_rate(1);
_att.yawspeed = angular_rate(2);
}
void FixedwingAttitudeControlBase::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) {
_att_sp.roll_body = control_attitude_thrust_reference(0);
_att_sp.pitch_body = control_attitude_thrust_reference(1);
_att_sp.yaw_body = control_attitude_thrust_reference(2);
_att_sp.thrust = (control_attitude_thrust_reference(3) -30)*(-1)/30;
// setup rotation matrix
math::Matrix<3,3> Rot_sp;
Rot_sp.from_euler(_att_sp.roll_body,_att_sp.pitch_body,_att_sp.yaw_body);
_att_sp.R_body[0][0] = Rot_sp(0,0);
_att_sp.R_body[1][0] = Rot_sp(1,0);
_att_sp.R_body[2][0] = Rot_sp(2,0);
_att_sp.R_body[0][1] = Rot_sp(0,1);
_att_sp.R_body[1][1] = Rot_sp(1,1);
_att_sp.R_body[2][1] = Rot_sp(2,1);
_att_sp.R_body[0][2] = Rot_sp(0,2);
_att_sp.R_body[1][2] = Rot_sp(1,2);
_att_sp.R_body[2][2] = Rot_sp(2,2);
}
void FixedwingAttitudeControlBase::get_mixer_input(Eigen::Vector4d& motor_inputs) {
motor_inputs(0) = _actuators.control[0];
motor_inputs(1) = _actuators.control[1];
motor_inputs(2) = _actuators.control[2];
motor_inputs(3) = _actuators.control[3];
}
src/modules/fw_att_control/fw_att_control_base.h deleted 100644 → 0
+ 0
− 151
View file @ 94ab82ba
#ifndef FW_ATT_CONTROL_BASE_H_
#define FW_ATT_CONTROL_BASE_H_
/* Copyright (c) 2014 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 fw_att_control_base.h
*
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
#include <ecl/attitude_fw/ecl_pitch_controller.h>
#include <ecl/attitude_fw/ecl_roll_controller.h>
#include <ecl/attitude_fw/ecl_yaw_controller.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
#include <systemlib/perf_counter.h>
class FixedwingAttitudeControlBase
{
public:
/**
* Constructor
*/
FixedwingAttitudeControlBase();
/**
* Destructor
*/
~FixedwingAttitudeControlBase();
protected:
bool _task_should_exit; /**< if true, sensor task should exit */
bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle for sensor task */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct vehicle_global_position_s _global_pos; /**< global position */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
bool _debug; /**< if set to true, print debug output */
struct {
float tconst;
float p_p;
float p_d;
float p_i;
float p_ff;
float p_rmax_pos;
float p_rmax_neg;
float p_integrator_max;
float p_roll_feedforward;
float r_p;
float r_d;
float r_i;
float r_ff;
float r_integrator_max;
float r_rmax;
float y_p;
float y_i;
float y_d;
float y_ff;
float y_roll_feedforward;
float y_integrator_max;
float y_coordinated_min_speed;
float y_rmax;
float airspeed_min;
float airspeed_trim;
float airspeed_max;
float trim_roll;
float trim_pitch;
float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
} _parameters; /**< local copies of interesting parameters */
ECL_RollController _roll_ctrl;
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
void control_attitude();
// setters and getters for interface with euroc-gazebo simulator
void set_attitude(const Eigen::Quaternion<double> attitude);
void set_attitude_rates(const Eigen::Vector3d& angular_rate);
void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
void get_mixer_input(Eigen::Vector4d& motor_inputs);
};
#endif /* FW_ATT_CONTROL_BASE_H_ */
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