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@ -89,18 +89,18 @@ static int
@@ -89,18 +89,18 @@ static int
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mc_thread_main(int argc, char *argv[]) |
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{ |
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/* declare and safely initialize all structs */ |
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struct vehicle_control_mode_s control_mode; |
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memset(&control_mode, 0, sizeof(control_mode)); |
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struct vehicle_attitude_s att; |
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memset(&att, 0, sizeof(att)); |
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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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struct manual_control_setpoint_s manual; |
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memset(&manual, 0, sizeof(manual)); |
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struct sensor_combined_s raw; |
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memset(&raw, 0, sizeof(raw)); |
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struct offboard_control_setpoint_s offboard_sp; |
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memset(&offboard_sp, 0, sizeof(offboard_sp)); |
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struct vehicle_control_mode_s control_mode; |
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memset(&control_mode, 0, sizeof(control_mode)); |
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struct manual_control_setpoint_s manual; |
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memset(&manual, 0, sizeof(manual)); |
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struct sensor_combined_s sensor; |
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memset(&sensor, 0, sizeof(sensor)); |
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struct vehicle_rates_setpoint_s rates_sp; |
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memset(&rates_sp, 0, sizeof(rates_sp)); |
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struct vehicle_status_s status; |
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@ -108,29 +108,16 @@ mc_thread_main(int argc, char *argv[])
@@ -108,29 +108,16 @@ mc_thread_main(int argc, char *argv[])
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struct actuator_controls_s actuators; |
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memset(&actuators, 0, sizeof(actuators)); |
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/* subscribe to attitude, motor setpoints and system state */ |
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); |
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int param_sub = orb_subscribe(ORB_ID(parameter_update)); |
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int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); |
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int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); |
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int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); |
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int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); |
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int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); |
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int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); |
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int status_sub = orb_subscribe(ORB_ID(vehicle_status)); |
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/*
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* Do not rate-limit the loop to prevent aliasing |
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* if rate-limiting would be desired later, the line below would |
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* enable it. |
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* |
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* rate-limit the attitude subscription to 200Hz to pace our loop |
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* orb_set_interval(att_sub, 5); |
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*/ |
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struct pollfd fds[2] = { |
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{ .fd = att_sub, .events = POLLIN }, |
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{ .fd = param_sub, .events = POLLIN } |
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}; |
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/* subscribe */ |
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int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); |
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int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); |
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int vehicle_attitude_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); |
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int offboard_control_setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); |
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int vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); |
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int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); |
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int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); |
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int vehicle_rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); |
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int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); |
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/* publish actuator controls */ |
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { |
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@ -146,233 +133,246 @@ mc_thread_main(int argc, char *argv[])
@@ -146,233 +133,246 @@ mc_thread_main(int argc, char *argv[])
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perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval"); |
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perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err"); |
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/* welcome user */ |
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warnx("starting"); |
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/* store last control mode to detect mode switches */ |
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bool control_yaw_position = true; |
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bool reset_yaw_sp = true; |
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struct pollfd fds[1] = { |
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{ .fd = vehicle_attitude_sub, .events = POLLIN }, |
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}; |
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while (!thread_should_exit) { |
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/* wait for a sensor update, check for exit condition every 500 ms */ |
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int ret = poll(fds, 2, 500); |
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int ret = poll(fds, 1, 500); |
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if (ret < 0) { |
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/* poll error, count it in perf */ |
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perf_count(mc_err_perf); |
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} else if (ret == 0) { |
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/* no return value, ignore */ |
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} else { |
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} else if (ret > 0) { |
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/* only run controller if attitude changed */ |
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perf_begin(mc_loop_perf); |
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/* only update parameters if they changed */ |
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if (fds[1].revents & POLLIN) { |
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/* read from param to clear updated flag */ |
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struct parameter_update_s update; |
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orb_copy(ORB_ID(parameter_update), param_sub, &update); |
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/* attitude */ |
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orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); |
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bool updated; |
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/* parameters */ |
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orb_check(parameter_update_sub, &updated); |
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if (updated) { |
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struct parameter_update_s update; |
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orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update); |
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/* update parameters */ |
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} |
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/* only run controller if attitude changed */ |
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if (fds[0].revents & POLLIN) { |
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/* control mode */ |
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orb_check(vehicle_control_mode_sub, &updated); |
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perf_begin(mc_loop_perf); |
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if (updated) { |
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orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sub, &control_mode); |
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} |
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/* get a local copy of system state */ |
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bool updated; |
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orb_check(control_mode_sub, &updated); |
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/* manual control setpoint */ |
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orb_check(manual_control_setpoint_sub, &updated); |
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if (updated) { |
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orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); |
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} |
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if (updated) { |
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orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual); |
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} |
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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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/* get a local copy of rates setpoint */ |
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orb_check(setpoint_sub, &updated); |
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if (updated) { |
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orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp); |
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} |
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/* attitude setpoint */ |
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orb_check(vehicle_attitude_setpoint_sub, &updated); |
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/* get a local copy of status */ |
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orb_check(status_sub, &updated); |
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if (updated) { |
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orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp); |
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} |
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if (updated) { |
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orb_copy(ORB_ID(vehicle_status), status_sub, &status); |
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} |
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/* offboard control setpoint */ |
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orb_check(offboard_control_setpoint_sub, &updated); |
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/* get a local copy of the current sensor values */ |
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orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); |
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if (updated) { |
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orb_copy(ORB_ID(offboard_control_setpoint), offboard_control_setpoint_sub, &offboard_sp); |
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} |
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/* set flag to safe value */ |
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control_yaw_position = true; |
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/* vehicle status */ |
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orb_check(vehicle_status_sub, &updated); |
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/* reset yaw setpoint if not armed */ |
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if (!control_mode.flag_armed) { |
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reset_yaw_sp = true; |
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} |
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if (updated) { |
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orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status); |
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} |
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/* define which input is the dominating control input */ |
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if (control_mode.flag_control_offboard_enabled) { |
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/* offboard inputs */ |
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if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { |
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rates_sp.roll = offboard_sp.p1; |
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rates_sp.pitch = offboard_sp.p2; |
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rates_sp.yaw = offboard_sp.p3; |
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rates_sp.thrust = offboard_sp.p4; |
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rates_sp.timestamp = hrt_absolute_time(); |
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); |
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/* sensors */ |
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orb_check(sensor_combined_sub, &updated); |
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} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { |
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att_sp.roll_body = offboard_sp.p1; |
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att_sp.pitch_body = offboard_sp.p2; |
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att_sp.yaw_body = offboard_sp.p3; |
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att_sp.thrust = offboard_sp.p4; |
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att_sp.timestamp = hrt_absolute_time(); |
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/* publish the result to the vehicle actuators */ |
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); |
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} |
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if (updated) { |
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orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); |
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} |
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/* reset yaw setpoint after offboard control */ |
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reset_yaw_sp = true; |
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/* set flag to safe value */ |
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control_yaw_position = true; |
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} else if (control_mode.flag_control_manual_enabled) { |
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/* manual input */ |
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if (control_mode.flag_control_attitude_enabled) { |
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/* control attitude, update attitude setpoint depending on mode */ |
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if (att_sp.thrust < 0.1f) { |
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/* no thrust, don't try to control yaw */ |
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rates_sp.yaw = 0.0f; |
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control_yaw_position = false; |
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/* reset yaw setpoint if not armed */ |
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if (!control_mode.flag_armed) { |
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reset_yaw_sp = true; |
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} |
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if (status.condition_landed) { |
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/* reset yaw setpoint if on ground */ |
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reset_yaw_sp = true; |
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} |
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/* define which input is the dominating control input */ |
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if (control_mode.flag_control_offboard_enabled) { |
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/* offboard inputs */ |
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if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { |
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rates_sp.roll = offboard_sp.p1; |
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rates_sp.pitch = offboard_sp.p2; |
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rates_sp.yaw = offboard_sp.p3; |
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rates_sp.thrust = offboard_sp.p4; |
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rates_sp.timestamp = hrt_absolute_time(); |
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); |
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} else { |
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/* only move yaw setpoint if manual input is != 0 */ |
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if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) { |
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/* control yaw rate */ |
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control_yaw_position = false; |
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rates_sp.yaw = manual.yaw; |
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reset_yaw_sp = true; // has no effect on control, just for beautiful log
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} else { |
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control_yaw_position = true; |
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} |
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} |
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} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { |
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att_sp.roll_body = offboard_sp.p1; |
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att_sp.pitch_body = offboard_sp.p2; |
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att_sp.yaw_body = offboard_sp.p3; |
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att_sp.thrust = offboard_sp.p4; |
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att_sp.timestamp = hrt_absolute_time(); |
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/* publish the result to the vehicle actuators */ |
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); |
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} |
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if (!control_mode.flag_control_velocity_enabled) { |
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/* update attitude setpoint if not in position control mode */ |
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att_sp.roll_body = manual.roll; |
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att_sp.pitch_body = manual.pitch; |
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/* reset yaw setpoint after offboard control */ |
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reset_yaw_sp = true; |
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if (!control_mode.flag_control_climb_rate_enabled) { |
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/* pass throttle directly if not in altitude control mode */ |
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att_sp.thrust = manual.throttle; |
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} |
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} else if (control_mode.flag_control_manual_enabled) { |
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/* manual input */ |
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if (control_mode.flag_control_attitude_enabled) { |
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/* control attitude, update attitude setpoint depending on mode */ |
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if (att_sp.thrust < 0.1f) { |
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/* no thrust, don't try to control yaw */ |
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rates_sp.yaw = 0.0f; |
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control_yaw_position = false; |
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if (status.condition_landed) { |
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/* reset yaw setpoint if on ground */ |
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reset_yaw_sp = true; |
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} |
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/* reset yaw setpint to current position if needed */ |
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if (reset_yaw_sp) { |
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att_sp.yaw_body = att.yaw; |
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reset_yaw_sp = false; |
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} |
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} else { |
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/* only move yaw setpoint if manual input is != 0 */ |
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if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) { |
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/* control yaw rate */ |
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control_yaw_position = false; |
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rates_sp.yaw = manual.yaw; |
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reset_yaw_sp = true; // has no effect on control, just for beautiful log
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if (motor_test_mode) { |
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printf("testmode"); |
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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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att_sp.thrust = 0.1f; |
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} else { |
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control_yaw_position = true; |
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} |
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} |
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att_sp.timestamp = hrt_absolute_time(); |
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/* publish the attitude setpoint */ |
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); |
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if (!control_mode.flag_control_velocity_enabled) { |
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/* update attitude setpoint if not in position control mode */ |
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att_sp.roll_body = manual.roll; |
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att_sp.pitch_body = manual.pitch; |
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} else { |
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/* manual rate inputs (ACRO), from RC control or joystick */ |
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if (control_mode.flag_control_rates_enabled) { |
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rates_sp.roll = manual.roll; |
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rates_sp.pitch = manual.pitch; |
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rates_sp.yaw = manual.yaw; |
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rates_sp.thrust = manual.throttle; |
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rates_sp.timestamp = hrt_absolute_time(); |
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if (!control_mode.flag_control_climb_rate_enabled) { |
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/* pass throttle directly if not in altitude control mode */ |
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att_sp.thrust = manual.throttle; |
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} |
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} |
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/* reset yaw setpint to current position if needed */ |
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if (reset_yaw_sp) { |
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att_sp.yaw_body = att.yaw; |
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reset_yaw_sp = false; |
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} |
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/* reset yaw setpoint after ACRO */ |
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reset_yaw_sp = true; |
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if (motor_test_mode) { |
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printf("testmode"); |
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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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att_sp.thrust = 0.1f; |
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} |
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att_sp.timestamp = hrt_absolute_time(); |
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/* publish the attitude setpoint */ |
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); |
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} else { |
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if (!control_mode.flag_control_auto_enabled) { |
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/* no control, try to stay on place */ |
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if (!control_mode.flag_control_velocity_enabled) { |
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/* no velocity control, reset attitude setpoint */ |
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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.timestamp = hrt_absolute_time(); |
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); |
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} |
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/* manual rate inputs (ACRO), from RC control or joystick */ |
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if (control_mode.flag_control_rates_enabled) { |
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rates_sp.roll = manual.roll; |
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rates_sp.pitch = manual.pitch; |
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rates_sp.yaw = manual.yaw; |
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rates_sp.thrust = manual.throttle; |
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rates_sp.timestamp = hrt_absolute_time(); |
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} |
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/* reset yaw setpoint after non-manual control */ |
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/* reset yaw setpoint after ACRO */ |
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reset_yaw_sp = true; |
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} |
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/* check if we should we reset integrals */ |
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bool reset_integral = !control_mode.flag_armed || att_sp.thrust < 0.1f; // TODO use landed status instead of throttle
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/* run attitude controller if needed */ |
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if (control_mode.flag_control_attitude_enabled) { |
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multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, reset_integral); |
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); |
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} else { |
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if (!control_mode.flag_control_auto_enabled) { |
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/* no control, try to stay on place */ |
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if (!control_mode.flag_control_velocity_enabled) { |
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/* no velocity control, reset attitude setpoint */ |
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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.timestamp = hrt_absolute_time(); |
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orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); |
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} |
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} |
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/* measure in what intervals the controller runs */ |
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perf_count(mc_interval_perf); |
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/* reset yaw setpoint after non-manual control */ |
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reset_yaw_sp = true; |
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} |
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/* run rates controller if needed */ |
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if (control_mode.flag_control_rates_enabled) { |
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/* get current rate setpoint */ |
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bool rates_sp_updated = false; |
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orb_check(rates_sp_sub, &rates_sp_updated); |
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/* check if we should we reset integrals */ |
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bool reset_integral = !control_mode.flag_armed || att_sp.thrust < 0.1f; // TODO use landed status instead of throttle
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if (rates_sp_updated) { |
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orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp); |
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} |
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/* run attitude controller if needed */ |
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if (control_mode.flag_control_attitude_enabled) { |
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multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, reset_integral); |
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orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); |
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} |
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/* apply controller */ |
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float rates[3]; |
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rates[0] = att.rollspeed; |
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rates[1] = att.pitchspeed; |
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rates[2] = att.yawspeed; |
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multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral); |
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/* measure in what intervals the controller runs */ |
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perf_count(mc_interval_perf); |
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} else { |
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/* rates controller disabled, set actuators to zero for safety */ |
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actuators.control[0] = 0.0f; |
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actuators.control[1] = 0.0f; |
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actuators.control[2] = 0.0f; |
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actuators.control[3] = 0.0f; |
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|
/* run rates controller if needed */ |
|
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|
|
if (control_mode.flag_control_rates_enabled) { |
|
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|
|
/* get current rate setpoint */ |
|
|
|
|
bool rates_sp_updated = false; |
|
|
|
|
orb_check(vehicle_rates_setpoint_sub, &rates_sp_updated); |
|
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|
|
if (rates_sp_updated) { |
|
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|
|
orb_copy(ORB_ID(vehicle_rates_setpoint), vehicle_rates_setpoint_sub, &rates_sp); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
actuators.timestamp = hrt_absolute_time(); |
|
|
|
|
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); |
|
|
|
|
/* apply controller */ |
|
|
|
|
float rates[3]; |
|
|
|
|
rates[0] = att.rollspeed; |
|
|
|
|
rates[1] = att.pitchspeed; |
|
|
|
|
rates[2] = att.yawspeed; |
|
|
|
|
multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral); |
|
|
|
|
|
|
|
|
|
} else { |
|
|
|
|
/* rates controller disabled, set actuators to zero for safety */ |
|
|
|
|
actuators.control[0] = 0.0f; |
|
|
|
|
actuators.control[1] = 0.0f; |
|
|
|
|
actuators.control[2] = 0.0f; |
|
|
|
|
actuators.control[3] = 0.0f; |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
actuators.timestamp = hrt_absolute_time(); |
|
|
|
|
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); |
|
|
|
|
|
|
|
|
|
perf_end(mc_loop_perf); |
|
|
|
|
} /* end of poll call for attitude updates */ |
|
|
|
|
} /* end of poll return value check */ |
|
|
|
|
perf_end(mc_loop_perf); |
|
|
|
|
} |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
warnx("stopping, disarming motors"); |
|
|
|
|
@ -383,10 +383,9 @@ mc_thread_main(int argc, char *argv[])
@@ -383,10 +383,9 @@ mc_thread_main(int argc, char *argv[])
|
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|
|
|
|
|
|
|
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
close(att_sub); |
|
|
|
|
close(control_mode_sub); |
|
|
|
|
close(manual_sub); |
|
|
|
|
close(vehicle_attitude_sub); |
|
|
|
|
close(vehicle_control_mode_sub); |
|
|
|
|
close(manual_control_setpoint_sub); |
|
|
|
|
close(actuator_pub); |
|
|
|
|
close(att_sp_pub); |
|
|
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Anton Babushkin
12 years ago